4 Repair
4.6.7. Replacement of motor, axis 6, IRB 6640
3HAC026876-001 Revision: F354
© Copyright 2007-2010 ABB. All rights reserved.
4.6.7. Replacement of motor, axis 6, IRB 6640
Replacement of motor axis 6 for Foundry Prime
For replacement of motor axis 6 on robots with option Foundry Prime, see Replacement of
motor axis 6 - Option Foundry Prime, 3HAC037959-013 (available on ABB Library).
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) .
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 See Spare parts Includes:
• motor
•pinion
• o-ring 21522012-430
O-ring 21522012-430 Must be replaced when reas-
sembling motor!
Gasket 3HAC033206-001 Must be replaced when
replacing motor
Gasket, cover 3HAC033489-001 Must be replaced when
opening cover.
Removal tool, motor
M10x
3HAC14972-1 Always use the removal tools
in pairs!
Extension 300mm for
bits 1/2"
3HAC12342-1
Guide pins M8 x 100 3HAC15520-1 For guiding the motor.
Guide pins M8 x 150 3HAC15520-2 For guiding the motor.
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