InformationAction
xx1500001260
Rotate the upper arm to access the two in-
ner attachment screws securing the cover
and remove them.
4
• A: Inner attachment screws (2 pcs)
• B: Directions of rotation
For the synchronization positions, see
Synchronization marks and synchroniza-
tion position for axes on page 341.
Move the upper arm to sync. position.5
DANGER
Before entering the robot working area, turn
off all:
• Electric power supply to the robot
• Hydraulic pressure supply to the ro-
bot
• Air pressure supply to the robot
6
Remove all extra equipment fitted on the
upper arm and wrist.
7
How to remove the wrist see the section:
• Replacing the wrist unit, IRB1660ID
on page 212
Remove the wrist and disconnect those
cables to motor axis 6.
8
Note
Make a note of the position of axis 4 before
continuing the removal process.
It is important to refit the mechanical stop
and cable harness spiral, with axis 4 in the
same position as it was before the removal.
If axis 4 has been moved, it must be re-
turned to the position it was when the
mechanical stop was removed.
This is due to risk of damage to the cable
harness.
9
Continues on next page
304 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.9 Replacement of motor, axis 5, IRB 1660ID
Continued
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