ABB IRB 930 Product Manual page 436

5 Repair
5.7.1 Replacing the axis-1 motor sub-assembly
Continued
2
3
4
5
Concluding procedure
1
Continues on next page
436
Action
For rear outlet cable version, refit the base plate
to the base.
For underneath outlet cable version, refit the rear
plate to the base.
Secure the base plate/ rear plate to the base with
the screws.
Refit the robot back to the ground.
Secure with the screws.
Action
Recalibrate the robot.
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Note
Screws: Hex socket head cap
screw M3x30 12.9 Lafre
2C2B/FC6.9 (6 pcs)
Tightening torque: 1.2 Nm ±10%
For rear outlet cable version:
For robots with protection class
IP30 (option 3350-300)
xx2300000500
For underneath outlet cable ver-
sion:
For robots with protection class
IP30 (option 3350-300)
xx2300000608
Screws: Hex socket head cap
screw M12x35 12.9 Gleitmo
603+Geomet 500 (4 pcs)
Steel
Washers: 24 mm x 13 mm x 2.5
mm (4 pcs)
Tightening torque: 56 Nm ±10%
Note
Calibration is detailed in section
Calibration on page 553.
Product manual - IRB 930
3HAC086009-001 Revision: A