ABB IRB 7600 Series, Product Manual

Page: 337 / 480

4 Repair
4.6.2. Replacement of motor axis 2
335 3HAC022033-001 Revision: K
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Removal, motor
The procedure below details how to remove the motor, axis 2.
Action Note
1. Move the robot to a position close
enough to its calibration position, to
allow the lock screw to be inserted
into the
hole for lock screw .
Shown in the figure Location of motor on page
333 .
2.
DANGER!
Turn off all electric power, hydraulic
and pneumatic pressure supplies to
the robot!
Turn off all electric power and
hydraulic but not the air pressure to
the gearboxes, motors and SMB.
3. Lock the lower arm by inserting the
lock screw into the hole.
Art. no. and dimension is specified in Required
equipment on page 333 .
4. Drain the oil from gearbox, axis 2. Detailed in the section Oil change, gearbox axis 2
on page 203 .
5. Remove the cover on top of the
motor by unscrewing its four
attachment screws.
6. Remove the cable gland cover at
the cable exit by unscrewing its two
attachment screws.
Shown in the figure Location of motor on page
333 .
Make sure the gasket is not damaged!
7. Disconnect all connectors beneath
the motor cover.
8.
DANGER!
Secure the weight of the lower arm
properly before releasing the brakes
of motor, axis 2!
When releasing the holding brakes
of the motor, the lower arm will be
movable and may fall down!
Use the lock screw to lock the lower arm, as
detailed above!
9. In order to release the brake,
connect the 24 VDC power supply.
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
10. Remove the motor by unscrewing its
four attachment screws and plain
washers.
11. Fit the two guide pins in two of the
motor attachment holes.
Art. no. is specified in Required equipment on
page 333 .
Shown in the figure Location of motor on page
333 .
Continued
Continues on next page
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