NoteAction
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, motor axis 2
The procedure below details how to remove the axis 2 motor.
NoteAction
Decide which calibration routine to use, and take ac-
tions accordingly prior to beginning the repair proced-
ure.
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working area.
2
CAUTION
Always cut the paint with a knife and grind the paint
edge when disassembling parts. See Cut the paint or
surface on the robot before replacing parts on page 159.
3
Shown in the figure Location
of motor axis 2 on page 262.
Remove the cover, frame.4
Connectors:
• R3.MP2
• R3.FB2
Disconnect the motor connectors inside the frame.5
Cut any cable ties and remove any brackets or clamps
securing the cables.
6
Shown in the figure Location
of motor axis 2 on page 262.
Remove the connector plate by removing its attachment
screws, and pull the cables out from the frame.
7
DANGER
Secure the weight of the lower arm properly before re-
leasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor, the
lower arm will be movable and may fall down!
8
Connect to connector R3.MP2
• +: pin 7
• -: pin 8
In order to release the brakes, connect the 24 VDC
power supply to the motor.
9
Continues on next page
264 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.2 Replacement of motor, axis 2
Continued
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