ABB M2000 Product Manual page 139

Step
Refitting
The procedure below details how to refit 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
3HAC023297-001 Revision: A
Action
8. Disconnect the brake release voltage.
9. Remove the motor by gently pulling it out.
There is a real danger of oil running out of the motor
attachment hole when removing the motor. Take any
necessary measures to collect the oil.
10. Remove any remaining oil from the gearbox by
siphoning it out.
• - Motors and gears are HOT after running the robot! Burns may result from touching
the motors or gears!
• - 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. to secure the lower arm with fixtures if removing motor, axis 2.
Action
1. Make sure the mating surfaces on the motor and
the gearbox are clean and free from burrs.
2. Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-
ring with grease .
3. In order to release the brake, connect the 24 VDC
power supply:
4. Fit the motor, making sure the motor pinion is
properly mated to gearbox 2.
5. Fit the motor with four attachment screws and plain
washers.
6. Fit the Arm to the end of the motor shaft.
7. Adjust the motor in relation to the gear in the
gearbox.
Use the Arm tool to wiggle the motor shaft back and
forth to feel the play.
8. Tighten the motor attachment screws.
4.6.2. Replacement of motor, axis 2
Note
Note
Art no. is specified in section
Required equipment
135.
Connect to connector R2.MP2
• +: pin 7
• -: pin 8
Make sure the motor is turned
the right way, i.e. connections
rearwards.
Make sure the motor pinion
does not get damaged!
Tightening torque: approx 2
Nm
Art no. is specified in section
Required equipment
135.
There should be a barely
noticable gear play.
Tightening torque: approx 11
Nm ± 1 Nm
4 Repair
on page
on page
137