4 Repair
4.6.3. Replacement of motor, axis 3
3173HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
9. 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 of gearbox, axis 3.
Art no. is specified in Required
equipment on page 313.
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.
10. Remove the guide pins.
11. Secure the motor with four attachment screws
and plain washers.
4 pcs: M10 x 40, tightening torque:
50 Nm.
12. Disconnect the brake release voltage.
13. Reconnect all connectors beneath the motor
cover.
Connect in accordance with
markings on connectors.
14. Refit the cable gland cover at the cable exit with
its two attachment screws.
Make sure the cover is tightly
sealed!
Shown in the figure Location of
motor on page 313.
15. Refit the cover on top of the motor with its four
attachment screws.
Make sure the cover is tightly
sealed!
16. Remove the equipment used to unload the upper
arm.
17. Perform a leak-down test. Detailed in section Performing a
leak-down test on page 188.
18. Refill the gearbox with oil. Detailed in section Oil change,
gearbox, axis 3 on page 160.
19. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with
the calibration tools.
General calibration information is
included in section Calibration infor-
mation.
Action Note
Continued
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