ABB Robotics IRB 1520 Product Manual page 252

4 Repair
4.6.4 Replacing the axis 6 motor
Continued
Removing the axis 6 motor
Use this procedure to remove the axis 6 motor.
1
2
3
4
5
6
7
8
9
Refitting the axis 6 motor
Use this procedure to refit the axis 6 motor.
Preparations
1
2
Continues on next page
252
Action
Jog the robot to the recommended position.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot work-
ing area.
Remove the wrist.
Move the wrist to a workbench and place it
with the axis 6 motor pointing upwards.
In order to release the brakes connect the
24VDC power supply to the motor.
Note
Do not move the gears in the wrist when the
motor is removed! When refitting the motor
the gears in the wrist shall be in the same
position as they were before the removal.
Open the flexible coupling securing the mo-
tor.
Unscrew the attachment screws securing the
motor.
Note
Do not remove the attachment screws secur-
ing the bracket!
Remove the motor by lifting it out carefully,
making sure the motor pinion or gear are not
damaged while lifting it away.
Action
Wipe clean all assembly surfaces.
Make sure that the pinion is not damaged or
scratched.
© Copyright 2012-2020 ABB. All rights reserved.
Note
See Replacing the wrist unit, IRB 1600ID
on page 195.
Placing the wrist in this position will make
it possible to replace the motor without
draining the oil from the gearbox.
Note
Product manual - IRB 1520
3HAC043435-001 Revision: L