Axis 4; Replacing The Axis-4 Motor - ABB IRB 1410 Product Manual

4.6 Axis 4

4.6.1 Replacing the axis-4 motor

General
See foldouts 5 and 8 in chapter, Foldout.
The motor and the drive gear constitute one unit.
Position the arm system in such a way that the motor of axis 4 points upwards.
Removing
1
2
3
4
Refitting
1
2
3
4
5
6
7
8
9
10
Product manual - IRB 1410
3HAC026320-001 Revision: N
Action
Remove the cover of the motor.
Loosen connectors R3.MP4 and R3.FB4.
Remove the connection box by unscrewing the
screw.
Note
Note the position of the motor before removing it.
Loosen the motor by unscrewing the screw.
Action
Check that the assembly surfaces are clean and
the motor unscratched.
Put O-ring on the motor.
Release the brake, and apply 24 V DC to terminals
7 and 8 on the R3.MP4 connector.
Install the motor according to previously done
markings, tighten screws.
Adjust the position of the motor in relation to the
drive in the gearbox.
Screw the crank tool into the end of the motor
shaft.
Make sure there is a small clearance.
Unscrew one screw at a time, apply Loctite 242
or 243 and tighten.
Reconnect the cabling.
Calibrate the robot.
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4 Repair
4.6.1 Replacing the axis-4 motor
Note
See foldout/pos. <5/160>
See foldout/pos. <8/23>
Note
See foldout/pos. <8/21>
See foldout/pos. <8/23>
Torque, approximately 2 Nm
Tool no. 3HAB 1201-1
Torque, 4.1 Nm ±10%.
Described in section: Calibration
111