4 Repair
4.6.5. Replacement of motor, axis 5
3293HAC020993-001 Revision: G
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
15. Press out the pinion from the dismounted motor,
with the equipment included in the oil injector kit.
Note! If the pinion is damaged the complete wrist
unit must be replaced!
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page 245. Art.
no. is specified in Required
equipment on page 326.
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 326!
3. Clean the motor pinion and the motor pinion
hole in the motor, with isopropanol.
Note!If the pinion is damaged the complete
wrist unit must be replaced!
Art. no. is specified in Required
equipment on page 326!
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page 245.
4. Apply a thin film of mineral oil to the pinion
shaft and the pinion hole in order to make the
pinion run smoothly and to achieve an even
friction torque when assembling the pinion.
Art. no. is specified in Required
equipment on page 326!
5. Place the motor and pinion in the press fixture. Art. no. is specified in Required
equipment on page 326!
6. Press the pinion onto the new motor and check
the pressing force.
For an axis diameter of 15.5 mm, use min.
pressing force: 18.5 kN and max. pressing
force: 39.5 kN.
If the pressing force is outside the
given range or if the pinion "jumps" in
bit by bit, it must be dismounted,
checked, cleaned and oiled before it is
assembled once again!
7. Measure the distance between the motor
flange and the outer surface of the pinion with
the measuring tool.
Modify the distance with shims in order to
obtain the same distance as measured when
dismounting the old motor (+ 0-0,05 mm).
Art. no. is specified in Required
equipment on page 326.
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
Continued
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