4 Repair
4.6.4. Replacement of motor, axis 4
3HAC026876-001 Revision: F344
© Copyright 2007-2010 ABB. All rights reserved.
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
5. Disconnect all connectors beneath the
motor cover.
6. In order to release the brake, connect the 24
VDC power supply.
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
7. Unscrew the motors four attachment screws
and plain washers.
Shown in the figure Location of motor on
page 342.
8. Fit the two guide pins in two of the motor
attachment screw holes.
9. If required, press the motor out of position by
fitting removal tool, motor to the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 342.
Always use the removal tools in pairs!
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 342.
3. In order to release the brakes, connect the
24 VDC power supply.
Connect to connector R2.MP4:
• +: 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 342.
Shown in the figure Location of motor on
page 342.
5. 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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