ABB IRB 7600 Series Product Manual page 352

4 Repair
4.6.4. Replacement of motor, axis 4
Continued
2.
3. In horizontal position: unload the upper arm
4. In horizontal position: drain the gearbox,
5. Remove the cable gland cover at the cable
6. Remove the cover on top of the motor by
7. Disconnect all connectors beneath the
8. In order to release the brake, connect the 24
9.
10. Unscrew the motors four attachment screws
11. Fit the two guide pins in two of the motor
12. If required, press the motor out of position by
350
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Action
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but
not the air pressure to the gearboxes,
motors and SMB.
to avoid movement of the axis, with one of
the given methods:
• move the upper arm to a position
where the turning disk rests against
the foundation (recommended)
• use a fork lift or an overhead crane
and lifting slings to rest the weight of
the upper arm.
axis 4.
exit of the motor by unscrewing its two
attachment screws.
unscrewing its four attachment screws.
motor cover.
VDC power supply.
CAUTION!
The motor weighs 22 kg! All lifting
equipment used must be sized accordingly!
and plain washers.
attachment screw holes.
fitting removal tool, motor to the motor
attachment screw holes.
Note
Detailed in section Draining, oil, gearbox
axis 4 on page 210.
Shown in the figure Location of motor on
page 348.
Make sure the gasket is not damaged!
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
Shown in the figure Location of motor on
page 348.
Art. no. is specified in Required
equipment on page 348.
Always use the removal tools in pairs!
Continues on next page
3HAC022033-001 Revision: K