ABB IRB 1660 Product Manual page 286

4 Repair
4.6.6 Replacement of motor, axis 4, 1600ID/1660ID
Continued
Removal, motor axis 4
1
2
3
4
5
6
7
8
9
Refitting, motor axis 4
1
2
3
Continues on next page
286
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
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.
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.
DANGER
The motor has a high temperature after running
which can occur burns.
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.
Action
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.
Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as de-
scribed in following steps, only tighten the screws
lightly.
© Copyright 2006-2018 ABB. All rights reserved.
Note
Note
Shown in the figure
motor on page 284.
Shown in the figure
motor on page 284.
Make sure the motor pinion is not
damaged!
Note
Shown in the figure
motor on page 284.
Art. no. is specified in section.
Shown in the figure
motor on page 284.
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
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Location of
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