ABB IRB 140 Product Manual page 194

4 Repair
4.7.4 Replacement of motor, axis 4, IRB 1600
Continued
2
3
4
5
6
7
8
9
10
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
1
2
Continues on next page
194
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
or surface on the robot before replacing parts on
page 118.
Manually move the robot to a position where the
upper arm points straight down.
Remove the motors for axes 5 and 6.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Remove the motor, axis 4 by unscrewing the motor
attachment screws.
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
Remove the motor by gently lifting it out.
Remove the o-ring from the arm housing.
Action
Clean the joints that have been opened. See
Cut the paint or surface on the robot before re-
placing parts on page 118
Clean the mating surfaces on the motor and
the gearbox.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Cut the paint
This will enable the motor 4 to be
removed without draining the oil
in the gearbox.
Detailed in section
of motor and timing belt, axes 5 or
6 on page 197.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure
motor on page
Make sure the motor pinion is not
damaged!
Note
Shown in the figure
on page 192.
Product manual - IRB 140
3HAC027400-001 Revision: V
Replacement
Location of
192.
Location of motor