ABB IRB 140 type C Product Manual page 136

4 Repair
4.6.2. Replacement of motor, axis 2
Continued
Equipment, etc.
Power supply
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
Removal, motor axis 2
The procedure below details how to remove the axis 2 motor.
134
Spare part no.
Action
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Remove the cover for connector access on top of the
motor by unscrewing its four attachment screws.
3. Disconnect the motor connectors inside the console.
4. Cut any cable ties and remove any brackets or clamps
securing the cables.
5. Remove the cable gland by removing its attachment
screws, and pull the cables out from the console.
6.
DANGER!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor, the
lower arm will be movable and may fall down!
7. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Art. no. Note
- 24 VDC, 1.5 A.
For releasing the brakes.
These procedures include
references to the tools
required.
- See chapter
the Product manual, reference
information.
Note
Shown in the figure
of motor axis 2 on page
Connectors:
• R3.MP2
• R3.FB2
Shown in the figure
of motor axis 2 on page
Connect to connector R3.MP2
• +: pin 7
• -: pin 8
Continues on next page
3HAC027400-001 Revision: C
Circuit diagram in
Location
133.
Location
133.