Motor Units; Introduction - ABB IRB 1410 Product Manual

4.9 Motor units

4.9.1 Introduction

General
Each axis (6 axes) of the manipulator has its own motor unit, and is regarded as
one complete
unit, comprising:
Description
The power and signal cables are run to the respective motor from the cable
connector points on the manipulator. The cables are connected to the motor units
by connectors.
The drive shaft of the electric motor forms a part of the gearbox of the manipulator
axis. A brake, operated electromagnetically, is mounted on the rear end of the
motor shaft and a pinion is mounted on its drive end. The brake releases when
power is supplied to the electromagnets.
The commutation value of the motors is: 1.570800.
Product manual - IRB 1410
3HAC026320-001 Revision: N
• A synchronous motor
• A brake (built into the motor)
• A feedback device.
Note
There is a feedback device mounted on each motor unit. The device is installed
by the supplier of the motor and should never be removed from the motor. The
motor need never be commutated.
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4 Repair
4.9.1 Introduction
125