ABB IRB 140 type C Product Manual page 145

Equipment, etc.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
3HAC027400-001 Revision: C
Spare part no.
Action
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Manually move the robot to a position where the
upper arm points straight down.
3. Remove the motors for axes 5 and 6.
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
5. Remove the motor, axis 4 by unscrewing the motor
attachment screws.
6. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
7. Remove the motor by gently lifting it out.
4.6.4. Replacement of motor, axis 4
Art. no. Note
These procedures include
references to the tools
required.
3HAC 6816-3 See chapter
in the
reference
Note
This will enable the motor 4 to be
removed without draining the oil in
the gearbox.
Detailed in section
of motor and timing belt, axes 5 or
6 on page 145.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure
motor on page
Make sure the motor pinion is not
damaged!
Continues on next page
4 Repair
Continued
Circuit diagram
Product manual,
information.
Replacement
Location of
142.
143