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4 Repair
4.6.4. Replacement of motor, axis 5
Continued
Equipment, etc.
Oil injector / max
500 MPa
Motor press pinion
Measuring tool
Guide pins M8 x 100
Guide pins M8 x 150
Power supply
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, axis 5
The procedure below details how to remove motor, axis 5.
236
Spare part no.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Drain the oil from gearbox axis 5.
3. Remove the wrist unit.
4. Place the wrist unit safely on a workbench, in a
fixture or similar.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
7. Disconnect all connectors beneath the motor
cover and remove the cable of the axis 5 motor.
Art. no.
Note
3HAC021590-001 For pressing out the pinion,
motor 5.
3HAC021883-001 For pressing the pinion on to
the new motor.
6896134-GN
3HAC15520-1
For guiding the motor.
3HAC15520-2
For guiding the motor.
-
24 VDC, 1.5 A
For releasing the brakes.
-
The content is defined in
section
page
280.
These procedures include
references to the tools
required.
3HAC025744-001 See chapter
diagram.
Note
Detailed in section
gearbox, axis 5 on page
Detailed in section
unit on page
184.
Continues on next page
3HAC028197-001 Revision: A
Standard toolkit on
Circuit
Oil change,
128.
Removal, wrist
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