ABB IRB 6620 Product Manual page 269

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Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Fit the two guide pins in two of the motor attach-
ment holes.
Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
Remove the guide pins.
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 cover on top of the motor with its five
attachment screws.
Re-calibrate the robot.
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4.6.6 Replacement of motor, axis 6
Note
Art. no. is specified in Required
equipment on page 265.
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
4 pcs: M8 x 25, tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Pendulum Calibration is described in
Operating manual - Calibration Pen-
dulum, enclosed with the calibration
tools.
Axis Calibration is described in
rating with Axis Calibration method
on page 311.
General calibration information is in-
cluded in section Calibration on
page 299.
Continues on next page
4 Repair
Continued
Calib-
269