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4 Repair
4.6.4 Replacement of motor, axis 4
Continued
6
7
8
9
10
11
12
13
14
15
16
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
1
Continues on next page
334
Action
Remove the cable gland cover at the cable
exit of the motor by unscrewing its two at-
tachment screws.
Remove the cover on top of the motor by
unscrewing its four attachment screws.
Disconnect all connectors beneath the motor
cover.
In order to release the brake, connect the
24 VDC power supply.
CAUTION
The motor weighs 22 kg! All lifting equip-
ment used must be sized accordingly!
Unscrew the motors four attachment screws
and plain washers.
Fit the two guide pins in two of the motor
attachment screw holes.
If required, press the motor out of position
by fitting removal tool, motor to the motor
attachment screw holes.
Fit the lifting tool to the motor.
Lift the motor to get the pinion away from
the gear and disconnect the brake release
voltage.
Remove the motor by gently lifting it straight
out.
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
© Copyright 2007 - 2018 ABB. All rights reserved.
Note
Shown in the figure
Location of motor on
page
331.
Make sure the gasket is not damaged!
Connect to connector R2.MP4
•
+: pin 2
•
-: pin 5
Shown in the figure
Location of motor on
page
331.
Art. no. is specified in
Required equipment
on page
331.
Always use the removal tools in pairs!
Choose the correct lifting tool:
•
lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned vertic-
ally.
•
lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in
Required equipment
on page
331.
Make sure the motor pinion is not dam-
aged!
Note
Product manual - IRB 7600
3HAC022033-001 Revision: V
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