ABB IRB 140, Руководство по эксплуатации продукта

Страница: 180 / 252

Note Action
Make sure the motor is turned the
right way, i.e. connections rear-
wards. Fit the motor, making sure the motor pinion is
properly mated to gearbox 1. 5
Make sure the motor pinion does
not get damaged!
Tightening torque: approx 2 Nm Fit the motor with four attachment screws and
plain washers. 6
Art. no. is specified in section Re-
quired equipment on page 177 .
Fit the Arm to the end of the motor shaft. 7
There should be a barely noticable
gear play. Adjust the motor in relation to the gear in the
gearbox. 8
Use the Arm tool to wiggle the motor shaft back
and forth to feel the play.
Tightening torque: approx 11 Nm ±
1 Nm Tighten the motor attachment screws. 9
Disconnect the brake release voltage. 10
Art. no. is specified in section Re-
quired equipment on page 177 .
Make sure the cable gland gasket has not been
damaged. Replace, if it has.
11
Push the cables into the console, and refit the
cable gland with its attachment screws. 12
Detailed in section Performing a
leak-down test on page 241 .
Perform a leak-down test . 13
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.
14
Calibration is detailed in a separate
calibration manual enclosed with
the calibration tools. Recalibrate the robot! 15
General calibration information is
included in section
Calibration in-
formation on page 215 .
180 Product manual - IRB 140
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.1 Replacement of motor, axis 1
Continued