ABB IRB 140 Product Manual page 178

4 Repair
4.7.5 Replacement of motor and timing belt, axes 5 or 6
Continued
Removal
The procedure below details how to remove motor, axis 5 or 6.
1
2
3
4
5
6
7
Continues on next page
178
WARNING
Please observe the following before doing any repair work on the manipulator:
• Motors and gears are HOT after running the robot! Touching the motors and
gears may result in burns!
• Turn off all electric power, hydraulic, and pneumatic pressure supplies to
the robot!
• Take any necessary measures to ensure that the manipulator does not
collapse as parts are removed, for example secure the lower arm with fixtures
if removing motor, axis 2.
Note
Whenever parting/mating motor and gearbox, the gears may be damaged if
excessive force is used!
Action
CAUTION
Always cut the paint with a knife and grind
the paint edge when disassembling parts
of a Clean Room robot! See
parts on Clean Room robots on page 100
Run the robot to a position where the upper
arm is close to horizontal
Remove the lower arm cover by unscrewing
its attachment screws.
Remove the rear cover armhousing by un-
screwing its four attachment screws.
Disconnect all cables to/from motors 4-6.
Disconnect any connector from the CS-
connector.
Use a special socket to remove the CS-
connector from the housing and pull it into
the upper arm assembly.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Replacing
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Connectors:
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Art. no. specified in section
equipment on page 177
Location
Location
Location
Location
Required
3HAC027400-001 Revision: K