ABB M2000, Product Manual

Page: 135 / 234

4 Repair
4.6.1. Replacement of motor, axis 1
133 3HAC023297-001 Revision: A
Refitting
The procedure below details how to refit motor, axis 1.
WARNING!
Please observe the following before commencing any repair work on the manipulator:
• - Motors and gears are HOT after running the robot! Burns may result from touching
the motors or gears!
• - Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
• - Take any necessary measures to ensure that the manipulator does not collapse as
parts are removed, e.g. to secure the lower arm with fixtures if removing motor, axis 2.
NOTE!
Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is
used!
Step Action Note
1. Make sure the mating surfaces on the motor
and the gearbox are clean and free from burrs.
2. Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease . Art. no. is specified in section
Required equipment on page 130.
3. In order to release the brake, connect the 24
VDC power supply: Connect to connector R2.MP1
• +: pin 7
• -: pin 8
4. Fit the motor, making sure the motor pinion is
properly mated to gearbox 1. Make sure the motor is turned the
right way, i.e. connections
rearwards.
Make sure the motor pinion does not
get damaged!
5. Fit the motor with four attachment screws and
plain washers. Tightening torque: approx 2 Nm
6. Fit the Arm to the end of the motor shaft. Art. no. is specified in section
Required equipment on page 130.
7. 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.
There should be a barely noticable
gear play.
8. Tighten the motor attachment screws. Tightening torque: approx 11 Nm ± 1
Nm
9. Disconnect the brake release voltage.
10. Make sure the cable gland gasket has not
been damaged. Replace, if it has.
Art. no. is specified in section
Required equipment on page 130.
11. Push the cables into the console, and refit the
cable gland with its attachment screws.