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4 Repair
4.6.3. Replacement of motor, axis 3
Continued
10. Unscrew the motors four attachment screws and
11. Fit the two guide pins in two of the motor attachment
12. Press the motor out of position by fitting removal
13. Apply the lifting tool, motor axis 2 ,3, 4 to the motor. Art. no. is specified in
312
Action
2. Unload the upper arm of the robot by either:
•
Move the robot to a position where the
turning disk rests against the foundation (rec-
ommended).
•
Use a fork lift to rest the upper arm onto.
•
Use lifting slings and an overhead crane to
rest the upper arm.
•
Use a mechanical stop to rest the upper arm.
Fit the mechanical stop in the attachment
hole (A) with tightening torque: 115 Nm.
The upper arm must be positioned as horizontal as
possible!
3. Drain the oil from gearbox axis 3.
4. Remove any equipment hindering access to motor
axis 3.
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 securing screws.
7. Disconnect all connectors beneath the motor cover.
8.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
9. Release the brake by connecting the 24 VDC power
supply.
plain washers .
screw holes.
tool, motor to the remaining motor attachment
screw holes.
Note
xx0300000051
Fit the mechanical stop to the third
and final attachment hole (A),
below the fixed stop (B) in the
upper arm. See the figure above!
Detailed in section
Oil change,
gearbox, axis 3 on page
188.
Shown in the figure
Location of
motor on page
310.
Make sure the gasket is not
damaged!
Connect to connector R2.MP3
•
+: pin 2
•
-: pin 5
Shown in the figure
Location of
motor on page
310.
Art. no. is specified in
Required
equipment on page
310.
Art. no. is specified in
Required
equipment on page
310.
Always use the removal tools in
pairs!
Required
equipment on page
310.
Continues on next page
3HAC022033-001 Revision: E
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