ABB IRB 140 Product Manual page 164

4 Repair
4.7.2 Replacement of motor, axis 2
Continued
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Refitting, motor axis 2
The procedure below details how to refit the axis 2 motor.
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164
Action
WARNING
Oil will be running out of the motor attachment hole
when removing the motor! It may also be hot! Take any
necessary measures to collect the oil.
Remove the motor by unscrewing its four attachment
screws and plain washers.
Remove the motor by gently pulling it out, making sure
the motor pinion does not get damaged while moving
it away from the gear.
Disconnect the brake release voltage.
Remove any remaining oil from the gearbox by siphon-
ing it off.
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.
If necessary, clean the surfaces with isopropanol.
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 brakes, connect the 24
VDC power supply to the motor.
Remove the motor cover from top of the motor.
Fit the rotation tool to the end of the motor shaft.
Fit the motor, making sure the motor pinion is
properly mated to gearbox 2.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear.
Secure the motor with four attachment screws
and plain washers, but do not tighten yet.
Adjust the motor in relation to the gear in the
gearbox.
Use the rotation tool to wiggle the motor shaft
back and forth to feel the play. Tap with a plastic
mallet.
Refit the motor cover to the top of the motor.
Be careful not to damage the cables!
© Copyright 2004-2013 ABB. All rights reserved.
Note
Shown in the figure
of motor axis 2 on page
Note
Art. no. is specified in section
quired equipment on page
Connect to connector R3.MP2:
• +: pin 7
• -: pin 8
Shown in the figure Location of mo-
tor axis 2 on page 162.
Art. no. is specified in section
quired equipment on page
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.
There should be a barely noticable
gear play.
3HAC027400-001 Revision: K
Location
162.
Re-
162.
Re-
162.