4 Repair
4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus
3HAC026876-001 Revision: C336
© Copyright 2006-2008 ABB. All rights reserved.
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 Upper arm
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID) on page 409 .
xx0700000126
Required equipment
A Gearbox, axis 6
B Motor, axis 6
C Attachment screws (4 pcs)
Equipment, etc. Spare part no. Art. no. Note
Motor including pinion 3HAC15991-4 Includes:
• motor
•pinion
• o-ring 21522012-430
O-ring 21522012-430 Must be replaced when reas-
sembling motor!
Brush - Option Foundry Prime
Mercasol 3106 3HAC026621-001 Option Foundry Prime
Sikaflex 521FC 3HAC026759-001 Option Foundry Prime
Loctite 574
Loctite 480
Gasket 3HAC12877-1 Must be replaced when
replacing motor
Removal tool, motor
M10x
3HAC14972-1 Always use the removal tools
in pairs!
Guide pins M8 x 100 3HAC15520-1 For guiding the motor.
Guide pins M8 x 150 3HAC15520-2 For guiding the motor.
Power supply - 24 VDC, 1.5 A
For releasing the brakes.
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