ABB IRB 140, Руководство по эксплуатации продукта

Страница: 184 / 252

Refitting, motor axis 2
The procedure below details how to refit the axis 2 motor.
Note Action
Clean the joints that have been opened. See Cut
the paint or surface on the robot before replacing
parts on page 118
1
Make sure the mating surfaces on the motor and
the gearbox are clean and free from burrs. 2
If necessary, clean the surfaces with isopropanol.
Art. no. is specified in section Re-
quired equipment on page 181 .
Replace the o-ring if damaged.
1 Apply enough Loctite 574 to the motor
groove.
2 Refit the o-ring . Make sure the o-ring on
the circumference of the motor is seated
properly.
3
Connect to connector R3.MP2:
• +: 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 mo-
tor axis 2 on page 181 .
Remove the motor cover from top of the motor. 5
Art. no. is specified in section Re-
quired equipment on page 181 .
Fit the rotation tool to the end of the motor shaft. 6
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 2.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear. 7
Make sure the motor pinion does
not get damaged!
Tightening torque: approx 2 Nm. Secure the motor with four attachment screws
and plain washers, but do not tighten yet. 8
There should be a barely noticable
gear play. Adjust the motor in relation to the gear in the
gearbox. 9
Use the rotation tool to wiggle the motor shaft
back and forth to feel the play. Tap with a plastic
mallet.
Refit the motor cover to the top of the motor. 10
Be careful not to damage the cables!
Tightening torque: approx 11 Nm ±
1 Nm Tighten the motor attachment screws. 11
Disconnect the brake release voltage. 12
Art. no. is specified in section Re-
quired equipment on page 181 .
Make sure the cable gland cover gasket has not
been damaged. Replace if it has.
13
Push the cables into the console, and refit the
cable gland with its attachment screws. 14
Refit all cable ties and brackets. 15
Detailed in section Performing a
leak-down test on page 241 .
Perform a leak-down test. 16
See, Technical reference manu-
al - Lubrication in gearboxes .
Refill the gearbox with oil. 17
Continues on next page
184 Product manual - IRB 140
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of motor, axis 2
Continued