ABB IRB 6620LX Product Manual page 263

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Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX
Action
If required, press the motor out of position by fit-
ting removal tool, motor, M10 to the motor attach-
ment 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 lubricate
the o-ring with grease.
In order to release the brake, connect the 24
VDC power supply.
Fit the two guide pins in two of the motor attach-
ment holes.
Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of axis 5.
Secure the motor with four attachment screws
and plain washers.
Disconnect the brake release voltage.
Refit the cable of the axis-5 motor and recon-
nect all connectors beneath the motor cover.
Refit the cover on top of the motor with its four
attachment screws.
Refit the cable gland cover at the cable exit
with its two attachment screws.
Refit the metal clamp securing the cable har-
ness.
Perform a leak-down test.
Standard
Refit the cover of the wrist unit with its attach-
ment screws.
© Copyright 2009-2018 ABB. All rights reserved.
Note
Art. no. is specified in Required
equipment on page 260.
Always use the removal tools in
pairs and diagonally!
Make sure the motor pinion is not
damaged!
Keep track of the shims between the
motor flange and the wrist housing.
Note
Art. no. is specified in Required equip-
ment on page 260.
Connect to:
- connector R2.MP5 (in the motor):
• + : pin 2
• -: pin 5
Art. no. is specified in Required equip-
ment on page 260.
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Shown in the figure in the section
ation of motor on page 260.
Detailed in the section Performing a
leak-down test on page 178.
Continues on next page
4 Repair
Continued
Loc-
263