4 Repair
4.6.5. Replacement of motor, axis 5
3HAC027151-001 Revision: B218
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor, axis 5
The procedure below details how to remove motor, axis 5.
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 3HAC025090-001 See chapter Circuit
diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Move the robot to a position where the upper arm
is parallel to the floor and the side of the wrist unit,
where motor axis 5 is placed, is facing up.
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
3. Remove the cover on the wrist unit by removing
its attachment screws.
4. Remove the metal clamp securing the cable
harness.
Shown in the figure in section
Location of motor on page 217.
5. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Shown in the figure in section
Location of motor on page 217.
6. Remove the cover on top of the motor by
unscrewing its four attachment screws.
7. Disconnect all connectors beneath the motor
cover and remove the cable of the axis 5 motor.
8. Pull the cable harness out of the upper arm a
little, far enough in order to make room for
removal of the motor.
Shown in the figure in section
Location of motor on page 217.
9. In order to release the brake, connect the 24 VDC
power supply.
Connect to:
- connector R2.MP5 (in the motor):
• + : pin 2
• - : pin 5
10. Remove the motor by unscrewing its four
attachment screws and plain washers.
11. Fit the two guide pins in two of the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 217.
12. If required, press the motor out of position by
fitting removal tool, motor, M10 to the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 217.
Always use the removal tools in pairs
and diagonally!
13. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Make sure the motor pinion is not
damaged!
Continued
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