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4 Repair
4.6.4. Replacement of motor, axis 4
Continued
10. Lift the motor to get the pinion away from the
11. Remove the motor by gently lifting it straight
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
322
Action
gear and disconnect the brake release
voltage.
out.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off
the air pressure to motors and SMB.
2. Make sure the o-ring on the circumference
of the motor is seated properly. Lightly
lubricate the o-ring with grease.
3. Fit the lifting tool to the motor.
4. In order to release the brakes, connect the
24 VDC power supply.
5. Fit the two guide pins in two of themotor
attachment holes.
6. Fit the motor, with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
Note
Make sure the motor pinion is not
damaged!
Note
Art. no. is specified in
Required
equipment on page
320.
Choose the correct lifting tool:
•
lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically
•
lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in
Required
equipment on page
320.
Connect to connector R2.MP4:
•
+: pin 2
•
-: pin 5
Art. no. is specified in
Required
equipment on page
320.
Shown in the figure
Location of motor on
page
320.
Make sure the motor pinion does not get
damaged!
Continues on next page
3HAC026876-001 Revision: C
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