Location Of Motor; Required Equipment - ABB IRB 140 type C Product Manual

4 Repair
4.6.4. Replacement of motor, axis 4
Continued
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
144
Action
1. Clean the mating surfaces on the motor and the
gearbox.
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. Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
5. Fit the rotational tool to the end of the motor
shaft.
6. 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.
7. Tighten the motor attachment screws.
8. Refit motors 5 and 6.
9. Perform a leak-down test.
10. Recalibrate the robot!
11.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Note
Shown in the figure
on page
Art. no. is specified in section
Required equipment on page
Connect to connector R3.MP4
Shown in the figure
on page
Tightening torque: approx. 2 Nm.
Art. no. is specified in section
Required equipment on page
There should be a barely noticable
gear play.
Shown in the figure
on page
Tightening torque: 6 Nm ± 0.6 Nm.
Detailed in section
motor and timing belt, axes 5 or 6 on
page
Detailed in section
down test on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
32.

Location of motor

142.
• +: pin 7
• -: pin 8
Location of motor
142.
Location of motor
142.
Replacement of
145.
Performing a leak-
184.
Calibration
163.
3HAC027400-001 Revision: C
142.
142.