Product Overview

The ABB 3HAC10602-2​ is the servo motor assembly for Axis 4 and Axis 6​ of ABB’s IRB 2400​ mid-size 6-axis manipulator — the “workhorse” robot ABB shipped in volume from the early 2000s through the IRC5 generation, rated 12–20 kg payload (IRB 2400-10 / -16), 1.55 m reach, targeted at arc welding, deburring/grinding, glueing/sealing, machine tending, and Foundry Plus (IP67 washdown). In the IRB 2400 kinematic chain: Axis 4 = wrist roll​ (rotates the wrist assembly around the forearm axis, ±400° working / unlimited with option), Axis 6 = tool-flange roll​ (the final axis at the tool mount, ±800° working / unlimited with option). Both axes sit in the wrist housing​ (the cast-aluminum cluster at the end of the forearm), and ABB designed them to share the same motor PN​ (3HAC10602-2) — the gearbox ratios differ​ (axis 4 gearbox = 3HAC10604-2 class, axis 6 gearbox = 3HAC10605-2 class) but the motor frame, windings, resolver, brake, and connector are identical. That shared-PN is the spare-buyer’s win: one ABB 3HAC10602-2​ cold-spare covers both wrist-rotation axes on every IRB 2400 in the plant (a cell with 4× IRB 2400 has 8 wrist-motor positions = 4× A4 + 4× A6, all use the same ABB 3HAC10602-2).The ABB 3HAC10602-2​ is a 3-phase permanent-magnet synchronous motor (PMSM)​ in ABB’s small wrist-motor frame (roughly M16/M23 class), powered from the IRB 2400’s main drive bus — the robot’s supply is 200–600 V AC 50/60 Hz (single/3-phase), the drive module (S4C+ SMB or IRC5 UMIB-01) rectifies to ~270 V DC link, and the ABB 3HAC10602-2​ sees ~195 V AC line-to-line equivalent on its U/V/W terminals. The motor carries:

• Spring-applied parking brake​ (power-off = brake engaged, holds the wrist axis against gravity — axis 4 brake prevents the wrist flopping when the robot powers down; axis 6 brake prevents the tool flange rotating)
• Resolver​ (AU class, integrated, provides commutation + position feedback to the drive — ABB robot motors don’t use incremental encoders on the wrist, resolver is rugged against vibration/dust)
• Thermal protector​ (KV class, wired back to the drive’s motor-temp input — if the ABB 3HAC10602-2​ overheats (>~130 °C winding), the drive trips “Motor Overtemp”)
• Round wrist connector​ (ABB proprietary, 12-pin or 19-pin class, carries U/V/W + brake + resolver + temp sensor — the same connector style across IRB 2400/2600/4600 wrist motors, keyed so A4/A6 motor plugs into either axis’s wrist harness)

The ABB 3HAC10602-2​ bolts to the axis 4 or axis 6 gearbox input flange​ inside the wrist housing — motor shaft is splined (or keyed, sub-rev dependent) into the gearbox input sun gear. The motor + gearbox together = the “axis 4 assy” or “axis 6 assy” that the robot sees; for spare-parts, ABB sells them separately​ (motor = 3HAC10602-2, gearbox = 3HAC10604-2 / 3HAC10605-2) — a common BOM error is ordering “axis 4 motor” when the fault is actually the axis 4 gearbox (backlash, snapped gear tooth from crash), or vice versa. The ABB 3HAC10602-2​ motor fails via: (a) resolver wiring fatigue (wrist flexes 400° continuously, the resolver leads in the wrist harness flex with it — 10–12 year horizon, the harness/resolver pigtail is the first thing to break, not the motor windings), (b) brake coil open (spring-applied brake has a 24 V DC release coil, coil can open after 15k+ engage/disengage cycles), (c) winding insulation drift (270 V DC bus switching, 10–15 year horizon in 3-shift welding). Swapping the ABB 3HAC10602-2​ requires opening the IRB 2400 wrist housing (4–6 Torx bolts, the wrist cover is cast aluminum, IP54 gasket), disconnecting the round connector, unbolting the motor from the gearbox flange (3–4 M5/M6 bolts, don’t lose the spline alignment), and seating the new motor — the robot then needs a calibration​ (RobotWare “Calibrate Axis 4/6” or full wrist calibration) because the resolver zero on the new motor won’t match the old one’s mechanical index. The IRB 2400’s RobotWare stores the resolver offset per axis in the ros/calib file — after motor swap, load the calibration routine, jog axis 4/6 to the calibration mark (mechanical pin on the wrist), teach the mark, RobotWare computes the new offset. ~20–30 min per axis including the wrist open/close. For MRO teams, the ABB 3HAC10602-2​ is an A-class spare: IRB 2400 weld cells run 3-shift in auto, a wrist-motor fault (resolver loss → “Axis 4 Comm Error” or “Motor Overtemp”) stops the cell — stock 1× ABB 3HAC10602-2​ per 4–5 IRB 2400 units (covers 8–10 motor positions across A4+A6), plus 1× axis 4 gearbox + 1× axis 6 gearbox per 6–8 units (gearbox fails more often than motor in crash-prone cells — welding spatter gets in the wrist seals, contaminates gearbox grease, increases backlash).

⚠️ Reseller noise: Listings claiming “48 V DC / 1.2 Nm / EtherCAT” for 3HAC10602-2 are wrong​ — that’s a different ABB PN mis-matched. 3HAC = ABB Robotics Västerås; IRB 2400 = 270 V DC bus robot; wrist motor = 230 V AC class, resolver, ~12/8 Nm cont. Trust the / cluster (230 V, 12+8 / 32+28 Nm, IP54, 4.2 kg) as the grounded posture.

Technical Specifications