4 Repair
4.6.1. Replacement of motor, axis 1
2013HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 1
The procedure below details how to refit motor, axis 1.
8. If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
Art. no. is specified in Required
equipment on page 199.
Always use the removal tools in
pairs!
9.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
10. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
11. Remove the motor by gently lifting it straight up.
Action Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
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 Required
equipment on page 199.
3.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
4. Apply the lifting tool, motor axis 1, 4, 5 to the motor. Art no. is specified in Required
equipment on page 199.
5. In order to release the brake, connect the 24 VDC
power supply.
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
6. Fit the motor, making sure the motor pinion is
properly mated to gearbox of axis 1.
Make sure the motor is turned the
correct way, that is connection of
motorcable as shown in the figure-
Location of motor on page 199.
Make sure the motor pinion does
not get damaged!
7. Secure the motor with its four attachment screws
and plain washers.
M10 x 40, tightening torque: 50
Nm.
8. Disconnect the brake release voltage.
9. Reconnect all connectors beneath the motor cover.
10. Refit the cable gland cover at the cable exit with its
two attachment screws.
Make sure the cover is tightly
sealed!
Continued
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