ABB M2000 Product Manual page 153

Refitting
The procedure below details how to refit motor, axis 5.
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!
3HAC023297-001 Revision: A
• - 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.
Step Action
1. Make sure the mating surfaces on the motor
and the console are clean and free from
burrs.
2. Fit the motors in the motor console without
tightening the attachment screws.
3. Fit the motor console in the upper arm
housing. Secure with its attachment screws.
4. Fit pulley, axis 5 and timing belt, axis 5 with
their attachment screws and washers.
5. Tighten the motor attachment screws to
enable the motor to be shifted slightly.
6. Adjust the belt tension by xx.
7. Secure the motor with its attachment screws
including the ones in the motor console.
8. Fit pulley, axis 6 and timing belt, axis 6 with
their attachment screws and washers.
9. Fit the clamping unit and secure it with its
clamping unit attachment screws.
10. Repeat the belt adjustment procedure
detailed above for the remaining motor.
11. Secure the motor with its attachment screws. Tightening torque: 4 Nm ± 0.5 Nm
12. Fit the belt shield with its attachment screws. Shown in the figure in section
4.6.5. Replacement of motor and timing belt, axes 5 or 6
Note
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6
Tightening torque: 6 Nm ± 0.5 Nm
This will facilitate adjustment of the
belt tension.
Correct belt tension F=35 - 60 N
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6
Tightening torque: 3 Nm ± 0.5 Nm
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6
Tightening torque: 3 Nm ± 0.5 Nm
Location of motor and timing belt,
axes 5 or 6
Tightening torque: 4 Nm ± 0.5 Nm
4 Repair
on page 147!
on page 147!
on page 147!
on page 147!
on page 147!
on page 147!
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