Repairs Axis 3
Product Manual IRB 640 27
4 Axis 3
4.1 Replacing motor
Refer to foldout 5.
Dismounting:
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any
way, as this could give rise to an incorrect air gap in the brake.
1. Lower the balancing weight to its lowest position and secure axis 3 with a
hoist, or mount two extra mechanical stops on each side of the moving stop
on axis 3, to lock the movement of axis 3.
Danger! Be careful! Make sure that the balancing weight or the upper arm are
locked in their positions and that they cannot move when the motor with brake is
dismounted.
2. Unscrew the 3 screws on the top of motor 3. Remove the cover.
3. Unscrew the 4 cable inlet cover screws.
4. Disconnect connectors R3.MP3 and R3.FB3.
5. Attach a hoist to the motor. The weight of the motor is 17 kg.
6. Unscrew the screws <1.31> for the motor.
7. Pull out the motor.
8. Loosen screw <1.30> and mount a screw with a length of 150 mm and pull off
the gear with a puller.
Mounting:
9. Mount a fully threaded pin in the motor shaft and press the gear on to the shaft
with a nut and washer. Mount screw <1.30> through the gear, torque 70 Nm,
Loctite 243.
This is to avoid axial force through the bearings in the motor.
10. Ensure that the assembly surfaces are clean and unscratched.
11. Mount O-ring <1.28>, applying some grease.
12. Mount motor, lubricate screws <1.31> with Molycote 1000 and tighten to
torque 50 Nm.
Do not forget to remove the two extra mechanical stops, if they are used.
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