4 Repair
4.6.2. Replacement of motor axis 2
3HAC020993-001 Revision: G310
© Copyright 2004-2008 ABB. All rights reserved.
9. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to the
gear of gearbox axis 2 and that it doesn´t get
damaged.
Art. no. is specified in Required
equipment on page 306!
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.
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 384 before fitting.
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.
Shown in the figure Location of motor on
page 306!
15. Refit the cover on top of the motor with its four
attachment screws.
Make sure the cover is tightly sealed!
16. Remove the lock screw from the hole for lock
screw.
Shown in the figure Location of motor on
page 306!
17. Perform a leak down test. Detailed in Performing a leak-down test
on page 200.
18. Refill the gearbox with oil. Detailed in section Oil change, gearbox
axis 2 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
information on page 365.
20.
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 38.
Action Note/Illustration
Continued
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