ABB IRB 140, Product Manual

Page: 195 / 252

Note Action
Art. no. is specified in section Re-
quired equipment on page 192 .
A
xx1200000823
Lightly lubricate a new o-ring (A) and put it in
the bottom of the machined hole of the arm
housing.
3
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor. 4
Shown in the figure Location of motor
on page 192 .
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. 5
Tightening torque: approx. 2 Nm.
Art. no. is specified in section Re-
quired equipment on page 192 .
Fit the rotational tool to the end of the motor
shaft.
6
There should be a barely noticable
gear play. Adjust the motor in relation to the gear in the
gearbox. 7
Use the arm tool to wiggle the motor shaft back
and forth to feel the play.
Shown in the figure Location of motor
on page 192 .
Tighten the motor attachment screws . 8
Tightening torque: 6 Nm ± 0.6 Nm.
Detailed in section Replacement of
motor and timing belt, axes 5 or 6 on
page 197
.
Refit motors 5 and 6. 9
Detailed in section Performing a leak-
down test on page 241 .
Perform a leak-down test. 10
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.
11
Continues on next page
Product manual - IRB 140 195
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of motor, axis 4, IRB 1600
Continued