ABB IRB 140 type C Product Manual page 133

Refitting
The procedure below details how to refit motor, axis 1.
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!
3HAC027400-001 Revision: C
Action
5. In order to release the brakes, connect the 24 VDC
power supply:
6. Remove the motor by unscrewing its four attachment
screws and plain washers.
7. Lift the motor to get the pinion away from the gear and
disconnect the brake release voltage.
8. Remove the motor by gently lifting it straight up.
• - 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 1.
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.
4.6.1. Replacement of motor, axis 1
Note
Connect to connector
R3.MP1
• +: pin 7
• -: pin 8
Shown in the figure
of motor axis 1 on page
Note
Art. no. is specified in section
Required equipment on page
129.
Connect to connector R2.MP1
• +: 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 on page
129.
There should be a barely
noticable gear play.
Continues on next page
4 Repair
Continued
Location
129.
131