NoteAction
Shown in the figure Location of motor on page 247.Remove the cable gland cover at the
cable exit by unscrewing its two at-
tachment screws.
6
Make sure the gasket is not damaged!
Disconnect all connectors beneath
the motor cover.
7
Use the lock screw to lock the lower arm, as de-
tailed above!
DANGER
Secure the weight of the lower arm
properly before releasing the brakes
of motor, axis 2!
When releasing the holding brakes
of the motor, the lower arm will be
movable and may fall down!
8
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
In order to release the brake, con-
nect the 24 VDC power supply.
9
Remove the motor by unscrewing
its four attachment screws and plain
washers.
10
Art. no. is specified in Required equipment on
page 247.
Fit the two guide pins in two of the
motor attachment holes.
11
Shown in the figure Location of motor on page 247.
Art. no. is specified in Required equipment on
page 247.
If required, press the motor out of
position by fitting the removal tool,
motor to the remaining motor attach-
ment holes.
12
Shown in the figure Location of motor on page 247.
Always use the removal tools in pairs!
Art. no. is specified in Required equipment on
page 247.
Remove the removal tools and fit the
lifting tool, motor axis 2, 3, 4 to the
motor.
13
CAUTION
The motor weighs 38 kg! All lifting
equipment used must be sized ac-
cordingly!
14
Make sure the motor pinion does not get dam-
aged!
Lift the motor to get the pinion away
from the gear.
15
Remove the motor by gently lifting
it straight out and place it on a se-
cure surface. Disconnect the brake
release voltage.
16
Continues on next page
250 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.2 Replacement of motor axis 2
Continued
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