{"product_id":"abb-3hac029034-004-irb-4600-servo-motor-with-pinion-axis-4-6","title":"ABB 3HAC029034-004 IRB 4600 Servo Motor with Pinion Axis 4-6","description":"\u003cp\u003eThe \u003cstrong\u003eABB 3HAC029034-004\u003c\/strong\u003e, also cataloged as the \u003cstrong\u003e3HAC029034\u003c\/strong\u003e rotary AC servo motor with pinion, operates as a dedicated wrist-axis actuator executing closed-loop torque and position commands across IRB 4600 manipulator Axis 4, 5 and 6 under IRC5 drive control.\u003c\/p\u003e\n\u003ch3\u003eCatalog Number Decoding\u003c\/h3\u003e\n\u003cul\u003e\n\u003cli\u003e\n\u003cstrong\u003e3HAC\u003c\/strong\u003e: ABB Robotics hardware component prefix (drive\/motor\/teach pendant family)\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003e029034\u003c\/strong\u003e: Internal design index for IRB 4600 wrist-axis rotary motor, type C\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003e-004\u003c\/strong\u003e: Variant revision with integrated pinion, Axis 4-5-6 fitment\u003c\/li\u003e\n\u003cli\u003eSpare\/common-key form: \u003cstrong\u003e3HAC029034004\u003c\/strong\u003e (hyphen omitted)\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch3\u003eHardware Specifications\u003c\/h3\u003e\n\u003cfigure class=\"table\"\u003e\n\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth\u003eParameter\u003c\/th\u003e\n\u003cth\u003eSpecification\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eModel\u003c\/td\u003e\n\u003ctd\u003e3HAC029034-004\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eBrand\u003c\/td\u003e\n\u003ctd\u003eABB\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eOrigin\u003c\/td\u003e\n\u003ctd\u003eSweden\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight\u003c\/td\u003e\n\u003ctd\u003e7.68 kg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eShipping Dimensions\u003c\/td\u003e\n\u003ctd\u003e27.5 x 11 x 11 cm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eOperating Temp\u003c\/td\u003e\n\u003ctd\u003e0 to 40 deg C (manipulator ambient, per IRB 4600 bulletin)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePower Consumption\u003c\/td\u003e\n\u003ctd\u003eDriven by IRC5 servo amplifier; motor-side approx 200 W class, 48 VDC bus referenced\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor Type\u003c\/td\u003e\n\u003ctd\u003eRotary AC permanent-magnet servo with integrated pinion\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eNominal Torque (Tn)\u003c\/td\u003e\n\u003ctd\u003e3.5 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eAxis Fitment\u003c\/td\u003e\n\u003ctd\u003eIRB 4600 Axis 4, 5, 6 (wrist cluster)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eEncoder\u003c\/td\u003e\n\u003ctd\u003eAbsolute encoder, differential TTL feedback to SMB\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMechanical Interface\u003c\/td\u003e\n\u003ctd\u003eIntegrated pinion, mates to wrist gear train\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eProtection\u003c\/td\u003e\n\u003ctd\u003eIP67 wrist-side sealing (Foundry Protected variant)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003c\/figure\u003e\n\u003ch3\u003eIRC5 Drive Bus Coupling and Firmware Flash Rules\u003c\/h3\u003e\n\u003cp\u003eThe 3HAC029034-004 receives PWM power from an IRC5 axis drive module (e.g. 3HAC024488-001 class) over shielded motor cable with separate encoder return. Position loop closes in the IRC5 Axis Computer (SMB\/DSQC 377A chain) at 4 kHz current loop, 250 micros velocity loop. Firmware is not field-flashing on the motor—encoder calibration data is stored in the manipulator SMB EEPROM; swapping motor without transferring SMB backup forces a fine-calibration routine (FlexCal) before motion release. I\/O density scaling does not apply; each motor is 1:1 mapped to Axis 4\/5\/6 in the robot configuration file. EtherNet\/IP or Profinet licenses reside in the controller, not the motor. Backplane bus velocity licence is irrelevant—this is a rotating actuator, not a rack module.