NoteArt. no.Spare part no.Equipment, etc.
Always use the removal tools
in pairs!
3HAC14972-1Removal tool, motor
M10x
3HAC12342-1Extension bar 300 mm
for bits 1/2"
For guiding the motor.3HAC15520-1Guide pins M8 x 100
For guiding the motor.3HAC15520-2Guide pins M8 x 150
24 VDC, 1.5 A-Power supply
For releasing the brakes.
For lubricating the o-ring.3HAB3537-1Grease
Option Foundry Plus12340011-116Loctite 574, Flange
sealant
Content is defined in section
Standard tools on page 346.
-Standard toolkit
Complete kit that also in-
cludes operating manual.
3HAC15716-1Calibration Pendulum
toolkit
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box,
Axis Calibration
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
See chapter Circuit diagram
on page 353.
-Circuit diagram
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
NoteAction
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 6620 271
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.6 Replacement of motor, axis 6
Continued
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