ABB IRB 140 Product Manual page 161

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3HAC027400-001 Revision: K
Action
Fit the motor, making sure the motor pinion is
properly mated to gearbox 1.
Fit the motor with four attachment screws and
plain washers.
Fit the Arm to the end of the motor shaft.
Adjust the motor in relation to the gear in the
gearbox.
Use the Arm tool to wiggle the motor shaft back
and forth to feel the play.
Tighten the motor attachment screws.
Disconnect the brake release voltage.
Make sure the cable gland gasket has not been
damaged. Replace, if it has.
Push the cables into the console, and refit the
cable gland with its attachment screws.
Perform a leak-down test.
Clean Room robots: seal and paint the joints that
have been opened. See Replacing parts on Clean
Room robots on page 100
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
Recalibrate the robot!
© Copyright 2004-2013 ABB. All rights reserved.
4.7.1 Replacement of motor, axis 1
Note
Make sure the motor is turned the
right way, i.e. connections rear-
wards.
Make sure the motor pinion does
not get damaged!
Tightening torque: approx 2 Nm
Art. no. is specified in section
quired equipment on page
There should be a barely noticable
gear play.
Tightening torque: approx 11 Nm ±
1 Nm
Art. no. is specified in section
quired equipment on page
Detailed in section Performing a
leak-down test on page
Calibration is detailed in a separate
calibration manual enclosed with
the calibration tools.
General calibration information is
included in section Calibration in-
formation on page 195.
4 Repair
Continued
Re-
158.
Re-
158.
217.
161