ABB IRB 2000 - Page 35

2 Axis 2
2.1 Exchange of motor
The electric motors are dismounted from the inner sides of gear boxes.
Reference is made to foldouts no 6 in the spare parts section.
Dismounting:
1.
2.
Dismount feed back unit in accordance with chapter 7, Exchange of feed back units.
Disconnect electrical motor cable contact from motor.
Drain the grease through the lower plug. A pressure of 0.2 bar in the upper hole
makes the emtying easier. Warm liquid grease are more fluently.
A
WARNING!
The robot may carry out unintentional motions when the motor is removed.
The arms must be secured in an end position or with an overhead crane.
4.
5.
Unscrew the screws for the motor and it lift away.
Remove adapter plate<3>.
Mounting:
6.
7.
10.
11.
12.
13.
Ensure that assembly surfaces are clean and without scratches.
Fit and adjust the electric motor in accordance with chapter 7, Setting of play in
motor gear axes 1-3.
Replace the sealings in adapter plate <3>.
Mount the adapter plate and align it with tool no 6896 0011-MH before tightening
the screws.
Mount the feed back unit in accordance with chapter 7, Exchange of feed back units.
Connect motor cabling.
Fill with the earlier drained grease, 4,6 kg. See the Maintenance Manual.
Re-commutate and re-calibrate the robot in accordance with chapter 8 and 9.
Tightening torque:
Screws for motor, pos 13: 28 Nm
Mechanical repair IRB 2000