ABB IRB 140 type C Product Manual page 150

4 Repair
4.6.5. Replacement of motor and timing belt, axes 5 or 6
Continued
Refitting
The procedure below details how to refit motor, axis 5.
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!
148
Action
9. Remove the cable guide by unscrewing its
two attachment screws.
10. Gently pull the cables out of the upper arm.
11. Remove the belt shield by unscrewing its
attachment screws.
12. Loosen the motor attachment screws.
13. Remove the pulley and belt from motor,
axis 6.
14. Remove the pulley and belt from motor,
axis 5.
15. Remove the motor console, ax. 5-6 by
unscrewing its attachment screws.
• - Motors and gears are HOT after running the robot! Burns may result from touching
the motors or gears!
•
- 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. to secure the lower arm with fixtures if removing motor, axis 2.
Action
1. Make sure the mating surfaces on the motor
and the console are clean and free from
burrs.
2. Fit the motors in the motor console without
tightening the attachment screws.
3. Fit the motor console in the upper arm
housing. Secure with its attachment screws.
4. Fit timing belt, axis 5.
Note
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 145!
Note
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6 on page 145!
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6 on page 145!
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
Location of motor and timing belt,
axes 5 or 6 on page 145!
Continues on next page
3HAC027400-001 Revision: C
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