4 Repair
4.6.5. Replacement of motor, axis 5
2193HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
14. Remove the motor by gently lifting it straight out. Keep track of the shims between the
motor flange and the wrist housing.
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 217.
3. In order to release the brake, connect the 24
VDC power supply.
Connect to:
- connector R2.MP5 (in the motor):
• + : pin 2
• - : pin 5
4. Fit the two guide pins in two of the motor
attachment holes.
Art. no. is specified in Required
equipment on page 217.
5. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of axis 5.
Make sure the motor pinion does not
get damaged!
6. Secure the motor with four attachment screws
and plain washers.
4 pcs: M8 x 25; tightening torque: 24
Nm.
7. Disconnect the brake release voltage.
8. Refit the cable of the axis 5 motor and
reconnect all connectors beneath the motor
cover.
9. Refit the cover on top of the motor with its four
attachment screws.
10. Refit the cable gland cover at the cable exit
with its two attachment screws.
Make sure the cover is tightly sealed!
11. Refit the metal clamp securing the cable
harness.
Shown in the figure in section Location
of motor on page 217.
12. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 148.
13. Refit the cover of the wrist unit with its
attachment screws.
14. Refill the gear with oil. Detailed in section Oil change,
gearbox, axis 5 on page 137.
15. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration informa-
tion.
Continued
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