4 Repair
4.8.1 General
98 3HAC021111-001 Revision: B
4.8: Motor units
4.8.1 General
General
Each axis (6 axes) of the manipulator has its own motor unit, and is regarded as one complete
unit, comprising:
• A synchronous motor
• A brake (built into the motor)
• A feedback device.
Description
The power and signal cables are run to the respective motor from the cable connector points
on the manipulator. The cables are connected to the motor units by connectors.
The drive shaft of the electric motor forms a part of the gearbox of the manipulator axis. A
brake, operated electromagnetically, is mounted on the rear end of the motor shaft and a
pinion is mounted on its drive end. The brake releases when power is supplied to the electro-
magnets.
The commutation value of the motors is: 1.570800.
NOTE!
There is a feedback device mounted on each motor unit. The device is installed by the supplier
of the motor and should never be removed from the motor. The motor need never be commu-
tated.
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