ABB IRB 1660 Product Manual page 314

4 Repair
4.6.10 Replacement of motor and timing belt, axis 6, IRB 1600
Continued
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Action
Follow the steps below when fitting the
motor:
• Place the timing belt (B) round the
motor pinion and place the belt round
the axis 6 as fitting the motor in the
upper arm housing.
• Secure the motor with its tree attach-
ment screws and washers (C), but
do not tighten them yet.
• Attach the hook round the motor
pinion (underneath the motor) and
adjust the belt tension with a force
of 80 N, using a dynamometer.
Shown in the figure to the right.
• Tighten the motor attachment screws
with a torque of 10 Nm.
Refit the complete distance console.
Refit the connector plate. Refit the cable
tie.
Reconnect the motor cables: R3.MP6 and
R3.FB6.
Place all the cabling correctly inside the
upper arm housing.
Refit the cover to the upper arm housing.
Check both the gaskets and replace, if
damaged.
Recalibrate the robot!
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section
run may cause injury or damage on
page 28.
© Copyright 2006-2018 ABB. All rights reserved.
Note
xx0400001282
A Motor, axis 6
B Timing belt, axis 6
C Attachment screws and washers,
motor, 3 pcs, M6 x 20
D Hook (motor pinion: Ø24.07 mm)
F (Force): 80 N.
Shown in the figure
page 311.
Shown in the figure
page 311.
Cable layout is shown in the figure
tration, cabling inside upper arm housing
on page 166.
Art. no. is specified in
ment on page 311.
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 349.
General calibration information is included
in section Calibration on page
First test
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
Location of motor on
Location of motor on
Illus-
Required equip-
Calibrat-
337.