NoteAction
Draining of oil is described in section
Draining, oil on page 160.
Move the robot to a position where the upper
arm is pointed straight up.
This position enables the motor to be re-
placed without draining the gear oil, which
in turn saves time.
2
Any other position of the upper arm requires
a draining of oil from the gearbox for axis 4.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
3
Shown in the figure Location of motor on
page 260.
Remove the cable gland cover at the cable
exit of the motor by unscrewing its two at-
tachment screws.
4
Make sure the gasket is not damaged!
Remove the cover on top of the motor by
unscrewing its four attachment screws.
5
Disconnect all connectors beneath the motor
cover.
6
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
In order to release the brake, connect the
24 VDC power supply.
7
Shown in the figure Location of motor on
page 260.
Unscrew the motors four attachment screws
and plain washers.
8
Fit the two guide pins in two of the motor
attachment screw holes.
9
Art. no. is specified in Required equipment
on page 260.
If required, press the motor out of position
by fitting removal tool, motor to the motor
attachment screw holes.
10
Always use the removal tools in pairs!
Lift the motor to get the pinion away from
the gear and disconnect the brake release
voltage.
11
Make sure the motor pinion is not dam-
aged!
Remove the motor by gently lifting it straight
out.
12
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
NoteAction
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
1
Continues on next page
262 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
Continued
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