ABB IRB 6620, Product Manual

Page: 273 / 360

Note Action
xx0600003038
Remove the motor by unscrewing its four attach-
ment screws and plain washers. 7
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws (4
pcs)
Art. no. is specified in Required
equipment on page 270 .
If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
8
Always use the removal tools in
pairs!
Make sure the motor pinion is not
damaged! Lift the motor carefully to get the pinion away from
the gear and disconnect the brake release voltage. 9
Remove the motor by gently lifting it straight out. 10
Refitting, motor
The procedure below details how to refit motor, axis 6.
Note
Robots with protection type Foundry Plus or Foundry Prime require special repair
routines to maintain the tightness level, in addition to the procedure below,
described in
Replacement of the motor axis 6 (Foundry Plus) on page 275 .
Note Action
Art. no. is specified in Required
equipment on page 270 .
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with
grease.
1
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
In order to release the brake, connect the 24
VDC power supply. 2
Continues on next page
Product manual - IRB 6620 273
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.6 Replacement of motor, axis 6
Continued