ABB IRB 140 type C Product Manual page 149

Articulated robot

Table of Contents

Removal

The procedure below details how to remove motor, axis 5 or 6.

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

•

Motors and gears are HOT after running the robot! Touching the motors and gears may

result in burns!

•

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. secure the lower arm with fixtures if removing motor, axis 2.

Action

1. Run the robot to a position where the

upper arm is close to horizontal

2. Remove the lower arm cover by

unscrewing its attachment screws.

3. Remove the rear cover armhousing by

unscrewing its four attachment screws.

4. Disconnect all cables to/from motors 4-6.

5. Disconnect any connector from the CS-

connector.

6. Use a special socket to remove the CS-

connector from the housing and pull it into

the upper arm assembly.

7. Remove the pressurized air connector from

the housing and pull it into the upper arm

assembly.

8. Remove the VK-cover from the upper arm/

lower arm joint.

4.6.5. Replacement of motor and timing belt, axes 5 or 6

Note