ABB IRB 140 Product Manual page 160

4 Repair
4.7.1 Replacement of motor, axis 1
Continued
3
4
5
6
7
8
9
Refitting
The procedure below details how to refit motor, axis 1.
1
2
3
4
Continues on next page
160
Action
Disconnect the motor 1 connectors inside the con-
sole.
Cut any cable ties and remove any brackets securing
the cables.
Remove the cable gland by removing its attachment
screws, and pull the cables out from the console.
In order to release the brakes, connect the 24 VDC
power supply:
Remove the motor by unscrewing its four attachment
screws and plain washers.
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Remove the motor by gently lifting it straight up.
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
Clean Room robots: clean the joints that have
been opened. See Replacing parts on Clean
Room robots on page 100
Make sure the mating surfaces on the motor and
the gearbox are clean and free from burrs.
Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-
ring with grease.
In order to release the brake, connect the 24 VDC
power supply:
© Copyright 2004-2013 ABB. All rights reserved.
Note
Connectors:
• R3.MP1
• R3.FB1
Shown in the figure Location of
motor axis 1 on page
Connect to connector R3.MP1
• +: pin 7
• -: pin 8
Shown in the figure Location of
motor axis 1 on page
Note
Art. no. is specified in section
quired equipment on page
Connect to connector R2.MP1
• +: pin 7
• -: pin 8
3HAC027400-001 Revision: K
158.
158.
Re-
158.