ABB IRB1410 - Axis 4; Changing the Motor

4 Repair
4.5.1 Changing the motor
3HAC026320-001 Revision: A 95
4.5: Axis 4
4.5.1 Changing the motor
General
See foldouts 5 and 8 in chapter, Foldout.
The motor and the drive gear constitute one unit.
Position the arm system in such a way that the motor of axis 4 points upwards.
To dismantle
To assemble
Action Note/Illustration
1.
Remove the cover of the motor.
2.
Loosen connectors R3.MP4 and R3.FB4.
3.
Remove the connection box by unscrewing the
screw..
See foldout/pos. <5/160>
4.
Note the position of the motor before removing it.
5.
Loosen the motor by unscrewing the screw.. See foldout/pos. <8/23>
Action Note/Illustration
1.
Check that the assembly surfaces are clean and
the motor unscratched.
2.
Put O-ring on the motor. See foldout/pos. <8/21>
3.
Release the brake, apply 24 V DC to terminals 7
and 8 on the R3.MP4 connector.
4.
Install the motor, tighten screws. See foldout/pos. <8/23>
Torque, approximately 2 Nm
NOTE!
Note the position of the motor!
5.
Adjust the position of the motor in relation to the
drive in the gearbox.
6.
Screw the crank tool into the end of the motor
shaft.
Tool no. 3HAB 1201-1
7.
Make sure there is a small clearance.
8.
Unscrew one screw at a time, apply Loctite 242 or
243 and tighten.
Torque, 4.1 Nm ±10%.
9.
Connect the cabling.