Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
NoteAction
Clean the joints that have been opened. See
Cut the paint or surface on the robot before re-
placing parts on page 159
1
Shown in the figure Location of motor
on page 279.
Clean the mating surfaces on the motor and
the gearbox.
2
Art. no. is specified in section Re-
quired equipment on page 279.
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease .
3
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor.
4
Shown in the figure Location of motor
on page 279.
Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
5
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
Art. no. is specified in section Re-
quired equipment on page 279.
Fit the rotational tool to the end of the motor
shaft.
6
There should be a barely noticable
gear play.
Adjust the motor in relation to the gear in the
gearbox.
7
Use the arm tool to wiggle the motor shaft back
and forth to feel the play.
Shown in the figure Location of motor
on page 279.
Tighten the motor attachment screws.8
Tightening torque: 10 Nm.
Reconnect the motor connectors R3.MP4 and
R3.FB4.
9
Shown in the figure Location of motor
on page 279.
Refit the connector plate.10
Cable layout is shown in the figure Il-
lustration, cabling inside upper arm
housing on page 166.
Make sure all the cabling is placed correctly
inside the upper arm housing.
11
Art. no. is specified in Required
equipment on page 279.
Refit the cover to the upper arm housing. Check
both the gaskets and replace, if damaged.
12
Detailed in section Performing a leak-
down test on page 154.
Perform a leak-down test.13
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 159
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
14
Continues on next page
282 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.5 Replacement of motor, axis 4, IRB 1600
Continued
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