Table of Contents
Advertisement
3HAC026876-001 Revision: C
4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus
Action
4. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
5. Remove the guide pins.
6. Secure the motor with its four attachment screws
and plain washers.
7. Disconnect the brake release voltage.
8. Reconnect all connectors beneath the motor
cover.
9. Refit the cover on top of the motor with its five
attachment screws.
10.
NOTE!
On Foundry Prime robots:
When changing motor, keep the cover from the
old motor.
11. Recalibrate the robot.
4 Repair
Note
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
•
A: Tilthouse
•
B: Motor, axis 6
•
C: Attachment screws
4 pcs: M8 x 25, tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration infor-
mation.
Continues on next page
Continued
339
Advertisement
Table of Contents
