NoteAction
Art. no. is specified in Required
equipment on page 270.
Fit the two guide pins in two of the motor attach-
ment holes.
3
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
4
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
Remove the guide pins.5
4 pcs: M8 x 25, tightening torque: 24
Nm.
Secure the motor with its four attachment screws
and plain washers.
6
Disconnect the brake release voltage.7
Reconnect all connectors beneath the motor
cover.
8
Make sure the cover is tightly sealed!Refit the cover on top of the motor with its five
attachment screws.
9
Pendulum Calibration is described in
Operating manual - Calibration Pen-
dulum, enclosed with the calibration
tools.
Re-calibrate the robot.10
Axis Calibration is described in Calib-
rating with Axis Calibration method
on page 319.
General calibration information is in-
cluded in section Calibration on
page 305.
Continues on next page
274 Product manual - IRB 6620
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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