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10. Remove the motor by unscrewing its four
11. Fit the two guide pins in two of the motor
12. If required, press the motor out of position by fitting
13. Remove the removal tools and fit the lifting tool,
3HAC022033-001 Revision: E
Action
2.
DANGER!
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.
3. Lock the lower arm by inserting the lock screw into
the hole.
4. Drain the oil from gearbox, axis 2.
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.
8.
DANGER!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor,
the lower arm will be movable and may fall down!
9. In order to release the brake, connect the 24 VDC
power supply.
attachment screws and plain washers.
attachment holes.
the removal tool, motor to the remaining motor
attachment holes.
motor axis 2, 3, 4 to the motor.
4.6.2. Replacement of motor axis 2
Note
Art. no. and dimension is specified
in
Required equipment on page
303.
Detailed in section
Oil change,
gearbox axis 2 on page
Shown in the figure
Location of
motor on page
303.
Make sure the gasket is not
damaged!
Use the lock screw to lock the lower
arm, as detailed above!
Connect to connector R2.MP2
•
+: pin 2
•
-: pin 5
Art. no. is specified in
Required
equipment on page
303.
Shown in the figure
Location of
motor on page
303.
Art. no. is specified in
Required
equipment on page
303.
Shown in the figure
Location of
motor on page
303.
Always use the removal tools in
pairs!
Art. no. is specified in
Required
equipment on page
303.
Continues on next page
4 Repair
Continued
185.
305
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