ABB IRB 6620 - Replacement of Motor, Axis 4

4.6.4 Replacement of motor, axis 4
Location of motor
The motor axis 4 is located on the left-hand side of the upper arm as shown in the
figure below.
xx0600003050
Cable gland cover, motor axis 4A
Motor, axis 4B
Motor attachment holes (4 pcs)C
Required equipment
NoteArt. no.Equipment, etc.
Includes:
• motor
• pinion
• o-ring 21522012-430
See spare part number
in Spare part lists on
page 351.
Motor including pinion
Must be replaced when reas-
sembling motor!
21522012-430O-ring
Used to lubricate the o-ring.3HAB3537-1Grease
Option Foundry Plus12340011-116Loctite 574, Flange sealant
For guiding the motor.3HAC15520-1Guide pins M8 x 100
For guiding the motor.3HAC15520-2Guide pins M8 x 150
Used to rotate the motor pinion
when mating it to the gear when
brakes are released with 24 VDC
power supply.
3HAC17105-1Rotation tool
24 VDC, max. 1,5 A-Power supply
For releasing the brakes.
Content is defined in section
Standard tools on page 346.
-Standard toolkit
Continues on next page
260 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.4 Replacement of motor, axis 4