4 Repair
4.6.1. Replacement of motor, axis 1
1793HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 1
The procedure below details how to refit the motor, axis 1.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Clean the mating surface on the frame.
3. Make sure the o-ring on the circumference of the
motor is seated properly. Lubricate the o-ring with
grease.
Art. no. is specified in Required
equipment on page 177.
4. Remove the motor cover from top of the motor. Shown in the figure Location of
motor on page 177.
5. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP1:
•+: pin 7
• -: pin 8
6. Fit the rotation tool to the end of the motor shaft. Art. no. is specified in Required
equipment on page 177.
7. Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox, axis 1.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear.
8. Secure the motor with four attachment screws and
washers, but do not tighten yet.
4 pcs, M8 x 25.
9. Adjust the motor in relation to the gear in the
gearbox:
• use the rotation tool to wiggle the motor
shaft back and forth to feel the play. Tap with
a plastic mallet.
• position the motor pinion at at least two
other positions by turning axis 1 manually
and check the gear play again.
There should be a barely noticable
gear play.
10. Tighten the motor attachment screws. Tightening torque: 35 Nm.
11. Disconnect the brake release voltage.
12. Refit the motor cover to top of the motor. Shown in the figure Location of
motor on page 177.
13. Insert the motor cabling through the frame and
secure the connector plate with attachment screws.
4 pcs.
14. Connect all the connectors inside the frame. The cable layout is shown in the
figure Illustration, cabling inside
frame on page 117.
15. Refit the cover, frame. Replace the gasket, if
damaged.
Spare part no. is specified in
Required equipment on page 177.
Continued
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