Replacement Of Motor, Axis 6, Irb 6640, Irb 6620/Foundry Plus - ABB IRB 6640 - 180/2.55 Product Manual

4 Repair

4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus

4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus
Location of motor
The motor axis 6 is located in the center of the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID) on page 409
xx0700000126
A
B
C
Required equipment
Equipment, etc.
Motor including pinion
O-ring
Brush
Mercasol 3106
Sikaflex 521FC
Loctite 574
Loctite 480
Gasket
Removal tool, motor
M10x
Guide pins M8 x 100
Guide pins M8 x 150
Power supply
336
Gearbox, axis 6
Motor, axis 6
Attachment screws (4 pcs)
Spare part no.
3HAC15991-4
3HAC026621-001
3HAC026759-001
3HAC12877-1
Art. no. Note
Includes:
• motor
• pinion
• o-ring 21522012-430
21522012-430 Must be replaced when reas-
sembling motor!
- Option Foundry Prime
Option Foundry Prime
Option Foundry Prime
Must be replaced when
replacing motor
3HAC14972-1 Always use the removal tools
in pairs!
3HAC15520-1 For guiding the motor.
3HAC15520-2 For guiding the motor.
- 24 VDC, 1.5 A
For releasing the brakes.
Continues on next page
3HAC026876-001 Revision: C
Upper arm
.