ABB IRB 140 Product Manual page 163

Equipment, etc.
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
Circuit Diagram
Removal, motor axis 2
The procedure below details how to remove the axis 2 motor.
1
2
3
4
5
6
7
8
3HAC027400-001 Revision: K
Spare part no.
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working area.
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.
Disconnect the motor connectors inside the console.
Cut any cable ties and remove any brackets or clamps
securing the cables.
Remove the cable gland by removing its attachment
screws, and pull the cables out from the console.
DANGER
Secure the weight of the lower arm properly before re-
leasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor, the
lower arm will be movable and may fall down!
In order to release the brakes, connect the 24 VDC
power supply to the motor.
© Copyright 2004-2013 ABB. All rights reserved.
4.7.2 Replacement of motor, axis 2
Art. no. Note
These procedures include ref-
erences to the tools required.
- See chapter
page 229.
Note
Shown in the figure
of motor axis 2 on page
Connectors:
• R3.MP2
• R3.FB2
Shown in the figure
of motor axis 2 on page
Connect to connector R3.MP2
• +: pin 7
• -: pin 8
Continues on next page
4 Repair
Continued
Circuit diagram on
Location
162.
Location
162.
163