ABB IRB 6620 Product Manual page 266

4 Repair
4.6.6 Replacement of motor, axis 6
Continued
Equipment, etc.
Removal tool, motor
M10x
Extension bar 300 mm
for bits 1/2"
Guide pins M8 x 100
Guide pins M8 x 150
Power supply
Grease
Loctite 574, Flange
sealant
Standard toolkit
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
Circuit diagram
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Continues on next page
266
Spare part no.
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
© Copyright 2006-2020 ABB. All rights reserved.
Art. no. Note
3HAC14972-1 Always use the removal tools
in pairs!
3HAC12342-1
3HAC15520-1 For guiding the motor.
3HAC15520-2 For guiding the motor.
- 24 VDC, 1.5 A
For releasing the brakes.
3HAC042536- For lubricating the o-ring.
001
12340011-116 Option Foundry Plus
- Content is defined in section
Standard tools on page
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
3HAC055412- Delivered as a set of calibra-
001 tion tools.
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
- See chapter
on page
Note
Product manual - IRB 6620
3HAC027151-001 Revision: W
340.
Circuit diagram
347.