ABB IRB 1660 Product Manual page 270

4 Repair
4.6.3 Replacement of motor, axis 3, IRB 1600
Continued
Removal, motor axis 3
The procedure below details how to remove the axis 3 motor.
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Continues on next page
270
Action
Decide which calibration routine to use, and take ac-
tions accordingly prior to beginning the repair proced-
ure.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working area.
Remove any additional mechanical stops from axis 3.
Move:
• axis 2 to calibration position
• upper arm backwards against the mechanical
stop.
This position enables removal of the motor without
draining of the gearbox, axis 3.
Remove the upper arm housing cover.
Disconnect the motor connectors R3.MP3 and R3.FB3.
DANGER
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Remove the motor, axis 3, by unscrewing its attach-
ment screws and washers.
Lift the motor gently straight out, making sure the
motor pinion is not damaged.
Disconnect the brake release voltage.
© Copyright 2006-2018 ABB. All rights reserved.
Note
xx0500001447
Shown in the figure Location
of motor on page 268.
Shown in the figure Location
of motor on page 268.
Connect to connector R3.MP3:
• +: pin 7
• -: pin 8
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W