ABB IRB 7600 Series Product Manual page 353

13. Fit the lifting tool to the motor.
14. Lift the motor to get the pinion away from the
15. Remove the motor by gently lifting it straight
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
1.
2. Make sure the o-ring on the circumference
3.
4. Fit the lifting tool to the motor.
5. In order to release the brakes, connect the
3HAC022033-001 Revision: K
工控帮助教小舒QQ2823408167
Action
gear and disconnect the brake release
voltage.
out.
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.
of the motor is seated properly. Lightly
lubricate the o-ring with grease.
CAUTION!
The motor weighs 22 kg! All lifting
equipment used must be sized accordingly!
24 VDC power supply.
4.6.4. Replacement of motor, axis 4
Note
Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically.
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 348.
Make sure the motor pinion is not
damaged!
Note
Art. no. is specified in Required
equipment on page 348.
Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 348.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Continues on next page
4 Repair
Continued
351