4 Repair
4.6.4. Replacement of motor, axis 4
3HAC022033-001 Revision: K350
© Copyright 2004-2011 ABB. All rights reserved.
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but
not the air pressure to the gearboxes,
motors and SMB.
3. In horizontal position: unload the upper arm
to avoid movement of the axis, with one of
the given methods:
• move the upper arm to a position
where the turning disk rests against
the foundation (recommended)
• use a fork lift or an overhead crane
and lifting slings to rest the weight of
the upper arm.
4. In horizontal position: drain the gearbox,
axis 4.
Detailed in section Draining, oil, gearbox
axis 4 on page 210.
5. Remove the cable gland cover at the cable
exit of the motor by unscrewing its two
attachment screws.
Shown in the figure Location of motor on
page 348.
Make sure the gasket is not damaged!
6. Remove the cover on top of the motor by
unscrewing its four attachment screws.
7. Disconnect all connectors beneath the
motor cover.
8. In order to release the brake, connect the 24
VDC power supply.
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
9.
CAUTION!
The motor weighs 22 kg! All lifting
equipment used must be sized accordingly!
10. Unscrew the motors four attachment screws
and plain washers.
Shown in the figure Location of motor on
page 348.
11. Fit the two guide pins in two of the motor
attachment screw holes.
12. If required, press the motor out of position by
fitting removal tool, motor to the motor
attachment screw holes.
Art. no. is specified in Required
equipment on page 348.
Always use the removal tools in pairs!
Action Note
Continued
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