ABB IRB 6620 Product Manual page 255

Removal, motor
The procedure below details how to remove motor, axis 3.
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2
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Product manual - IRB 6620
3HAC027151-001 Revision: T
Action
Decide which calibration routine to
use, and take actions accordingly
prior to beginning the repair proced-
ure.
Move the robot to the position
shown in the figure.
This is done in order to drain all oil
from the gearbox axis 3.
Drain the oil from gearbox axis 3.
Secure the robot from collapsing
once the motor axis 3 is removed,
by following the procedure detailed
below:
• Move the lower arm as far
back as possible.
• Release the brakes on motor
axis 2 and let the lower arm
rest on its mechanical stop.
• Also release the brakes on
motor axis 3 and let the up-
per arm rest on its mechanic-
al stop.
• The lower and upper arms
now rests on their respective
mechanical stops. The motor
axis 3 can now be replaced
without securing the armsys-
tem in an overhead crane.
© Copyright 2006-2018 ABB. All rights reserved.
4.6.3 Replacement of motor, axis 3
Note
xx0600003041
Detailed in the section Changing oil, axis-3 gear-
box on page 157.
Detailed in the section Manually releasing the
brakes on page 79.
Continues on next page
4 Repair
Continued
255