ABB M2000 Product Manual page 138

4 Repair
4.6.2. Replacement of motor, axis 2
Equipment, etc. Spare part no.
Arm
Power supply
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
Removal
The procedure below details how to remove motor, axis 2.
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
136
• 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 2 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.
Art. no. Note
3HAC 9037-1 For adjusting the gear play,
motor/pinion
24 VDC, 1.5 A.
For releasing the brakes.
These procedures include
references to the tools
required.
3HAC 6816-3 See chapter
the Product manual,
reference
Note
Shown in the figure in
section
axis 2
Connectors:
•
•
Shown in the figure in
section
axis 2
Connect to connector
R3.MP2
•
•
Shown in the figure
of motor axis 2
3HAC023297-001 Revision: A
Circuit diagram in
information.
Location of motor
on page 135.
R3.MP2
R3.FB2
Location of motor
on page 135.
+: pin 2
-: pin 5
Location
on page 135.