ABB IRB 6620 Product Manual page 247

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Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to
the gear of gearbox axis 2 and that it does
not get damaged.
Remove the guide pins.
Secure the motor with 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 cover on top of the motor with its
four attachment screws.
Perform a leak down test.
Refill the gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
Note
Art. no. is specified in Required equip-
ment on page 242.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in the figure above.
• A: Rotation tool
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 336
Connect in accordance with markings
on connectors.
Shown in the figure Location of motor
on page 242.
Make sure the cover is tightly sealed!
Detailed in Performing a leak-down test
on page 172.
Detailed in the section Changing oil,
axis-2 gearbox on page 150.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 311.
General calibration information is in-
cluded in section Calibration on
page 299.
4 Repair
Continued
before fitting.
Calibrat-
247