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4 Repair
4.6.6. Replacement of motor, axis 5, IRB 6640ID
Continued
Removal tools, motor attachment screws
The figure below shows the required dimensions of the tools, in order to access the
attachment screws of the motor.
xx0500002271
A
B
C
Removal, motor axis 5
The procedure below details how to remove the motor, axis 5.
334
Allen key, Ø 6 mm
Socket, Ø 12 mm
Torque wrench
Action
1. Move axis 4 +90º so that the gearbox of axis 5 is faced
downwards. This makes it possible to remove the motor
without draining the gearbox oil.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
3. Disconnect the motor connectors from the axis 5 motor. Shown in the figure
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
5. Remove the three attachment screws of the motor.
6. Remove the motor by gently lifting it straight out. Lift
carefully to get the pinion away from the gear.
7. Disconnect the brake release voltage.
Note
Location
of motor, axis 5 on page
333.
Connect to connector
R3.MP5:
•
+ : pin C
•
- : pin D
Dimensions of the tools are
specified in the figure
Removal tools, motor
attachment screws on page
334.
Continues on next page
3HAC026876-001 Revision: C
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