ABB IRB 6620 Product Manual page 252

4 Repair
4.6.2 Replacement of motor axis 2
Continued
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252
Action
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to
the gear of gearbox axis 2 and that it does
not get damaged.
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.
Perform a leak down test.
Refill the gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2006-2018 ABB. All rights reserved.
Note
Art. no. is specified in
ment on page
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in the figure above.
• A: Rotation tool
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 342
Connect in accordance with markings
on connectors.
Shown in the figure
on page 247.
Make sure the cover is tightly sealed!
Detailed in
on page 178.
Detailed in the section
axis-2 gearbox on page
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 319.
General calibration information is in-
cluded in section
page 305.
First test run
27.
Required equip-
247.
before fitting.
Location of motor
Performing a leak-down test
Changing oil,
154.
Calibrat-
Calibration on
Product manual - IRB 6620
3HAC027151-001 Revision: T