NoteAction
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor axis 1
Use this procedure to remove the motor, axis 1.
NoteAction
Decide which calibration routine to use, and take actions
accordingly prior to beginning the repair procedure.
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working area.
2
Shown in the figure Location
of motor on page 257.
Remove the cover, frame.3
Disconnect the connectors for the motor.4
Loosen the connector plate from the frame.5
Pull out the motor cabling carefully.6
Connect to connector
R3.MP1:
• +: pin 7
• -: pin 8
In order to release the brakes, connect the 24 VDC power
supply to the motor.
7
Shown in the figure Location
of motor on page 257.
Unscrew the attachment screws securing the motor.8
Remove the motor by gently lifting it straight up, making
sure the motor pinion is not damaged against the gear.
9
Disconnect the brake release voltage from the motor
connector.
10
Refitting the motor axis 1
Use this procedure to refit the motor, axis 1.
NoteAction
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
1
Continues on next page
Product manual - IRB 1600/1660 259
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.1 Replacement of motor, axis 1
Continued
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