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4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6640ID
4.6.8. Replacement of motor, axis 6, IRB 6640ID
Location of motor, axis 6
The motor of axis 6 is located on top of the wrist, when axis 4 is placed in calibration position.
xx0500001574
A
B
C
Required equipment
Equipment
Motor including pinion
Grease
Power supply
Allen key and socket
Standard toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
342
Motor, axis 6
Motor connectors, R3.MP6 and R3.FB6
Wrist side with axis 6 gearbox inside
Spare part no.
3HAC023746-003
Art. no.
Note
Includes o-ring 3HAB 3772-22.
3HAB 3537-1 For lubricating the o-ring.
-
24 VDC, 1.5 A
For releasing the brakes.
-
A specific length is required for
accessing the attachment
screws of the motor. The
dimensions are shown in the
figure
Removal tools, motor
attachment screws on page
334.
-
The content is defined in
section
Standard toolkit on
page
394.
These procedures include
references to the tools
required.
Continues on next page
3HAC026876-001 Revision: C
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