ABB IRB 140 type C Product Manual page 132

4 Repair
4.6.1. Replacement of motor, axis 1
Continued
Equipment, etc.
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 1.
CAUTION!
If the manipulator normally works in an inverted position, it must be removed from this
position and placed on the floor before the work detailed in this instruction may be carried
out !
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!
130
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 Cover for connector access on top of
the motor by unscrewing its four attachment screws.
2. Disconnect the motor 1 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.
Art no. Note
3HAC 9037-1 For adjusting the gear play,
motor/pinion
24 VDC, max. 1,5 A
For releasing the brakes
These procedures include
references to the tools
required.
3HAC 6816-3 See chapter
in the Product manual,
reference
Note
Shown in the figure
of motor axis 1 on page
Detailed in section
Replacement of cover,
console on page
Connectors:
•
•
Shown in the figure
of motor axis 1 on page
Continues on next page
3HAC027400-001 Revision: C
Circuit diagram
information.
Location
129.
112.
R3.MP1
R3.FB1
Location
129.