ABB IRB 140 Product Manual page 159

Equipment, etc.
Power supply
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Circuit Diagram
Removal
The procedure below details how to remove motor, axis 1.
1
2
3HAC027400-001 Revision: K
CAUTION
If the manipulator normally works in an inverted position, it must be removed
from this position and placed on the floor before the work detailed in this
instruction may be carried out!
WARNING
Please observe the following before doing any repair work on the manipulator:
• Motors and gears are HOT after running the robot! Touching the motors and
gears may result in burns!
• Turn off all electric power, hydraulic, and pneumatic pressure supplies to
the robot!
• Take any necessary measures to ensure that the manipulator does not
collapse as parts are removed, for example secure the lower arm with fixtures
if removing motor, axis 2.
Note
Whenever parting/mating motor and gearbox, the gears may be damaged if
excessive force is used!
Action
CAUTION
Always cut the paint with a knife and grind the paint
edge when disassembling parts of a Clean Room
robot! See Replacing parts on Clean Room robots
on page 100
Remove the cover for connector access on top of the
motor by unscrewing its four attachment screws.
© Copyright 2004-2013 ABB. All rights reserved.
4.7.1 Replacement of motor, axis 1
Art no. Note
24 VDC, max. 1,5 A
For releasing the brakes
These procedures include references
to the tools required.
See chapter
page
4 Repair
Continued
Circuit diagram on
229.
Note
Shown in the figure Location of
motor axis 1 on page 158.
Detailed in section Replacement
of cover, console on page
Continues on next page
141.
159