ABB IRB 140 Product Manual page 183

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Product manual - IRB 140
3HAC027400-001 Revision: V
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. See
surface on the robot before replacing parts on page
Remove the cover for connector access on top of the
motor by unscrewing its four attachment screws.
Disconnect the motor connectors inside the console.
Cut any cable ties and remove any brackets or clamps
securing the cables.
Remove the cable gland by removing its attachment
screws, and pull the cables out from the console.
DANGER
Secure the weight of the lower arm properly before re-
leasing 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 brakes, connect the 24 VDC
power supply to the motor.
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.
© Copyright 2004-2018 ABB. All rights reserved.
4.7.2 Replacement of motor, axis 2
Note
Cut the paint or
118.
Shown in the figure
of motor axis 2 on page
Connectors:
• R3.MP2
• R3.FB2
Shown in the figure
of motor axis 2 on page
Connect to connector R3.MP2
• +: pin 7
• -: pin 8
Shown in the figure
of motor axis 2 on page
Continues on next page
4 Repair
Continued
Location
181.
Location
181.
Location
181.
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