Installation and Commissioning

Repairs Axis 23 Axis 23.1 Changing the motor of axis 2See 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:Lock the arm system before dismantling the motor; the brake is located in themotor.1. Remove the cover of the motor.2. Loosen connectors R3.MP2 and R3.FB2.3. Remove the connection box by unscrewing .4. Note the position of the motor before removing it.5. Loosen the motor by unscrewing . N.B. The oil will start to run out.To assemble:6. Check that the assembly surfaces are clean and the motor unscratched.7. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP2 connector.8. Install the motor, tighten screws to a torque of approximately 2 Nm.Note the position of the motor9. Adjust the motor in relation to the drive in the gearbox.10. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.11. Make sure there is no play.12. Tighten screws to a torque of 8.3 Nm ±10%.13. Fill with oil. See Chapter 8, Maintenance.14. Connect the cabling.15. Calibrate the robot as specified in Chapter 9, Calibration.Tightening torque:The motor’s fixing screws, item10: 8.3 Nm ±10%Product Manual IRB 1400 15