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 4
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
Remove the cover from the upper arm housing.3
Shown in the figure Location of
motor on page 284.
Remove the connector plate to get access to the
axis 4 motor.
4
Disconnect the connectors R3.MP4 and R3.FB4
from the axis 4 motor.
5
DANGER
The motor has a high temperature after running
which can occur burns.
6
Shown in the figure Location of
motor on page 284.
Remove the motor, axis 4 by unscrewing the motor
attachment screws.
7
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
8
Make sure the motor pinion is not
damaged!
Remove the motor by gently lifting it out.9
Refitting, motor axis 4
NoteAction
Shown in the figure Location of
motor on page 284.
Clean the mating surfaces on the motor and the
gearbox.
1
Art. no. is specified in section.Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-ring
with grease.
2
Shown in the figure Location of
motor on page 284.
Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as de-
scribed in following steps, only tighten the screws
lightly.
3
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
Continues on next page
286 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.6 Replacement of motor, axis 4, 1600ID/1660ID
Continued
To Next Page
Loading...
