4 Repair
4.6.3. Replacement of motor, axis 3
1873HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 3
The procedure below details how to refit the axis 3 motor.
6.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper 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.MP3:
•+: pin 7
• -: pin 8
8. Remove the motor, axis 3, by unscrewing its
attachment screws and washers.
Lift the motor gently straight out, making sure the motor
pinion is not damaged.
9. Disconnect the brake release voltage.
Action Note
Action Note
1. Clean the mating surfaces inside the upper arm
housing and on the motor with isopropanol.
2. Make sure the o-ring on the circumference of the
motor is seated properly. Ligthly lubricate it with
grease.
Replace the o-ring if damaged. Art
.no. is specified in section
Required equipment on page 185.
3. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP3:
•+: pin 7
• -: pin 8.
4. Fit the motor to the upper arm housing, making
sure the motor pinion is properly mated to the gear
of axis 3.
5. Fit the attachment screws and washers but do not
tighten them yet.
4 pcs, M6 x 20.
Shown in the figure Location of
motor on page 185.
6. Fit the rotation tool to the end of the motor shaft. Art. no. is specified in Required
equipment on page 185.
7. Adjust the motor in relation to the gear.
Use the rotation tool to wiggle the motor shaft back
and forth to feel the play.
There should be a barely noticable
gear play.
8. Tighten the motor attachment screws. Tightening torque: 10 Nm.
9. Disconnect the brake release voltage.
10. Reconnect the motor connectors, run and secure
the cabling correctly inside the upper arm housing.
Cable layout is shown in the figure
Illustration, cabling inside upper
arm housing on page 115.
11. Refit the cover, upper arm housing. Check both the
gaskets and replace, if damaged.
Shown in the figure Location of
motor on page 185.
Art. no. is specified in section
Required equipment on page 185.
Continued
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