ABB M2000 Product Manual page 147

Equipment, etc.
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 4.
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
Spare part no.
• 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 motors for axes 5 and 6.
2. Manually run the manipulator to a position where
the upper arm points straight down.
3. Remove the motor, axis 4 by unscrewing the motor
attachment screws.
4. In order to release the brake, connect the 24 VDC
power supply:
5. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
6. Remove the motor by gently lifting it straight out.
4.6.4. Replacement of motor, axis 4
Art. no. Note
These procedures include
references to the tools
required.
3HAC 6816-3 See chapter
diagram
manual, reference
information.
Note
Detailed in section
Replacement of motor and
timing belt, axes 5 or 6
147.
This will enable the motor 4 to
be removed without draining
the oil in the gearbox.
Shown in the figure
motor, axis 4
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Make sure the motor pinion is
not damaged!
4 Repair
Circuit
in the Product
on page
Location of
on page 144.
145