Installation and Commissioning

Repairs Axis 12 Axis 12.1 Changing the motor of axis 1See foldouts 1 and 5 (6 for IRB 1400H) in the list of spare parts.The motor and the drive gear constitute one unit.To dismantle:1. Remove the cover of the motor.2. Loosen connectors R4.MP1 and R4.FB1.3. Remove the connection box by unscrewing .4. Note the position of the motor before removing it.5. Loosen the motor by unscrewing .To assemble:6. Check that the assembly surfaces are clean and the motor unscratched.7. Release the brake, apply 24V DC to terminals 7 and 8 in the 4.MP1 connector.8. Install the motor, tighten screws using a torque of approximately 2 Nm.Note the position of the motor9. Adjust the motor in relation to the gear in the gearbox.10. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.11. Make sure there is very small play by turning axis 1 at least 45 o .12. Tighten screws using a torque of 8.3 Nm ±10%.13. Connect the cabling.14. Calibrate the robot as specified in Chapter 9, Calibration.Tightening torque:The motor attaching screws, item10: 8.3 Nm ±10%Product Manual IRB 1400 11