ABB IRB 6620 Product Manual page 267

Removal, motor, axis 5
The procedure below details how to remove motor, axis 5.
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Product manual - IRB 6620
3HAC027151-001 Revision: T
4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX
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 upper arm
is parallel to the floor and the side of the wrist
unit, where motor axis 5 is placed, is facing up.
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 cover on the wrist unit by removing
its attachment screws.
Note
Make sure not to lose the washers placed in the
holes of the foundry gasket.
Remove the metal clamp securing the cable har-
ness.
Remove the cable gland cover at the cable exit
by unscrewing its two attachment screws.
Remove the cover on top of the motor by unscrew-
ing its four attachment screws.
Disconnect all connectors beneath the motor
cover and remove the cable of the axis-5 motor.
Pull the cable harness out of the upper arm a
little, far enough to make room for removal of the
motor.
In order to release the brake, connect the 24 VDC
power supply.
Remove the motor by unscrewing its four attach-
ment screws and plain washers.
Fit the two guide pins in two of the motor attach-
ment screw holes.
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
Continued
Note
xx1400002580
Shown in the figure in section
tion of motor on page 265.
Shown in the figure in section
tion of motor on page 265.
Shown in the figure in the section
Location of motor on page
Connect to:
- connector R2.MP5 (in the motor):
• + : pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 265.
Continues on next page
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