4 Repair
4.6.4. Replacement of motor, axis 3, IRB 1600ID
3HAC026660-001 Revision: C192
© Copyright 2006-2008 ABB. All rights reserved.
3. Fit the new motor to the upper arm housing, making
sure the motor pinion is properly mated to the gear
of axis 3.
4. Fit the attachment screws and washers but do not
tighten them yet.
4 pcs, M6 x 20.
Shown in the figure Location of
motor on page 189.
5. Fit the rotation tool to the end of the motor shaft. Part number is specified in
Required equipment on page 185.
6. Adjust the motor in relation to the gear.
Use the rotation tool to wiggle the motor shaft back
and forth to feel the play.
There should be a barely
noticeable gear play.
7. Tighten the motor attachment screws. Tightening torque: 10 Nm.
8. Refit the resolver cover on the new motor.
9. Reconnect the motor connectors, run and secure
the cabling correctly inside the upper arm housing.
Cable layout is shown in the figure
Illustration, cabling inside upper
arm housing on page 115.
10. Refit the cover, upper arm housing. Shown in the figure Location of
motor on page 189.
Art. no. is specified in section
Required equipment on page 185.
11. Refit any additional mechanical stops. Detailed in section Installation of
additional mechanical stops on
axis 3 on page 73.
12. Recalibrate the robot. Calibration is detailed in a
separate calibration manual,
enclosed with the calibration
tools.
General calibration information is
included in section Calibration
information.
13.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page 33.
Action Note
Continued
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