NoteAction
Art. no. is specified in Required equip-
ment on page 260.
Make sure the o-ring on the circumference
of the motor is seated properly. Lightly lub-
ricate the o-ring with grease.
2
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
In order to release the brakes, connect the
24 VDC power supply.
3
Art. no. is specified in Required equip-
ment on page 260.
Fit the two guide pins in two of the motor
attachment holes.
4
Shown in the figure Location of motor on
page 260.
Make sure the motor pinion does not get
damaged!
Fit the motor with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
5
Art. no. is specified in Required equip-
ment on page 260.
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
6
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, that is the cables facing for-
wards.
xx0200000165
The rotation tool is used beneath the mo-
tor cover, directly on the motor shaft as
shown in figure above.
• A: Rotation tool.
Remove the guide pins.7
4 pcs: M8 x 25, tightening torque: 24 Nm.Secure the motor with four attachment
screws and plain washers.
8
Disconnect the brake release voltage.9
Reconnect all connectors beneath the motor
cover.
10
Make sure the cover is tightly sealed!Refit the cover on top of the motor with its
four attachment screws.
11
Shown in the figure Location of motor on
page 260.
Refit the cable gland cover at the cable exit
with its two attachment screws.
12
Detailed in the section Performing a leak-
down test on page 178.
Perform a leak-down test if the gearbox has
been drained.
13
Refill the gearbox with oil if drained.14
Continues on next page
Product manual - IRB 6620 263
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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