NoteAction
Art. no. is specified in Required equip-
ment on page 247.
xx0200000165
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to
the gear of gearbox axis 2 and that it does
not get damaged.
9
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in the figure above.
• A: Rotation tool
Remove the guide pins.10
M10 x 40, tightening torque: 50 Nm.Secure the motor with four attachment screws
and plain washers.
11
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 342 before fitting.
Disconnect the brake release voltage.12
Connect in accordance with markings
on connectors.
Reconnect all connectors beneath the motor
cover.
13
Shown in the figure Location of motor
on page 247.
Refit the cable gland cover at the cable exit
with its two attachment screws.
14
Make sure the cover is tightly sealed!Refit the cover on top of the motor with its
four attachment screws.
15
Detailed in Performing a leak-down test
on page 178.
Perform a leak down test.16
Detailed in the section Changing oil,
axis-2 gearbox on page 154.
Refill the gearbox with oil.17
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Recalibrate the robot.18
Axis Calibration is described in Calibrat-
ing with Axis Calibration method on
page 319.
General calibration information is in-
cluded in section Calibration on
page 305.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 27.
19
252 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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