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Copy| Product Name | ABB 3HAC021961-001 / 3HAC021966-001 Robot Axis Motors with Pinion |
| Item NO. | 2929748 |
| Weight | 0.1 kg = 0.2205 lb = 3.5274 oz |
| Category | ABB |
| Brand | ABB |
| Creation Time | 2026-11-03 |
Two exact robot-drive records covering an IRB 2400 wall-mounted axis-1 motor and an IRB 140 Clean Room motor used at axes 1 and 2.
ABB 3HAC021961-001 / 3HAC021966-001 are rotational AC motor-and-pinion assemblies in ABB IRB robot drive systems. ABB 3HAC021961-001 drives axis 1 on the wall-mounted IRB 2400 execution, while ABB 3HAC021966-001 is the Clean Room motor record used at axes 1 and 2 of the IRB 140. Each assembly converts controller drive output into joint rotation through its installed pinion and gearbox.
At the robot connection point, ABB 3HAC021961-001 / 3HAC021966-001 use the motor-power connector R3.MP1 and feedback connector R3.FB1. The controller therefore supplies motor current through one path and receives position feedback through the other; the brake can be released from a separate 24 VDC, maximum 1.5 A service supply when the axis must be moved during removal or installation.
Mechanical fit distinguishes ABB 3HAC021961-001 / 3HAC021966-001 as well as the electrical record. ABB 3HAC021961-001 sits on the left side of the wall-mounted IRB 2400, whereas ABB 3HAC021966-001 is reached at the rear for axis 1 or the front for axis 2 on the IRB 140. The motor must be lifted clear without loading the pinion, renewed sealing parts must be installed, and the affected axis must be recalibrated and test-run after the connectors are restored.
| Technical item | ABB 3HAC021961-001 | ABB 3HAC021966-001 |
|---|---|---|
| Brand | ABB | |
| Product name | Rotational AC motor with pinion, axis 1 | Rotational AC motor with pinion, Clean Room |
| Brand country | Switzerland / Sweden | |
| Robot family | IRB 2400 wall-mounted | IRB 140 Clean Room |
| Axis assignment | Axis 1 | Axis 1 or axis 2 |
| Motor location | Left side of wall-mounted robot | Rear for axis 1; front for axis 2 |
| Power connector | R3.MP1 | |
| Feedback connector | R3.FB1 | |
| Brake-release supply | 24 VDC, maximum 1.5 A | |
| Motor attachment | Four screws and washers | Four motor screws; four cable-gland screws at the access assembly |
| Sealing parts | O-ring 21522012-434; gasket 3HAB3676-1 | O-ring 21522012-426; replace when the motor is replaced |
| Service equipment | Measuring tool 3HAB7887-1; Pendulum calibration toolkit 3HAC15716-1 | Standard toolkit 3HAC020812-001; arm / rotation tool 3HAC9037-1 |
| Post-installation work | Reconnect motor and feedback paths, recalibrate the affected axis, and complete a controlled test run | |
ABB 3HAC021961-001 is mounted on the left side of the wall-mounted IRB 2400. Its pinion enters the axis-1 gearbox, while the motor-power and feedback leads return separately to R3.MP1 and R3.FB1. The Yaskawa motor execution belongs to this robot configuration and is not treated as interchangeable with another motor execution.
ABB 3HAC021966-001 serves the rear axis-1 location or front axis-2 location on the IRB 140 Clean Room execution. The installed position determines access direction and gear-play work, even though the motor-and-pinion record is shared.
ABB 3HAC021961-001 / 3HAC021966-001 keep motor current on R3.MP1 and position feedback on R3.FB1. A temporary 24 VDC supply releases the brake during service without replacing either robot connection path.
Before removing ABB 3HAC021961-001 / 3HAC021966-001, switch off robot power, verify the selected axis and support any load that can move when its brake is released. Use the 24 VDC service supply only for the controlled brake-release operation.
Open the correct connector access, label R3.MP1 and R3.FB1, release the attachment hardware and lift ABB 3HAC021961-001 / 3HAC021966-001 straight away from the gearbox. Do not lever against the pinion or let the motor hang from either cable.
Clean the mating faces, fit the specified new O-ring and any model-specific gasket, then seat ABB 3HAC021961-001 / 3HAC021966-001 without pinching the seal. Restore connectors, adjust gear play where required, recalibrate the axis and confirm motion at controlled speed.
ABB 3HAC021961-001 and ABB 3HAC021966-001 should not be treated as direct substitutes: ABB 3HAC021961-001 is tied to the wall-mounted IRB 2400 axis-1 execution, while ABB 3HAC021966-001 is the IRB 140 Clean Room motor for axes 1 and 2.
Confirm ABB 3HAC021961-001 / ABB 3HAC021966-001 from the robot type and installed joint: ABB 3HAC021961-001 is on the left side of the wall-mounted IRB 2400, while ABB 3HAC021966-001 is at the rear for IRB 140 axis 1 or the front for axis 2.
The 24 VDC, maximum 1.5 A supply releases the brake during controlled movement of ABB 3HAC021961-001 / ABB 3HAC021966-001; it is a service path and does not replace the normal motor-power or feedback connections.
Protect the pinion, mating face, R3.MP1 and R3.FB1 while handling ABB 3HAC021961-001 / ABB 3HAC021966-001. Lift the motor straight away from the gearbox and prevent the assembly from hanging on its cables.
ABB 3HAC021961-001 uses O-ring 21522012-434 with gasket 3HAB3676-1, while ABB 3HAC021966-001 uses O-ring 21522012-426. The applicable seal is renewed when its motor assembly is replaced.
After ABB 3HAC021961-001 / ABB 3HAC021966-001 is seated, verify fasteners and connectors, check gear play where the robot procedure requires it, recalibrate the affected axis, and test movement at controlled speed before normal operation.
Moore Automation organizes industrial-automation enquiries around the exact manufacturer, full model string, requested quantity and destination. Product photographs and available technical files can remain attached to the same record for consistent review.
For robot-drive hardware, the complete robot family, axis position and part number help separate nearby motor, gearbox and controller records without presenting them as interchangeable.
Moore Automation Sales Team
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