\u003c\/p\u003e\n\u003ch3\u003eOrdering Info\u003c\/h3\u003e\n\u003cul\u003e\n\u003cli\u003e1 x 3HAC029034-004 rotary AC servo motor with pinion (Axis 4-5-6, IRB 4600)\u003c\/li\u003e\n\u003cli\u003e1 x Integrated absolute encoder header (pre-assembled)\u003c\/li\u003e\n\u003cli\u003e1 x O-ring and pinion retention circlip set (pre-fitted)\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch3\u003eManipulator Mounting and Cable Rules\u003c\/h3\u003e\n\u003cul\u003e\n\u003cli\u003eSeat motor into wrist housing with M5 cap screws, torque 4.5 N·m; verify pinion mesh backlash \u0026lt; 1 arc-min before closing cover.\u003c\/li\u003e\n\u003cli\u003eRoute motor power and encoder cables in separate spiral conduit; minimum bend radius 10 x cable diameter.\u003c\/li\u003e\n\u003cli\u003eShield braid of encoder cable terminates to SMB shell only, never to wrist ground strap twice (no ground loop).\u003c\/li\u003e\n\u003cli\u003ePerform SMB backup (Backup\/RAPID + SYSID) before mechanical removal; restore after fitment or run FineCal.\u003c\/li\u003e\n\u003cli\u003eDo not power IRC5 drive with motor disconnected—uncommutated phase fault trips F8042 and latches SMB.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch3\u003eFrequently Asked Questions\u003c\/h3\u003e\n\u003cp\u003eQ: Can the 3HAC029034-004 be fitted to IRB 6600 or IRB 1600 wrist?\u003c\/p\u003e\n\u003cp\u003eA: No. Pinion tooth count and shaft flange match IRB 4600 Axis 4-6 only. Forcing fit on IRB 6600 strips the gear train; on IRB 1600 the housing bolt circle is 82 mm vs 95 mm.\u003c\/p\u003e\n\u003cp\u003eQ: Is the integrated pinion replaceable separately from the motor?\u003c\/p\u003e\n\u003cp\u003eA: No. Pinion is pressed on the rotor shaft and retained by circlip at factory. Field pressing damages encoder magnet ring; ABB ships only the complete motor assembly.\u003c\/p\u003e\n\u003cp\u003eQ: What happens if SMB EEPROM is not backed up before swap?\u003c\/p\u003e\n\u003cp\u003eA: New motor boots with zero encoder offset. IRC5 reports \"Robot not calibrated\" and blocks motion. FineCal (3-point per axis) or restoring SMB backup is mandatory before jogging.\u003c\/p\u003e\n\u003cp\u003eQ: Does the motor contain a brake?\u003c\/p\u003e\n\u003cp\u003eA: Axis 4-6 wrist motors on IRB 4600 use gravity-held gearing; no spring-applied brake is fitted on 3HAC029034-004. Axis 1-3 carry brakes, not this unit.\u003c\/p\u003e\n\u003cp\u003eQ: What is the encoder signal level cited as 1.5 V?\u003c\/p\u003e\n\u003cp\u003eA: 1.5 V is the differential TTL logic high of the absolute encoder feedback, not motor supply. Motor commutates on 48 VDC-class drive bus; confusing the two misdiagnoses cable wear as controller fault.\u003c\/p\u003e\n\u003cp\u003eQ: Can the motor run on a non-ABB drive (e.g. third-party servo)?\u003c\/p\u003e\n\u003cp\u003eA: Physically yes with matched winding, but IRC5 absolute encoder protocol (serial Hiperface-class) is not open. Third-party drive loses homing and FineCal path; not supported.\u003c\/p\u003e\n\u003cp\u003eQ: What is the nominal torque and how is it coupled?\u003c\/p\u003e\n\u003cp\u003eA: Tn = 3.5 Nm at motor shaft, multiplied by wrist gear ratio (~50:1 on Axis 5) to ~170 Nm joint torque. Pinion drives the wrist annulus directly; no coupling flange.\u003c\/p\u003e\n\u003cp\u003eQ: Hot-swap under powered IRC5 allowed?\u003c\/p\u003e\n\u003cp\u003eA: No. De-energize the axis drive module and set SMB to service mode. Live disconnect arcs the 48 VDC bus and corrupts encoder counters, forcing F8021 resolver loss.\u003c\/p\u003e","brand":"ABB","offers":[{"title":"Default Title","offer_id":46021155553453,"sku":"3HAC029034-004","price":88.0,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0733\/1613\/9181\/files\/abb_3hac029034-004.jpg?v=1786355853","url":"https:\/\/www.maxwellplc.com\/products\/abb-3hac029034-004-irb-4600-servo-motor-with-pinion-axis-4-6","provider":"Maxwell PLC Ltd","version":"1.0","type":"link"}