4 Repair
4.6.6. Replacement of motor, axis 6, IRB 6620/Foundry Plus
3HAC027151-001 Revision: B224
© Copyright 2006-2008 ABB. All rights reserved.
4. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
5. Remove the guide pins.
6. Secure the motor with its four attachment screws
and plain washers.
4 pcs: M8 x 25, tightening torque: 24
Nm.
7. Disconnect the brake release voltage.
8. Reconnect all connectors beneath the motor
cover.
9. Refit the cover on top of the motor with its five
attachment screws.
Make sure the cover is tightly sealed!
10. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration infor-
mation.
11.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page 33.
Action Note
Continued
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