4 Repair
4.6.2. Replacement of motor, axis 2
3HAC026660-001 Revision: C182
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor axis 2
The procedure below details how to remove the axis 2 motor.
Power supply - 24 VDC, 1.5 A.
For releasing the brakes.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Circuit Diagram - See chapter Circuit diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Remove the cover, frame. Shown in the figure Location
of motor axis 2 on page 181.
3. Disconnect the motor connectors inside the frame. Connectors:
•R3.MP2
•R3.FB2
4. Cut any cable ties and remove any brackets or clamps
securing the cables.
5. Remove the connector plate by removing its attachment
screws, and pull the cables out from the frame.
Shown in the figure Location
of motor axis 2 on page 181.
6.
DANGER!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor, the
lower arm will be movable and may fall down!
7. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP2
• +: pin 7
• -: pin 8
8.
WARNING!
Oil will be running out of the motor attachment hole
when removing the motor! It may also be hot! Take any
necessary measures to collect the oil.
9. Remove the motor by unscrewing its four attachment
screws and plain washers.
Shown in the figure Location
of motor axis 2 on page 181.
Continued
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