4 Repair
4.6.3. Replacement of motor, axis 3
3533HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, motor
The procedure below details how to refit motor, axis 3.
8.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
9. Release the brake by connecting the 24 VDC power
supply.
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
10. Unscrew the motors four attachment screws and
plain washers .
Shown in the figure Location of
motor on page 350!
11. Fit the two guide pins in two of the motor attachment
screw holes.
Art. no. is specified in Required
equipment on page 351!
12. Press the motor out of position by fitting removal
tool, motor to the remaining motor attachment screw
holes.
Art. no. is specified in Required
equipment on page 351!
Always use the removal tools in
pairs!
13. Apply the lifting tool, motor axis 2 ,3, 4 to the motor. Art. no. is specified in Required
equipment on page 351!
14.
CAUTION!
The motor weighs 27 kg! All lifting equipment used
must be sized accordingly!
15. Lift the motor to get the pinion away from the gear.
16. Remove the motor by gently lifting it straight out and
disconnect the brake release voltage.
Make sure the motor pinion is not
damaged!
Action Note/Illustration
Action Note/Illustration
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 it with
grease.
Art no. is specified in Required
equipment on page 351!
3. Fit the lifting tool, motor axis 2, 3, 4 to the motor. Art no. is specified in Required
equipment on page 351!
Continued
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