ABB IRB 6620 Product Manual page 256

4 Repair
4.6.3 Replacement of motor, axis 3
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Action
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.
Remove any equipment hindering
access to motor axis 3.
Remove the cover on top of the
motor by unscrewing its four attach-
ment screws.
Remove the cable gland cover at
the cable exit by unscrewing its two
securing screws.
Disconnect all connectors beneath
the motor cover.
Unscrew the motors four attachment
screws and plain washers .
Fit the two guide pins in two of the
motor attachment screw holes.
Press the motor out of position by
fitting removal tool, motor to the re-
maining motor attachment screw
holes.
Apply the lifting tool, motor axis 2
,3, 4 to the motor.
CAUTION
The motor weighs 25 kg! All lifting
equipment used must be sized ac-
cordingly!
Lift the motor to get the pinion away
from the gear.
Remove the motor by gently lifting
it straight out and disconnect the
brake release voltage.
© Copyright 2006-2018 ABB. All rights reserved.
Note
Shown in the figure Location of motor on page
Make sure the gasket is not damaged!
Shown in the figure Location of motor on page
Art. no. is specified in Required equipment on
page 253.
Art. no. is specified in Required equipment on
page 253.
Always use the removal tools in pairs!
Art. no. is specified in Required equipment on
page 253.
Make sure the motor pinion is not damaged!
Product manual - IRB 6620
3HAC027151-001 Revision: T
253.
253.