ABB IRB 6620LX Product Manual page 257

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Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Remove the cable gland cover at the cable
exit of the motor by unscrewing its two at-
tachment screws.
Remove the cover on top of the motor by
unscrewing its four attachment screws.
Disconnect all connectors beneath the motor
cover.
In order to release the brake, connect the
24 VDC power supply.
Unscrew the motors four attachment screws
and plain washers.
Fit the two guide pins in two of the motor
attachment screw holes.
If required, press the motor out of position
by fitting removal tool, motor to the motor
attachment screw holes.
Lift the motor to get the pinion away from
the gear and disconnect the brake release
voltage.
Remove the motor by gently lifting it straight
out.
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Make sure the o-ring on the circumference
of the motor is seated properly. Lightly lub-
ricate the o-ring with grease.
In order to release the brakes, connect the
24 VDC power supply.
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4.6.4 Replacement of motor, axis 4
Note
Shown in the figure Location of motor on
page 255.
Make sure the gasket is not damaged!
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
Shown in the figure Location of motor on
page 255.
Art. no. is specified in Required equipment
on page 255.
Always use the removal tools in pairs!
Make sure the motor pinion is not dam-
aged!
Note
Art. no. is specified in Required equip-
ment on page 255.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Continues on next page
4 Repair
Continued
257