Axis 1; Replacing The Axis-1 Motor - ABB IRB 1410 Product Manual

4.3 Axis 1

4.3.1 Replacing the axis-1 motor

General
See foldouts 1 and 5 in chapter, Foldout.
The motor and the drive gear constitute one unit.
Removing
1
2
3
4
Refitting
1
2
3
4
5
6
7
8
9
Product manual - IRB 1410
3HAC026320-001 Revision: N
Action
Remove the cover of the motor.
Loosen connectors R4.MP1 and R4.FB1.
Remove the connection box by unscrewing.
Note
Note the position of the motor.
Loosen the motor by unscrewing.
Action
Check that the assembly surfaces are clean and
the motor unscratched.
Release the brake, apply 24V DC to terminals 7
and 8 in the 4.MP1 connector.
Install the motor according to previously done
markings, tighten screws.
Adjust the motor in relation to the gear in the
gearbox.
Screw the 3HAB 1201-1 crank tool into the end of
the motor shaft.
Make sure there is very small play by turning axis
1 at least 45o.
Tighten screws using a torque of 8.3 Nm ±10%.
Connect the cabling.
Calibrate the robot as specified.
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4 Repair
4.3.1 Replacing the axis-1 motor
Note
See foldout/pos. <5/160>
See foldout/pos. <1/10>
Note
See foldout/pos. <1/10>
See foldout/pos. <1/10>
Described in section: Calibration
information on page 127
93