4 Repair
4.6.4. Replacement of motor, axis 4
3233HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
7. 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, axis 4.
Art. no. is specified in Required
equipment on page 320.
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.
8. Remove the guide pins.
9. Secure the motor with four attachment
screws and plain washers.
4 pcs: M8 x 25, tightening torque: 24 Nm.
10. Disconnect the brake release voltage.
11. Reconnect all connectors beneath the motor
cover.
12. Refit the cover on top of the motor with its
four attachment screws.
Make sure the cover is tightly sealed!
13. Refit the cable gland cover at the cable exit
with its two attachment screws.
Shown in the figure Location of motor on
page 320.
14. Perform a leak-down test if gearbox has
been drained.
Detailed in section Performing a leak-
down test on page 188.
15. Refill the gearbox with oil if drained. Detailed in section Filling, oil on page 164.
16. 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.
17.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section DANGER - First
test run may cause injury or damage! on
page 33.
Action Note
Continued
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