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10. Fit the two guide pins in two of the motor
12. Lift the motor to get the pinion away from the gear
13. Remove the motor by gently lifting it straight out. Keep track of the shims between the
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
3HAC028197-001 Revision: A
Action
8. In order to release the brake, connect the 24 VDC
power supply.
9. Remove the motor by unscrewing its four
attachment screws and plain washers.
attachment screw holes.
11. If required, press the motor out of position by
fitting removal tool, motor, M10 to the motor
attachment screw holes.
and disconnect the brake release voltage.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease.
3. In order to release the brake, connect the 24
VDC power supply.
4. Fit the two guide pins in two of the motor
attachment holes.
5. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of axis 5.
6. Secure the motor with four attachment screws
and plain washers.
4.6.4. Replacement of motor, axis 5
Note
Connect to either:
- connector R4.MP5 (in the motor):
•
+ : pin 2
•
- : pin 5
- connector R3.MP5 (on the
separate cable, if not removed):
•
+: pin C
•
-: pin D
Art. no. is specified in
Required
equipment on page
235.
Art. no. is specified in
Required
equipment on page
235.
Always use the removal tools in pairs
and diagonally!
Make sure the motor pinion is not
damaged!
motor flange and the wrist housing.
Note
Art. no. is specified in
Required
equipment on page
235.
Connect to either:
- connector R4.MP5 (in the motor):
•
+: pin 2
•
-: pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
•
+: pin C
•
- : pin D
Art. no. is specified in
Required
equipment on page
235.
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Continues on next page
4 Repair
Continued
237
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