ABB IRB 1660 Product Manual page 282

4 Repair
4.6.5 Replacement of motor, axis 4, IRB 1600
Continued
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
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282
Action
Clean the joints that have been opened. See
Cut the paint or surface on the robot before re-
placing parts on page 159
Clean the mating surfaces on the motor and
the gearbox.
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease .
In order to release the brakes, connect the 24
VDC power supply to the motor.
Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
Fit the rotational tool to the end of the motor
shaft.
Adjust the motor in relation to the gear in the
gearbox.
Use the arm tool to wiggle the motor shaft back
and forth to feel the play.
Tighten the motor attachment screws.
Reconnect the motor connectors R3.MP4 and
R3.FB4.
Refit the connector plate.
Make sure all the cabling is placed correctly
inside the upper arm housing.
Refit the cover to the upper arm housing. Check
both the gaskets and replace, if damaged.
Perform a leak-down test.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 159
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
© Copyright 2006-2018 ABB. All rights reserved.
Note
Shown in the figure Location of motor
on page 279.
Art. no. is specified in section
quired equipment on page
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure Location of motor
on page 279.
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
Art. no. is specified in section
quired equipment on page
There should be a barely noticable
gear play.
Shown in the figure Location of motor
on page 279.
Tightening torque: 10 Nm.
Shown in the figure Location of motor
on page 279.
Cable layout is shown in the figure
lustration, cabling inside upper arm
housing on page 166.
Art. no. is specified in Required
equipment on page 279.
Detailed in section Performing a leak-
down test on page 154.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
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