4 Repair
4.6.5. Replacement of motor, axis 5
3HAC022033-001 Revision: K356
© Copyright 2004-2011 ABB. All rights reserved.
Removal, motor axis 5
The procedure below details how to remove the motor, axis 5.
Calibration Pendulum
toolkit
3HAC15716-1 Complete kit that also
includes operating manual.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Circuit Diagram See chapter Circuit diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Move the robot to a position where the motor in axis
5 is pointed straight up. This position enables the
motor to be replaced without draining the gear oil,
which in turn saves time.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
Turn off all electric power and hydraulic but not the air
pressure to the gearboxes, motors and SMB.
3. Remove the left hand side cover of the wrist unit by
unscrewing its six attachment screws.
The motor is accessible behind
the rear part of the cover.
4. Remove the heat protection plate by unscrewing its
two attachment screws.
Shown in the figure Location of
motor on page 355.
5. Remove the cover on top of the motor by unscrewing
its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Shown in the figure Location of
motor on page 355.
7. Disconnect all connectors beneath the motor cover.
8. In order to release the brake, connect the 24 VDC
power supply.
Connect to connector R3.MP5
• +: pin 2
• -: pin 5
9.
CAUTION!
The motor weighs 22 kg! All lifting equipment used
must be sized accordingly!
10. Remove the motor by unscrewing its four attachment
screws and plain washers.
If required, use the extension 300 mm for bits 1/2.
Art. no. is specified in Required
equipment on page 355.
11. Fit the lifting tool, motor axis 1, 4, 5 to the motor. Art. no. is specified in Required
equipment on page 355.
Continued
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