ABB IRB 140 Product Manual page 195

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Product manual - IRB 140
3HAC027400-001 Revision: V
Action
Lightly lubricate a new o-ring (A) and put it in
the bottom of the machined hole of the arm
housing.
In order to release the brakes, connect the 24
VDC power supply to the motor.
Fit the motor with the attachment screws,
compressing the o-ring in axial direction.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
Fit the rotational tool to the end of the motor
shaft.
Adjust the motor in relation to the gear in the
gearbox.
Use the arm tool to wiggle the motor shaft back
and forth to feel the play.
Tighten the motor attachment screws.
Refit motors 5 and 6.
Perform a leak-down test.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 118
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
© Copyright 2004-2018 ABB. All rights reserved.
4.7.4 Replacement of motor, axis 4, IRB 1600
Note
Art. no. is specified in section
quired equipment on page
xx1200000823
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
Shown in the figure
on page 192.
Tightening torque: approx. 2 Nm.
Art. no. is specified in section
quired equipment on page
There should be a barely noticable
gear play.
Shown in the figure
on page 192.
Tightening torque: 6 Nm ± 0.6 Nm.
Detailed in section
motor and timing belt, axes 5 or 6 on
page 197.
Detailed in section
down test on page
Continues on next page
4 Repair
Continued
Re-
192.
A
Location of motor
Re-
192.
Location of motor
Replacement of
Performing a leak-
241.
195