ABB IRB 6620LX Product Manual page 267

Removal, motor
The procedure below details how to remove the motor, axis 6.
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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Action
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Note
Robots with protection type Foundry Plus or Foundry Prime require special repair
routines to maintain the tightness level, in addition to the procedure below,
described in Replacement of the motor axis 6 (Foundry Plus) on page
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Move the robot to a position where the motor in
axis 6 is pointed straight up. This position enables
the motor to be replaced without draining the gear
oil, which in turn saves time.
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 rear motor cover by unscrewing the
five attachment screws.
Disconnect all connectors beneath the cover.
In order to release the brake, connect the 24 VDC
power supply.
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4.6.6 Replacement of motor, axis 6
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 321.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
Continues on next page
4 Repair
Continued
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