ABB IRB 6620 Product Manual page 240

4 Repair
4.6.1 Replacement of motor, axis 1
Continued
4
5
6
7
8
9
10
11
Refitting, motor axis 1
The procedure below details how to refit motor, axis 1.
1
2
3
Continues on next page
240
Action
Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Note
Make sure the gasket is not damaged!
Disconnect all connectors beneath the motor cover.
Apply lifting tool, motor axis 1, 4, 5 to the motor.
In order to release the brakes, connect the 24 VDC
power supply.
Remove the motor by unscrewing its four attach-
ment screws and plain washers.
CAUTION
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Remove the motor by gently lifting it straight up.
Action
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.
Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-
ring with grease.
CAUTION
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
© Copyright 2006-2020 ABB. All rights reserved.
Note
xx0200000199
• A: Cable gland cover
Art. no. is specified in Required
equipment on page 238.
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Shown in the figure Location of
motor on page 237.
Note
Art no. is specified in Required
equipment on page 238.
Product manual - IRB 6620
3HAC027151-001 Revision: W