ABB IRB1410 - Axis 2; Changing the Motor of Axis 2

4 Repair
4.3.1 Changing the motor of axis 2
3HAC026320-001 Revision: A 79
4.3: Axis 2
4.3.1 Changing the motor of axis 2
General
See foldouts 1 and 5 in chapter, Foldout.
The motor and the drive gear constitute one unit.
To dismantle
To assemble
Action Note/Illustration
WARNING!
Lock the arm system before dismantling the
motor; the brake is located in the motor.
3.
Remove the cover of the motor.
4.
Loosen connectors R3.MP2 and R3.FB2.
5.
Remove the connection box by unscrewing the
screws.
See foldout/pos. <5/160>
6.
Note the position of the motor before removing it.
NOTE!
The oil will start to run out when loosen the
motor.
7.
Loosen the motor by unscrewing the motor screws. 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 24 V DC to terminals 7
and 8 on the R3.MP2 connector.
3.
Install the motor, tighten screws. See foldout/pos. <1/10>
Torque, approximately 2 Nm.
NOTE!
Note the position of the motor!
4.
Adjust the motor in relation to the drive in the gear-
box.