4 Repair
4.6.8. Replacement of motor, axis 5, IRB 1600ID
2073HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 5
The procedure below details how to refit the motor of axis 5.
Action Note
1. Clean the mating surfaces inside
the upper arm housing and on the
motor with Isopropanol.
2. Make sure the o-ring on the circum-
ference of the motor is seated
properly. Lubricate it with grease.
Replace the o-ring if damaged. Part number is
specified in section Required equipment on page
203.
3. Fit the 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, axis 5 on page 203.
5. Fit the rotation tool to the end of
motor shaft.
Part number is specified in Required equipment on
page 203
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 motors attachment
scews.
Tightening torque: 10Nm
8. Refit the V-ring and support ring.
9. Refit the cable harness bracket (G)
in figure Location of motor, axis 5 on
page 203, inside the upper arm
tube, use the two torx pan head
screw M6X12 (B). Wind the cable
harness (A), in a spiral with four free
turns around the axis as in figure
Location of motor, axis 5 on page
203 Grease the cable harness with
cable grease.
xx0700000089
A. Cable harness
B. Torx pan head screw M6X12
10. Refitt the upper arm using the 7 Hex
socket head cap screw M8X20.
Shown in figure Location of motor, axis 5 on page
203.
Tightening torque: 24 Nm
11. Reconnect through the VK-hole
connection R4.FB6, and R4.MP6.
Make sure all the cabling is placed
correctly inside the upper arm
housing.
12. Reconnect connection R4.FB5 and
R4.MP5 from the backside.
Continued
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