4 Repair
4.6.1. Replacement of motor, axis 1
3HAC022033-001 Revision: K330
© Copyright 2004-2011 ABB. All rights reserved.
3.
CAUTION!
The motor weighs 32 kg! All lifting equipment used
must be sized accordingly!
4. Apply the lifting tool, motor axis 1, 4, 5 to the motor. Art no. is specified in Required
equipment on page 327.
5. In order to release the brake, connect the 24 VDC
power supply.
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
6. Fit the motor, making sure the motor pinion is
properly mated to gearbox of axis 1.
Make sure the motor is turned the
correct way, that is connection of
motorcable forwards..
Make sure the motor pinion does
not get damaged!
7. Fit the clutch on the pinion on the motor.
8. Secure the motor with its four attachment screws
and plain washers.
M10 x 40, tightening torque: 50
Nm.
9. Disconnect the brake release voltage.
10. Reconnect all connectors beneath the motor cover.
11. Refit the cable gland cover at the cable exit with its
two attachment screws.
Make sure the cover is tightly
sealed!
12. Refit the motor cover with its four attachment
screws.
Make sure the cover is tightly
sealed!
13. 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 403.
14.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run may
cause injury or damage! on page 47.
Action Note
Continued
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