ABB IRB 140 Product Manual page 173

Equipment, etc.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
Circuit Diagram
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
1
2
3
4
5
6
7
8
9
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
Manually move the robot to a position where the
upper arm points straight down.
Remove the motors for axes 5 and 6.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Remove the motor, axis 4 by unscrewing the motor
attachment screws.
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Remove the motor by gently lifting it out.
Remove the o-ring from the arm housing.
© Copyright 2004-2013 ABB. All rights reserved.
4.7.4 Replacement of motor, axis 4
Art. no. Note
These procedures include
references to the tools re-
quired.
See chapter
on page 229.
Note
This will enable the motor 4 to be
removed without draining the oil
in the gearbox.
Detailed in section
of motor and timing belt, axes 5 or
6 on page 176.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure
motor on page
Make sure the motor pinion is not
damaged!
Continues on next page
4 Repair
Continued
Circuit diagram
Replacement
Location of
172.
173