ABB IRB 140 Product Manual page 174

4 Repair
4.7.4 Replacement of motor, axis 4
Continued
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
1
2
3
4
5
6
7
8
9
10
Continues on next page
174
Action
Clean Room robots: clean the joints that have
been opened. See Replacing parts on Clean
Room robots on page 100
Clean the mating surfaces on the motor and
the gearbox.
Lightly lubricate a new o-ring (A) and put it in
the bottom of the machined hole of the arm
housing.
In order to release the brakes, connect the 24
VDC power supply to the motor.
Fit the motor with the attachment screws,
compressing the o-ring in axial direction.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
Fit the rotational tool 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.
Refit motors 5 and 6.
Perform a leak-down test.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Shown in the figure Location of motor
on page 172.
Art. no. is specified in section
quired equipment on page
A
xx1200000823
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure Location of motor
on page 172.
Tightening torque: approx. 2 Nm.
Art. no. is specified in section
quired equipment on page
There should be a barely noticable
gear play.
Shown in the figure Location of motor
on page 172.
Tightening torque: 6 Nm ± 0.6 Nm.
Detailed in section Replacement of
motor and timing belt, axes 5 or 6 on
page 176.
Detailed in section Performing a leak-
down test on page 217.
3HAC027400-001 Revision: K
Re-
172.
Re-
172.