ABB IRB 7600 Series Product Manual page 332

4 Repair
4.6.1. Replacement of motor, axis 1
Continued
3.
4. Apply the lifting tool, motor axis 1, 4, 5 to the motor. Art no. is specified in
5. In order to release the brake, connect the 24 VDC
6. Fit the motor, making sure the motor pinion is
7. Fit the clutch on the pinion on the motor.
8. Secure the motor with its four attachment screws
9. Disconnect the brake release voltage.
10. Reconnect all connectors beneath the motor cover.
11. Refit the cable gland cover at the cable exit with its
12. Refit the motor cover with its four attachment
13. Recalibrate the robot!
14.
330
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Action
CAUTION!
The motor weighs 32 kg! All lifting equipment used
must be sized accordingly!
power supply.
properly mated to gearbox of axis 1.
and plain washers.
two attachment screws.
screws.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run may
cause injury or damage! on page
Note
equipment on page
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Make sure the motor is turned the
correct way, that is connection of
motorcable forwards..
Make sure the motor pinion does
not get damaged!
M10 x 40, tightening torque: 50
Nm.
Make sure the cover is tightly
sealed!
Make sure the cover is tightly
sealed!
Calibration is detailed in a
separate calibration manual
enclosed with the calibration tools.
General calibration information is
included in section
information on page
47.
3HAC022033-001 Revision: K
Required
327.
Calibration
403.
Continues on next page