4 Repair
4.5.1 Changing the motor
84 3HAC021111-001 Revision: B
4.5: Axis 4
4.5.1 Changing the motor
See foldouts 5 and 8 in the list of spare parts.
The motor and the drive gear constitute one unit.
Position the arm system in such a way that the motor of axis 4 points upwards.
NOTE!
There are two different types of motors, (Elmo and Yaskawa) The different motors are not
compatible. Make sure to replace with correct model!
To dismantle 1. Remove the cover of the motor.
2. Loosen connectors R3.MP4 and R3.FB4.
3. Remove the connection box by unscrewing <5/160>.
4. Note the position of the motor before removing it.
5. Loosen the motor by unscrewing <8/23>.
To assemble 1. Check that the assembly surfaces are clean and the motor unscratched.
2. Put O-ring <8/21> on the motor.
3. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP4 connector.
4. Install the motor, tighten screws <8/23> to a torque of approximately 2 Nm.
Note the position of the motor!
5. Adjust the position of the motor in relation to the drive in the gearbox.
6. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.
7. Make sure there is a small clearance.
8. Unscrew one screw at a time, apply Loctite 242 or 243 and tighten to a torque of
4.1 Nm ±10%.
9. Connect the cabling.
10.Calibrate the robot as specified in section Calibration information on page 131.
Tightening torque The motor’s fixing screws, item <23>:4.1 Nm ±10%
Tool
Crank tool for checking the play: 3HAB 1201-1
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