ABB IRB 6640 - 180/2.55 Product Manual page 317

10. Unscrew the motors four attachment screws and
11. Fit the two guide pins in two of the motor attachment
12. Press the motor out of position by fitting removal
13. Apply the lifting tool, motor axis 2 ,3, 4 to the motor. Art. no. is specified in
14.
15. Lift the motor to get the pinion away from the gear.
16. Remove the motor by gently lifting it straight out and
3HAC026876-001 Revision: C
Action
4. Remove any equipment hindering access to motor
axis 3.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two securing screws.
7. Disconnect all connectors beneath the motor cover.
8.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
9. Release the brake by connecting the 24 VDC power
supply.
plain washers .
screw holes.
tool, motor to the remaining motor attachment
screw holes.
CAUTION!
The motor weighs 27 kg! All lifting equipment used
must be sized accordingly!
disconnect the brake release voltage.
4.6.3. Replacement of motor, axis 3
Note
Shown in the figure Location of
motor on page 313.
Make sure the gasket is not
damaged!
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Shown in the figure Location of
motor on page 313.
Art. no. is specified in
equipment on page 313.
Art. no. is specified in
equipment on page 313.
Always use the removal tools in
pairs!
equipment on page 313.
Make sure the motor pinion is not
damaged!
Continues on next page
4 Repair
Continued
Required
Required
Required
315