ABB Robotics IRB 1520 Product Manual page 253

3
4
5
Refitting the axis 6 motor
1
2
3
4
5
6
7
Product manual - IRB 1520
3HAC043435-001 Revision: L
Action
Make sure that the o-ring on the circumfer-
ence is seated properly.
Replace if damaged!
Lubricate the o-ring with some grease.
Make sure that the motor will be fitted in the
correct position.
Action
Place the motor carefully in its mounting po-
sition with the wrist still placed on a work-
bench.
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.
In order to release the brakes connect the
24VDC power supply to the motor.
Secure the motor with its attachment screws.
Refit the flexible coupling securing the axes
6 motor to the rod.
Refit the wrist.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2012-2020 ABB. All rights reserved.
4.6.4 Replacing the axis 6 motor
Note
Note
Tightening torque: 6 Nm
M5x25
See Replacing the wrist unit, IRB 1600ID
on page 195.
Calibration is described in a separate
calibration manual enclosed with the cal-
ibration tools.
General calibration information is included
in section Calibration information on
page 273.
4 Repair
Continued
253