4 Repair
4.6.6. Replacement of motor, axis 5, IRB 6640ID
3533HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
2. Make sure the o-ring on the circumference of the
motor is seated properly. Replace it if damaged.
Lightly lubricate the o-ring with grease.
Article numbers are specified in
Required equipment on page 351.
3. In order to release the brakes, connect the 24
VDC power supply to the motor.
Connect to connector R3.MP5:
• + : pin C
• - : pin D
4. Fit the motor, making sure the motor pinion is
properly mated to the gear of axis 5.
5. Secure the motor with the three attachment
screws and washers.
3 pcs: M8x25. Tightening torque: 24
Nm.
Dimensions of the tools are specified
in the figure Removal tools, motor
attachment screws on page 352.
6. Disconnect the brake release and reconnect the
motor connectors.
Shown in the figure Location of
motor, axis 5 on page 351.
7. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 196.
8. Refill the axis 5 gearbox with oil, if previously
drained.
Filling is detailed in section Filling, oil,
axis 5 on page 179.
9. Recalibrate the robot. Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
10.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run
may cause injury or damage! on page 41.
Continued
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