4 Repair4.6.8. Replacement of motor, axis 6, IRB 6640ID3HAC026876-001 Revision: C342© Copyright 2006-2008 ABB. All rights reserved.4.6.8. Replacement of motor, axis 6, IRB 6640IDLocation of motor, axis 6The motor of axis 6 is located on top of the wrist, when axis 4 is placed in calibration position.xx0500001574Required equipmentA Motor, axis 6B Motor connectors, R3.MP6 and R3.FB6C Wrist side with axis 6 gearbox insideEquipment Spare part no. Art. no. NoteMotor 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 AFor releasing the brakes.Allen key and socket - A specific length is required foraccessing the attachmentscrews of the motor. Thedimensions are shown in thefigure Removal tools, motorattachment screws on page334.Standard toolkit - The content is defined insection Standard toolkit onpage 394.Other tools andprocedures may berequired. Seereferences to theseprocedures in the step-by-step instructionsbelow.These procedures includereferences to the toolsrequired.Continues on next page
