Removal, Motor Axis 4 - ABB IRB 1660 Product Manual

Removal, motor axis 4

The procedure below details how to remove the motor, axis 4.
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Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working area.
CAUTION
Always cut the paint with a knife and grind the paint
edge when disassembling parts. See
or surface on the robot before replacing parts on
page 159.
Manually move the robot to a position where the
upper arm points straight down.
Remove the cover from the upper arm housing.
Remove the connector plate to get access to the
axis 4 motor.
Disconnect the connectors R3.MP4 and R3.FB4
from the axis 4 motor.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Remove the motor, axis 4 by unscrewing the motor
attachment screws.
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Remove the motor by gently lifting it out.
© Copyright 2006-2018 ABB. All rights reserved.
4.6.5 Replacement of motor, axis 4, IRB 1600
Note
Cut the paint
This will enable the motor 4 to be
removed without draining the oil
in the gearbox.
Shown in the figure
motor on page
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure
motor on page
Make sure the motor pinion is not
damaged!
Continues on next page
4 Repair
Continued
159.
Location of
279.
Location of
279.
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