ABB IRB 4400 - 45 Product Manual page 192

4 Repair
4.7.1. Replacement of motor, axis 1
Continued
Removal, motor axis 1
The procedure below details how to remove the motor, axis 1.
If a shelf-mounted robot version is not flat mounted, the manipulator can contain a living
force!
Removing the motor from axis 1 may result in movement of the axis, because the brake is
released.
To avoid this, move the robot into normal calibration position or move axis 1 to get the lowest
location of the center of gravity for the upper arm.
190
Action
1.
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2.
Whenever parting/mating motor and gearbox,
the gears may be damaged if excessive force is
used!
3. Remove the cover of the connection box.
4. Disconnect all the connectors in the motor.
5. Remove the connection box.
6. Remove the attachment screws and washers of
the motor.
Note the position of the motor label before
removing the motor! The motor must be
mounted back at the same position!
7. Remove the motor.
Info/Illustration
Shown in the figure Location of
motor on page 188.
Shown in the figure Location of
motor on page 188.
Shown in the figure Location of
motor on page 188.
Continues on next page
3HAC022032-001 Revision: E