ABB IRB 6620 Product Manual page 245

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Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Remove the cable gland cover at the
cable exit by unscrewing its two at-
tachment screws.
Disconnect all connectors beneath
the motor cover.
DANGER
Secure the weight of the lower arm
properly before releasing the brakes
of motor, axis 2!
When releasing the holding brakes
of the motor, the lower arm will be
movable and may fall down!
In order to release the brake, con-
nect the 24 VDC power supply.
Remove the motor by unscrewing
its four attachment screws and plain
washers.
Fit the two guide pins in two of the
motor attachment holes.
If required, press the motor out of
position by fitting the removal tool,
motor to the remaining motor attach-
ment holes.
Remove the removal tools and fit the
lifting tool, motor axis 2, 3, 4 to the
motor.
CAUTION
The motor weighs 38 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 place it on a se-
cure surface. Disconnect the brake
release voltage.
© Copyright 2006-2020 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
Note
Shown in the figure Location of motor on page
Make sure the gasket is not damaged!
Use the lock screw to lock the lower arm, as de-
tailed above!
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
Art. no. is specified in Required equipment on
page 242.
Shown in the figure Location of motor on page
Art. no. is specified in Required equipment on
page 242.
Shown in the figure Location of motor on page
Always use the removal tools in pairs!
Art. no. is specified in Required equipment on
page 242.
Make sure the motor pinion does not get dam-
aged!
Continues on next page
4 Repair
Continued
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