4 Repair
4.6.2. Replacement of motor axis 2
3073HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor
The procedure below details how to remove the motor, axis 2.
Power supply - 24 VDC, 1.5 A
For releasing the brakes.
Rotation tool 3HAC17105-1 Used to rotate the motor
pinion when mating it to the
gear, when brakes are
released with 24VDC
power supply.
Standard toolkit - The content is defined in
section Standard toolkit on
page 394.
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 instruc-
tions below.
These procedures include
references to the tools
required.
Circuit diagram 3HAC025744-001 See chapter Circuit
diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Move the robot to a position close enough to its
calibration position, to allow the lock screw to be
inserted into thehole for lock screw .
Shown in the figure Location of
motor on page 306.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
3. Lock the lower arm by inserting the lock screw into
the hole.
Art. no. and dimension is specified
in Required equipment on page
306.
4. Drain the oil from gearbox, axis 2. Detailed in section Oil change,
gearbox axis 2 on page 157.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Shown in the figure Location of
motor on page 306.
Make sure the gasket is not
damaged!
7. Disconnect all connectors beneath the motor
cover.
Continued
Continues on next page
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