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Equipment, etc.
Power supply
Grease
Standard toolkit
Calibration Pendulum
toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Circuit Diagram
Removal, motor
The procedure below details how to remove the motor, axis 6.
3HAC022033-001 Revision: E
Spare part no.
Action
1. Move the robot to one of the recommended
positions:
•
to a position where the motor in axis 6 is
pointed straight up. This position enables the
motor to be replaced without draining the
gear oil, which in turn saves time.
•
to a position where the motor in axis 6 is
close to horizontal. This position may be
selected when the gearbox is to be replaced,
i.e. when the gearbox oil has to be drained
anyway.
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. In horizontal position: drain the oil from the axis 6
gearbox.
4. Remove the rear motor cover by unscrewing the five
attachment screws.
5. Disconnect all connectors beneath the cover.
6. In order to release the brake, connect the 24 VDC
power supply.
4.6.6. Replacement of motor, axis 6
Art. no.
Note
-
24 VDC, 1.5 A
For releasing the brakes.
3HAB3537-1
For lubricating the o-ring.
-
The content is defined in
section
Standard toolkit on
page
394.
3HAC15716-1
Complete kit that also
includes operating manual.
These procedures include
references to the tools
required.
-
See chapter
Note
Detailed in section
gearbox axis 6 on page
Connect to connector R3.MP6
•
+: pin 2
•
-: pin 5
Continues on next page
4 Repair
Continued
Circuit
diagram.
Draining, oil,
198.
329
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