ABB M2000 Product Manual page 148

4 Repair
4.6.4. Replacement of motor, axis 4
Refitting
The procedure below details how to refit 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
146
• - 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 with the attachment screws.
5. Fit the Arm to the end of the motor shaft.
6. 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.
7. Tighten the motor attachment screws.
8. Refit motors 5 and 6.
9. Perform a leak-down test.
10. Recalibrate the robot!
Note
Shown in the figure Location of
motor, axis 4 on page 144.
Art. no. is specified in section
Required equipment on page 144.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Tightening torque: approx. 2 Nm
Art. no. is specified in section
Required equipment on page 144.
There should be a barely noticable
gear play.
Shown in the figure Location of
motor, axis 4 on page 144.
Tightening torque: 6 Nm ± 0.6 Nm
Detailed in section Replacement of
motor and timing belt, axes 5 or 6
page 147.
Detailed in section Leak-down
Calibration is detailed in separate
calibration manuals.
Art. no. for the manuals are
specified in section Document
references in the Product manual,
reference information.
3HAC023297-001 Revision: A
on
test.