ABB Robotics IRB 1520 Product Manual page 234

4 Repair
4.6.1 Replacing motors on axis 1 and 2
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Action
Pull carefully out the motor cables.
Remove the connection box.
Unscrew the attachment screws securing the
motor.
Use a 300 mm extension for bits 1/2".
Only applicable to the axis 2 motor!
Fit two guide pins in opposite holes.
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Product manual - IRB 1520
3HAC043435-001 Revision: L