ABB IRB 140 Product Manual page 184

4 Repair
4.7.2 Replacement of motor, axis 2
Continued
Refitting, motor axis 2
The procedure below details how to refit the axis 2 motor.
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184
Action
Clean the joints that have been opened. See
the paint or surface on the robot before replacing
parts on page 118
Make sure the mating surfaces on the motor and
the gearbox are clean and free from burrs.
If necessary, clean the surfaces with isopropanol.
Replace the o-ring if damaged.
1 Apply enough Loctite 574 to the motor
groove.
2 Refit the o-ring. Make sure the o-ring on
the circumference of the motor is seated
properly.
In order to release the brakes, connect the 24
VDC power supply to the motor.
Remove the motor cover from top of the motor.
Fit the rotation tool to the end of the motor shaft.
Fit the motor, making sure the motor pinion is
properly mated to gearbox 2.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear.
Secure the motor with four attachment screws
and plain washers, but do not tighten yet.
Adjust the motor in relation to the gear in the
gearbox.
Use the rotation tool to wiggle the motor shaft
back and forth to feel the play. Tap with a plastic
mallet.
Refit the motor cover to the top of the motor.
Be careful not to damage the cables!
Tighten the motor attachment screws.
Disconnect the brake release voltage.
Make sure the cable gland cover gasket has not
been damaged. Replace if it has.
Push the cables into the console, and refit the
cable gland with its attachment screws.
Refit all cable ties and brackets.
Perform a leak-down test.
Refill the gearbox with oil.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Cut
Art. no. is specified in section
quired equipment on page
Connect to connector R3.MP2:
• +: pin 7
• -: pin 8
Shown in the figure Location of mo-
tor axis 2 on page 181.
Art. no. is specified in section
quired equipment on page
Make sure the motor is turned the
right way, i.e. connections rear-
wards.
Make sure the motor pinion does
not get damaged!
Tightening torque: approx 2 Nm.
There should be a barely noticable
gear play.
Tightening torque: approx 11 Nm ±
1 Nm
Art. no. is specified in section
quired equipment on page
Detailed in section Performing a
leak-down test on page
See, Technical reference manu-
al - Lubrication in gearboxes.
Product manual - IRB 140
3HAC027400-001 Revision: V
Re-
181.
Re-
181.
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181.
241.