4 Repair
4.6.2. Replacement of motor axis 2
2053HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor
The procedure below details how to refit the motor axis 2.
7.
DANGER!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor,
the lower arm will be movable and may fall down!
Use the lock screw to lock the lower
arm, as detailed above!
8. In order to release the brake, connect the 24 VDC
power supply.
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
9. Remove the motor by unscrewing its four
attachment screws and plain washers.
10. Fit the two guide pins in two of the motor
attachment holes.
Art. no. is specified in Required
equipment on page 203.
Shown in the figure Location of
motor on page 203.
11. If required, press the motor out of position by fitting
the removal tool, motor to the remaining motor
attachment holes.
Art. no. is specified in Required
equipment on page 203.
Shown in the figure Location of
motor on page 203.
Always use the removal tools in
pairs!
12. Remove the removal tools and fit the lifting tool,
motor axis 2, 3, 4 to the motor.
Art. no. is specified in Required
equipment on page 203.
13.
CAUTION!
The motor weighs 38 kg! All lifting equipment used
must be sized accordingly!
14. Lift the motor to get the pinion away from the gear. Make sure the motor pinion does
not get damaged!
15. Remove the motor by gently lifting it straight out
and place it on a secure surface. Disconnect the
brake release voltage.
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 203.
Continued
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