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4 Repair
4.6.2 Replacement of motor axis 2
Continued
2
3
4
5
6
7
8
9
10
11
12
13
Continues on next page
324
Action
DANGER
Turn off all:
•
electric power supply to the
robot
•
hydraulic pressure supply to
the robot
•
air pressure supply to the ro-
bot
Before entering the robot working
area.
Lock the lower arm by inserting the
lock screw into the hole.
Drain the oil from gearbox, axis 2.
Remove the cover on top of the mo-
tor by unscrewing its four attach-
ment screws.
Remove the cable gland cover at the
cable exit by unscrewing its two at-
tachment screws.
Disconnect all connectors beneath
the motor cover.
DANGER
Secure the weight of the lower arm
properly before releasing 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 brake, con-
nect the 24 VDC power supply.
Remove the motor by unscrewing
its four attachment screws and plain
washers.
Fit the two guide pins in two of the
motor attachment holes.
If required, press the motor out of
position by fitting the removal tool,
motor to the remaining motor attach-
ment holes.
Remove the removal tools and fit the
lifting tool, motor axis 2, 3, 4 to the
motor.
© Copyright 2007-2013 ABB. All rights reserved.
Note
Art. no. and dimension is specified in
equipment on page
322.
Detailed in the section
Changing oil, axis-2 gear-
box on page
199.
Shown in the figure
Location of motor on page
Make sure the gasket is not damaged!
Use the lock screw to lock the lower arm, as de-
tailed above!
Connect to connector R2.MP2
•
+: pin 2
•
-: pin 5
Art. no. is specified in
Required equipment on
page
322.
Shown in the figure
Location of motor on page
Art. no. is specified in
Required equipment on
page
322.
Shown in the figure
Location of motor on page
Always use the removal tools in pairs!
Art. no. is specified in
Required equipment on
page
322.
3HAC022033-001 Revision: M
Required
322.
322.
322.
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