ABB IRB 140 type C Product Manual page 137

Refitting, motor axis 2
The procedure below details how to refit the axis 2 motor.
3HAC027400-001 Revision: C
Action
8.
WARNING!
Oil will be running out of the motor attachment hole
when removing the motor! It may also be hot! Take any
necessary measures to collect the oil.
9. Remove the motor by unscrewing its four attachment
screws and plain washers.
10. Remove the motor by gently pulling it out, making sure
the motor pinion does not get damaged while moving it
away from the gear.
11. Disconnect the brake release voltage.
12. Remove any remaining oil from the gearbox by
siphoning it off.
Action
1. Make sure the mating surfaces on the motor and the
gearbox are clean and free from burrs.
If necessary, clean the surfaces with isopropanol.
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 brakes, connect the 24 VDC
power supply to the motor.
4. Remove the motor cover from top of the motor.
5. Fit the rotation tool to the end of the motor shaft.
6. Fit the motor, making sure the motor pinion is properly
mated to gearbox 2.
Use the rotation tool to rotate the motor pinion, when
mating it to the gear.
7. Secure the motor with four attachment screws and plain
washers, but do not tighten yet.
8. Adjust the motor in relation to the gear in the gearbox.
Use the rotation tool to wiggle the motor shaft back and
forth to feel the play. Tap with a plastic mallet.
9. Refit the motor cover to the top of the motor.
Be careful not to damage the cables!
4.6.2. Replacement of motor, axis 2
Note
Shown in the figure
of motor axis 2 on page
Note
Art. no. is specified in section
Required equipment on page
133.
Connect to connector
R3.MP2:
• +: pin 7
• -: pin 8
Shown in the figure
of motor axis 2 on page
Art. no. is specified in section
Required equipment on page
133.
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.
There should be a barely
noticable gear play.
Continues on next page
4 Repair
Continued
Location
133.
Location
133.
135