4 Repair
4.6.4. Replacement of motor, axis 4
2153HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
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 213.
3. Fit the lifting tool to the motor. Art. no. is specified in Required
equipment on page 213.
4. In order to release the brakes, connect the
24 VDC power supply.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
5. Fit the two guide pins in two of themotor
attachment holes.
Art. no. is specified in Required
equipment on page 213.
Shown in the figure Location of motor on
page 213.
6. Fit the motor, with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
Make sure the motor pinion does not get
damaged!
7. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
Art. no. is specified in Required
equipment on page 213.
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, that is the cables facing
forwards.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft as
shown in figure above.
• A: Rotation tool.
8. Remove the guide pins.
9. Secure the motor with four attachment
screws and plain washers.
4 pcs: M8 x 25, tightening torque: 24 Nm.
10. Disconnect the brake release voltage.
11. Reconnect all connectors beneath the motor
cover.
Continued
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