4 Repair
4.6.4. Replacement of motor, axis 4
3513HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
13. Fit the lifting tool to the motor. Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically.
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 348.
14. Lift the motor to get the pinion away from the
gear and disconnect the brake release
voltage.
15. Remove the motor by gently lifting it straight
out.
Make sure the motor pinion is not
damaged!
Action Note
Action Note
1.
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.
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 348.
3.
CAUTION!
The motor weighs 22 kg! All lifting
equipment used must be sized accordingly!
4. Fit the lifting tool to the motor. Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 348.
5. In order to release the brakes, connect the
24 VDC power supply.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Continued
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