4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6640ID
3HAC026876-001 Revision: C342
© Copyright 2006-2008 ABB. All rights reserved.
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.
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Required equipment
A Motor, axis 6
B Motor connectors, R3.MP6 and R3.FB6
C Wrist side with axis 6 gearbox inside
Equipment Spare part no. Art. no. Note
Motor including pinion 3HAC023746-003 Includes o-ring 3HAB 3772-22.
Grease 3HAB 3537-1 For lubricating the o-ring.
Power supply - 24 VDC, 1.5 A
For releasing the brakes.
Allen key and socket - 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.
Standard toolkit - The content is defined in
section Standard toolkit on
page 394.
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
These procedures include
references to the tools
required.
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