ABB IRB 6620 Product Manual page 241

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Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Apply the lifting tool, motor axis 1, 4, 5 to the motor.
In order to release the brake, connect the 24 VDC
power supply.
Fit the motor, making sure the motor pinion is
properly mated to gearbox of axis 1.
Fit the clutch on the pinion on the motor.
Secure the motor with its 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 motor cover with its four attachment
screws.
Recalibrate the robot!
DANGER
Make sure all safety requirements are met when
performing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
4.6.1 Replacement of motor, axis 1
Note
Art no. is specified in
equipment on page
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Make sure the motor is turned the
correct way, that is connection of
motorcable as shown in the figure
Location of motor on page
Make sure the motor pinion does
not get damaged!
M10 x 40, tightening torque: 50
Nm.
Make sure the cover is tightly
sealed!
Make sure the cover is tightly
sealed!
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the calib-
ration tools.
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 311.
General calibration information is
included in section Calibration on
page 299.
4 Repair
Continued
Required
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