ABB IRB 6620LX Product Manual page 253

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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Action
Use the rotation tool in order to rotate the motor
pinion when mating it to the gear!
Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox, axis 3.
Remove the guide pins.
Secure the motor with four attachment screws
and plain washers.
Disconnect the brake release voltage.
Reconnect all connectors beneath the motor
cover.
Refit the cable gland cover at the cable exit with
its two attachment screws.
Refit the cover on top of the motor with its four
attachment screws.
Remove the equipment used to unload the upper
arm.
Perform a leak-down test.
Refill the gearbox with oil.
Recalibrate the robot!
© Copyright 2009-2018 ABB. All rights reserved.
4.6.3 Replacement of motor, axis 3
Note
Art no. is specified in
equipment on page 248.
Make sure the motor pinion does
not get damaged!
Make sure the motor is turned the
right direction, that is the cables fa-
cing forwards.
xx0200000165
The rotation tool is used beneath
the motor cover, directly on the mo-
tor shaft as shown in figure above.
• A: Rotation tool.
4 pcs: M10 x 40, tightening torque:
50 Nm.
Connect in accordance with mark-
ings on connectors.
Make sure the cover is tightly
sealed!
Shown in the figure Location of mo-
tor on page 248.
Make sure the cover is tightly
sealed!
Detailed in the section
a leak-down test on page
Detailed in the section
axis-3 gearbox on page
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the calib-
ration tools.
Axis Calibration is described in
ibrating with Axis Calibration meth-
od on page 320.
General calibration information is
included in section Calibration on
page 299.
Continues on next page
4 Repair
Continued
Required
Performing
178.
Changing oil,
152.
Cal-
253