4 Repair
4.6.2. Replacement of motor axis 2
3HAC027151-001 Revision: B204
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor
The procedure below details how to remove the motor, axis 2.
Rotation tool 3HAC17105-1 Used to rotate the motor
pinion when mating it to the
gear, when brakes are
released with 24VDC
power supply.
Standard toolkit - The content is defined in
section Standard toolkit on
page 265.
Calibration
Pendulum toolkit
3HAC15716-1 Complete kit that also
includes operating manual.
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 See chapter Circuit
diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Secure the robot from collapsing once the motor
axis 2 is removed, by following the procedure
detailed below:
• Move the lower arm as far back as
possible.
• Release the brakes on motor axis 2 which
will enable the lower arm to rest on its
mechanical stop .
• The motor axis 2 can now be replaced
without securing the robot in an overhead
crane.
Releasing brakes are detailed in
section Manually releasing the
brakes on page 61.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
3. Drain the oil from gearbox, axis 2. Detailed in section Oil change,
gearbox axis 2 on page 129.
4. Remove the cover on top of the motor by
unscrewing its four attachment screws.
5. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Shown in the figure Location of
motor on page 203.
Make sure the gasket is not
damaged!
6. Disconnect all connectors beneath the motor
cover.
Continued
Continues on next page
To Next Page
Loading...
