4 Repair
4.6.4. Replacement of motor, axis 4
3HAC026876-001 Revision: C322
© Copyright 2006-2008 ABB. All rights reserved.
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
10. Lift the motor to get the pinion away from the
gear and disconnect the brake release
voltage.
11. Remove the motor by gently lifting it straight
out.
Make sure the motor pinion is not
damaged!
Action Note
Action Note
1.
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.
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 320.
3. Fit the lifting tool to the motor. Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 320.
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 320.
Shown in the figure Location of motor on
page 320.
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!
Continued
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