ABB IRB 6640 - 180/2.55 Product Manual page 346

4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6640ID
Continued
344
Action
3. In order to release the brakes, connect the 24
VDC power supply to the motor.
4. Fit the motor, making sure the motor pinion is
properly mated into the gear of axis 6.
5. Secure the motor with its three attachment
screws and washers.
6. Disconnect the brake release voltage.
7. Reconnect the motor connectors.
8. Perform a leak-down test.
9. Refill the axis 6 gearbox with oil, if previously
drained.
10. Recalibrate the robot.
11.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page
Note
Connect to connector R3.MP6:
• + : pin C
• - : pin D
3 pcs, M8x25. Tightening torque: 24
Nm.
Dimensions of the tools are
specified in the figure
tools, motor attachment screws on
page 334.
Shown in the figure
motor, axis 6 on page
Detailed in section
leak-down test on page
Detailed in section
on page 171.
Calibration is detailed in a separate
calibration manual, enclosed with
the calibration tools.
General calibration information is
included in section
mation.
33.
3HAC026876-001 Revision: C
Removal
Location of
342.
Performing a
188.
Filling, oil, axis 6
Calibration infor-