ABB IRB 6620 Product Manual page 258

4 Repair
4.6.4 Replacement of motor, axis 4
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258
Action
Make sure the o-ring on the circumference
of the motor is seated properly. Lightly lub-
ricate the o-ring with grease.
In order to release the brakes, connect the
24 VDC power supply.
Fit the two guide pins in two of the motor
attachment holes.
Fit the motor with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
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 cover on top of the motor with its
four attachment screws.
Refit the cable gland cover at the cable exit
with its two attachment screws.
Perform a leak-down test if the gearbox has
been drained.
Refill the gearbox with oil if drained.
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Note
Art. no. is specified in Required equip-
ment on page 255.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Art. no. is specified in Required equip-
ment on page 255.
Shown in the figure Location of motor on
page 255.
Make sure the motor pinion does not get
damaged!
Art. no. is specified in Required equip-
ment on page 255.
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, that is the cables facing for-
wards.
xx0200000165
The rotation tool is used beneath the mo-
tor cover, directly on the motor shaft as
shown in figure above.
• A: Rotation tool.
4 pcs: M8 x 25, tightening torque: 24 Nm.
Make sure the cover is tightly sealed!
Shown in the figure Location of motor on
page 255.
Detailed in the section Performing a leak-
down test on page 172.
Product manual - IRB 6620
3HAC027151-001 Revision: W