4 Repair
4.6.1. Replacement of motor, axis 1
1473HAC023637-001 Revision: B
Removal, motor axis 1
The procedure below details how to remove the motor, axis 1.
Power supply - 24 VDC, max 1.5 A
For releasing the brakes.
Isopropanol - Used to clean mating
surfaces.
Grease 3HAB 3537-1
Rotation tool, motor 3HAC022266-
003
Standard toolkit - The contents are defined in
section Standard toolkit on
page 194, in part 2 of the
Product manual.
Circuit diagram - See chapter Circuit diagram
in the Product manual,
reference information.
Equipment 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 on page 146.
3. Disconnect the connectors for the motor, axis 1.
4. Loosen the connector plate from the frame and pull out
the motor cabling.
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. Unscrew the four attachment screws from the motor. Shown in the figure Location
of motor on page 146.
7. Remove the motor by gently lifting it straight up, making
sure the motor pinion is not damaged against the gear.
8. Disconnect the brake release voltage from the motor
connector.
Continued
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