4 Repair
4.6.3. Replacement of motor, axis 3
2093HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor
The procedure below details how to remove motor, axis 3.
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
instructions below.
These procedures include
references to the tools
required.
Circuit Diagram 3HAC025090-001 See chapter Circuit diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Move the robot to the position shown in the figure.
This is done in order to drain all oil from the gearbox
axis 3.
xx06000030414
2. Drain the oil from gearbox axis 3. Detailed in section Oil change,
gearbox, axis 3 on page 132.
3.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
4. Secure the robot from collapsing once the motor
axis 3 is removed, by following the procedure
detailed below:
• Move the lower arm as far back as possible.
• Release the brakes on motor axis 2 and let
the lower arm rest on its mechanical stop.
•Also release the brakes on motor axis 3 and
let the upper arm rest on its mechanical stop.
• The lower and upper arms now rests on their
respective mechanical stops. The motor axis
3 can now be replaced without securing the
armsystem in an overhead crane.
Detailed in section Manually
releasing the brakes on page 61.
5. Remove any equipment hindering access to motor
axis 3.
Continued
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