4 Repair
4.6.6. Replacement of motor, axis 4, 1600ID
1973HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Required equipment
Removal, motor axis 4
Refitting, motor axis 4
Equipment, etc. Spare part no. Art. no. Note
Rot. ac motor incl pinion 3HAC 021799-001
O-ring 3HAB 3772-81
Standard toolkit The contents are defined in
section Standard toolkit on
page 237, in part 2 of the
Product manual.
The contents are defined
in section Standard
toolkit on page 237, in
part 2 of the Product
manual.
- 24 VDC, max. 1,5 A.
For releasing the brakes.
Rotation tool, motor For adjusting the gear play.
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
Pendulum Calibration
tool
3HAC 4540-1
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Remove the cover from the upper arm housing.
3. Remove the connector plate to get access to the
axis 4 motor.
Shown in the figure Location of
motor on page 196.
4. Disconnect the connectors R3.MP4 and R3.FB4
from the axis 4 motor.
5. Remove the motor, axis 4 by unscrewing the motor
attachment screws.
Shown in the figure Location of
motor on page 196.
6. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
7. Remove the motor by gently lifting it out. Make sure the motor pinion is not
damaged!
Action Note
1. Clean the mating surfaces on the motor and the
gearbox.
Shown in the figure Location of
motor on page 196.
Continued
Continues on next page
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