ABB IRB 7600 - 150/3.5, Руководство по эксплуатации продукта

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4 Repair
4.6.3. Replacement of motor, axis 3
3HAC022033-001 Revision: E 312
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2. Unload the upper arm of the robot by either:
• Move the robot to a position where the
turning disk rests against the foundation (rec-
ommended).
• Use a fork lift to rest the upper arm onto.
• Use lifting slings and an overhead crane to
rest the upper arm.
• Use a mechanical stop to rest the upper arm.
Fit the mechanical stop in the attachment
hole (A) with tightening torque: 115 Nm.
The upper arm must be positioned as horizontal as
possible!
xx0300000051
Fit the mechanical stop to the third
and final attachment hole (A),
below the fixed stop (B) in the
upper arm. See the figure above!
3. Drain the oil from gearbox axis 3. Detailed in section Oil change,
gearbox, axis 3 on page 188 .
4. Remove any equipment hindering access to motor
axis 3.
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 securing screws.
Shown in the figure Location of
motor on page 310 .
Make sure the gasket is not
damaged!
7. Disconnect all connectors beneath the motor cover.
8.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
9. Release the brake by connecting the 24 VDC power
supply.
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
10. Unscrew the motors four attachment screws and
plain washers .
Shown in the figure Location of
motor on page 310 .
11. Fit the two guide pins in two of the motor attachment
screw holes.
Art. no. is specified in Required
equipment on page 310 .
12. Press the motor out of position by fitting removal
tool, motor to the remaining motor attachment
screw holes.
Art. no. is specified in Required
equipment on page 310 .
Always use the removal tools in
pairs!
13. Apply the lifting tool, motor axis 2 ,3, 4 to the motor. Art. no. is specified in Required
equipment on page 310 .
Action Note
Continued
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