ABB IRB 6620LX Product Manual page 240

4 Repair
4.6.1 Replacement of motor, axis 1
Continued
Refitting, axis-1 motor
Use the procedure below to refit the axis-1 motor.
1
2
3
4
5
240
Action
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
CAUTION
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
Position, adjust and lubricate the coupling on the
motor.
Install the motor as detailed in the service manual
for the gearbox.
Following is only additional information to the pro-
cedure given in the gearbox service manual.
• Fasten all motor attachment screws cross-
wise. Tightening torque 26 Nm.
Recalibrate the robot.
© Copyright 2009-2018 ABB. All rights reserved.
Note
For multi-tooth coupling, see Ser-
vice manual - Gearbox unit HPG
(Güdel).
For elastomer coupling, see Oper-
ating manual - Toploader (Güdel).
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the cal-
ibration tools.
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 320.
General calibration information is
included in section Calibration on
page 299.
Product manual - IRB 6620LX
3HAC035737-001 Revision: P