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4 Repair
4.6.2. Replacement of motor, axes 2 and 3
Continued
Equipment, etc.
Standard toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step instruc-
tions below.
Circuit diagram
Removal, motor
The procedure below details how to remove motors, axes 2 and 3.
228
Spare part no.
Action
1. Run the robot to a position close enough to its
calibration position, to allow the lock screw to
be inserted into the hole for lock screw.
2. Secure the upper arm with roundslings in an
overhead crane.
3.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
4. Lock the lower arm by inserting the lock screw
into the hole.
5. Drain the oil from gearbox, axes 2- 3.
6. Remove the motor cover by unscrewing its four
attachment screws.
7. Remove the cable gland cover at the cable exit
by unscrewing its two attachment screws.
8. Disconnect all connectors beneath the motor
cover.
9. In order to release the brake, connect the 24
VDC power supply.
10. Remove the motor by unscrewing its four
attachment screws and plain washers.
11. Fit the two guide pins in two of the motor
attachment holes.
12. If required, press the motor out of position by
fitting two screws in the motor attachment holes
diagonal to each other.
Art. no.
Note
The content is defined in
section
page
These procedures include
references to the tools
required.
3HAC025744-001
See chapter
diagram.
Note
This is done in order to secure axis 3
from collapsing when gearbox axis 3
is being removed.
Shown in the figure
motors, axes 2 and 3 on page
Detailed in
Oil change, gearbox axes
2-3 on page
123.
Shown in the figure
motors, axes 2 and 3 on page
Shown in the figure
motors, axes 2 and 3 on page
Make sure the gasket is not damaged!
Connect to connector R2.MP2
•
+ : pin 2
•
- : pin 5
Shown in the figure
motors, axes 2 and 3 on page
Art. no. is specified in
equipment on page
Always use the removal tools in pairs!
Continues on next page
3HAC028197-001 Revision: A
Standard toolkit on
280.
Circuit
Location of
227.
Location of
227.
Location of
227.
Location of
227.
Required
227.
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