ABB IRB 6620 Product Manual page 249

Removal, motor
The procedure below details how to remove the motor, axis 2.
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Product manual - IRB 6620
3HAC027151-001 Revision: T
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.
Action
Decide which calibration routine to
use, and take actions accordingly
prior to beginning the repair proced-
ure.
Secure the robot from collapsing
once the motor axis 2 is removed,
by following the procedure detailed
below:
• Move the lower arm as far
back as possible.
• Release the brakes on motor
axis 2 which will enable the
lower arm to rest on its
mechanical stop .
• The motor axis 2 can now be
replaced without securing the
robot in an overhead crane.
DANGER
Turn off all:
• electric power supply to the
robot
• hydraulic pressure supply to
the robot
• air pressure supply to the ro-
bot
Before entering the robot working
area.
Drain the oil from gearbox, axis 2.
Remove the cover on top of the mo-
tor by unscrewing its four attach-
ment screws.
© Copyright 2006-2018 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
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
routine on page 320.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Releasing brakes are detailed in section
releasing the brakes on page
Detailed in the section Changing oil, axis-2 gear-
box on page 154.
Continues on next page
4 Repair
Continued
Reference calibration
Manually
79.
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