4 Repair
4.6.4. Replacement of motor, axis 4
3HAC023637-001 Revision: B160
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
Action Note
1. Clean the mating surfaces on the motor and the
gearbox.
Shown in the figure Location of motor
on page 158.
2. Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease .
Art. no. is specified in section
Required equipment on page 158.
3. In order to release the brakes, connect the 24
VDC power supply to the motor.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
4. Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
Shown in the figure Location of motor
on page 158.
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
5. Fit the rotational tool to the end of the motor
shaft.
Art. no. is specified in section
Required equipment on page 158.
6. Adjust the motor in relation to the gear in the
gearbox.
Use the arm tool to wiggle the motor shaft back
and forth to feel the play.
There should be a barely noticable
gear play.
7. Tighten the motor attachment screws. Shown in the figure Location of motor
on page 158.
Tightening torque: 10 Nm.
8. Reconnect the motor connectors R3.MP4 and
R3.FB4.
9. Refit the connector plate. Shown in the figure Location of motor
on page 158.
10. Make sure all the cabling is placed correctly
inside the upper arm housing.
Cable layout is shown in the figure
Illustration, cabling inside upper arm
housing on page 107.
11. Refit the cover to the upper arm housing. Check
both the gaskets and replace, if damaged.
Art. no. is specified in Required
equipment on page 158.
12. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 100.
13. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration
information on page 175.
14.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section DANGER - First test
run may cause injury or damage! on page 32.
Continued
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