ABB IRB 1400, Product Manual

Page: 69 / 198

4 Repair
4.2.1 Changing the motor of axis 1
3HAC021111-001 Revision: B 67
4.2: Axis 1
4.2.1 Changing the motor of axis 1
See foldouts 1 and 5 (6 for IRB 1400H) in the list of spare parts.
The motor and the drive gear constitute one unit.
NOTE!
There are two different types of motors, (Elmo and Yaskawa) The different motors are not
compatible. Make sure to replace with correct model!
To dismantle 1. Remove the cover of the motor.
2. Loosen connectors R4.MP1 and R4.FB1.
3. Remove the connection box by unscrewing <5/160>.
4. Note the position of the motor before removing it.
5. Loosen the motor by unscrewing <1/10>.
To assemble 1. Check that the assembly surfaces are clean and the motor unscratched.
2. Release the brake, apply 24V DC to terminals 7 and 8 in the 4.MP1 connector.
3. Install the motor, tighten screws <1/10> using a torque of approximately 2 Nm.
Note the position of the motor!
4. Adjust the motor in relation to the gear in the gearbox.
5. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.
6. Make sure there is very small play by turning axis 1 at least 45
o
.
7. Tighten screws <1/10> using a torque of 8.3 Nm ±10%.
8. Connect the cabling.
9. Calibrate the robot as specified in section Calibration information on page 131.
Tightening torque
The motor attaching screws, item10:8.3 Nm ±10%