ABB IRB1410 - Axis 1; Changing the Motor of Axis 1

4 Repair
4.2.1 Changing the motor of axis 1
74 3HAC026320-001 Revision: A
4.2: Axis 1
4.2.1 Changing the motor of axis 1
General
See foldouts 1 and 5 in chapter, Foldout.
The motor and the drive gear constitute one unit.
To dismantle
To assemble
Action Note/Illustartion
1.
Remove the cover of the motor.
2.
Loosen connectors R4.MP1 and R4.FB1.
3.
Remove the connection box by unscrewing. See foldout/pos. <5/160>
4.
Note the position of the motor before removing it.
5.
Loosen the motor by unscrewing. See foldout/pos. <1/10>
Action Note/Illustration
1.
Check that the assembly surfaces are clean and the
motor unscratched.
2.
Release the brake, apply 24V DC to terminals 7 and
8 in the 4.MP1 connector.
3.
Install the motor, tighten screws using a Torque,
approximately 2 Nm.
See foldout/pos. <1/10>
NOTE!
Note the position of the motor
4.
Adjust the motor in relation to the gear in the gearbox.
5.
Screw the 3HAB 1201-1 crank tool into the end of the
motor shaft.
6.
Make sure there is very small play by turning axis 1 at
least 45
o
.
7.
Tighten screws using a torque of 8.3 Nm ±10%. See foldout/pos. <1/10>
8.
Connect the cabling.
9.
Calibrate the robot as specified in . Detailed in section:
Calibration methods on page
115.