4 Repair
4.6.5. Replacement of motor, axis 5
3HAC020993-001 Revision: G328
© Copyright 2004-2008 ABB. All rights reserved.
Removal, motor, axis 5
The procedure below details how to remove motor, axis 5.
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. Drain the oil from gearbox axis 5. Detailed in section Oil change,
gearbox, axis 5 on page 169.
3. Remove the wrist unit. Detailed in section Removal, wrist
unit on page 246.
4. Place the wrist unit safely on a workbench, in a
fixture or similar.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
7. Disconnect all connectors beneath the motor
cover and remove theseparate cable of the axis 5
motor.
8. In order to release the brake, connect the 24 VDC
power supply.
Connect to either:
- connector R4.MP5 (in the motor):
• + : pin 2
• - : pin 5
- connector R3.MP5 (on the
separate cable, if not removed):
•+: pin C
•-: pin D
9. Remove the motor by unscrewing its four
attachment screws and plain washers.
10. Fit the two guide pins in two of the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 326!
11. If required, press the motor out of position by
fitting removal tool, motor, M10 to the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 326!
Always use the removal tools in pairs
and diagonally!
12. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Make sure the motor pinion is not
damaged!
13. Remove the motor by gently lifting it straight out. Keep track of the shims between the
motor flange and the wrist housing.
14. Measure the distance between the motor flange,
included eventual shims, and the outer surface of
the pinion, with measuring tool.
Art. no. is specified in Required
equipment on page 326!
Make a note of the distance.
Continued
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