ABB M2000 Product Manual page 134

4 Repair
4.6.1. Replacement of motor, axis 1
Removal
The procedure below details how to remove motor, axis 1.
CAUTION!
If the manipulator normally works in an inverted position, it must be removed from this
position and placed on the floor before the work detailed in this instruction may be carried
out !
WARNING!
Please observe the following before commencing any repair work on the manipulator:
NOTE!
Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is
used!
Step
132
• Motors and gears are HOT after running the robot! Touching the motors and gears may
result in burns!
• Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
• Take any necessary measures to ensure that the manipulator does not collapse as parts
are removed, e.g. secure the lower arm with fixtures if removing motor, axis 2.
Action
1. Remove the Cover for connector access on top of
the motor by unscrewing its four attachment screws.
2. Disconnect the motor 1 connectors inside the
console.
3. Cut any cable ties and remove any brackets securing
the cables.
4. Remove the cable gland by removing its attachment
screws, and pull the cables out from the console.
5. In order to release the brakes, connect the 24 VDC
power supply:
6. Remove the motor by unscrewing its four attachment
screws and plain washers.
7. Lift the motor to get the pinion away from the gear and
disconnect the brake release voltage.
8. Remove the motor by gently lifting it straight up.
Note
Shown in the figure Location
of motor axis 1 on page 130.
Detailed in section
Replacement of cover,
console on page 115.
Connectors:
• R3.MP1
• R3.FB1
Shown in the figure Location
of motor axis 1 on page 130.
Connect to connector
R3.MP1
• +: pin 7
• -: pin 8
Shown in the figure Location
of motor axis 1 on page 130.
3HAC023297-001 Revision: A