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4 Repair
4.6.2. Replacement of motor, axes 2 and 3
Continued
230
Action
8. Use the rotation tool in order to rotate the motor
pinion when mating it to the gear (see figure
beside). Fit the motor, making sure the motor
pinion is properly mated to the gear of gearbox
axis 2-3 and that it doesn´t get damaged.
9. Remove the guide pins.
10. Secure the motor with its four attachment
screws and plain washers.
11. Disconnect the brake release voltage.
12. Reconnect all connectors beneath the motor
cover.
13. Refit the cable gland cover at the cable exit with
its two attachment screws.
14. Refit the motor cover with its four attachment
screws and washers.
15. Remove the lock screw from the hole for lock
screw.
16. Perform a leak-down test of the axis 2 (or 3)
gearbox.
17. Refill the gearbox with oil.
18. Recalibrate the robot!
19.
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
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor
shaft as shown in figure above.
- A: Rotation tool
Shown in the figure
motors, axes 2 and 3 on page
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section
page 276
Connect in accordance with markings
on connectors.
Shown in the figure
motors, axes 2 and 3 on page
Replace the gasket.
Make sure the cover is tightly sealed!
Shown in the figure
motors, axes 2 and 3 on page
Detailed in
2-3 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
mation.
DANGER - First test
33.
Location of
227.
Screw joints on
before fitting.
Location of
227.
Location of
227.
Oil change, gearbox axes
123.
Calibration infor-
3HAC028197-001 Revision: A
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