4 Repair
4.7.6. Refitting of motor, axis 4
209 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
5. Fit the o-ring to the new motor unit. Part no. is specified in Required
equipment on page 207.
6. Fit the measuring tool to the rear of the motor. Art. no. is specified in Required
equipment on page 207.
7. Release the brake of the motor by connecting
the 24 VDC power supply.
Connect to connector R3.MP4
• +24V: pin 7
• 0V: pin 8.
8. Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel.
9. Find the position with the least play by turning
the motor shaft 10 revolutions, noting
changes in play as you turn the motor.
10. Push the motor in a radial direction so that the
play is minimal within one motor revolution
without the gear "chewing".
11. Refit the motor with its attachment screws
and washers, motor.
Shown in the figure Location of motor
on page 207.
4 pcs, M6x25. Tightening torque: 15
Nm.
12. Refill with oil, if drained. Detailed in section Oil change,
gearbox axis 4 on page 102.
13. Check the position of the three gaskets,
located between the motors and the
connection box. Replace them if damaged.
Part no. is specified in Required
equipment on page 207.
14. Refit the connection box.
Make sure the gaskets are seated properly!
Shown in the figure Location of motor
on page 207.
15. Reconnect all the connectors.
16. Refit the cover to the connection box.
17. 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 235.
18.
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
33.
Action Info/Illustration
Continued
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