NoteAction
xx0400001282
Follow the steps below when fitting the
motor:
• Place the timing belt (B) round the
motor pinion and place the belt round
the axis 6 as fitting the motor in the
upper arm housing.
• Secure the motor with its tree attach-
ment screws and washers (C), but
do not tighten them yet.
• Attach the hook round the motor
pinion (underneath the motor) and
adjust the belt tension with a force
of 80 N, using a dynamometer.
Shown in the figure to the right.
• Tighten the motor attachment screws
with a torque of 10 Nm.
2
A Motor, axis 6
B Timing belt, axis 6
C Attachment screws and washers,
motor, 3 pcs, M6 x 20
D Hook (motor pinion: Ø24.07 mm)
F (Force): 80 N.
Shown in the figure Location of motor on
page 311.
Refit the complete distance console.3
Shown in the figure Location of motor on
page 311.
Refit the connector plate. Refit the cable
tie.
4
Reconnect the motor cables: R3.MP6 and
R3.FB6.
5
Cable layout is shown in the figure Illus-
tration, cabling inside upper arm housing
on page 166.
Place all the cabling correctly inside the
upper arm housing.
6
Art. no. is specified in Required equip-
ment on page 311.
Refit the cover to the upper arm housing.
Check both the gaskets and replace, if
damaged.
7
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Recalibrate the robot!8
Axis Calibration is described in Calibrat-
ing with Axis Calibration method on
page 349.
General calibration information is included
in section Calibration on page 337.
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section First test
run may cause injury or damage on
page 28.
9
314 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.10 Replacement of motor and timing belt, axis 6, IRB 1600
Continued
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