4 Repair4.4.1 Changing the motor of axis 33HAC021111-001 Revision: B 774.4: Axis 34.4.1 Changing the motor of axis 3See foldouts 1 and 5 (6 for IRB 1400H) in the list of spare parts.The motor and the drive gear constitute one unit.NOTE!There are two different types of motors, (Elmo and Yaskawa) The different motors are notcompatible. Make sure to replace with correct model!To dismantle 1. Remove the cover of the motor.2. Loosen connectors R5.MP3 and R5.FB3.3. Remove the connection box by unscrewing <5/160>.4. Note the position of the motor before removing it.5. Loosen the motor by unscrewing <1/10>. N.B! The oil will start to run out.To assemble 1. Check that the assembly surfaces are clean and the motor unscratched.2. Release the brake, apply 24 V d.c. to terminals 7 and 8 on the 4.MP1 connector.3. Install the motor, tighten screws <1/10> to a torque of approximately 2 Nm.Note the position of the motor!4. Adjust the motor in relation to the drive in the gearbox.5. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.6. Make sure there is no play.7. Tighten screws <1/10> to a torque of 8.3 Nm ±10%.8. Fill with oil. See section Oil in gears 1-4 on page 53.9. Connect the cabling.10.Calibrate the robot as specified in section Calibration information on page 131.Tightening torque The motor’s fixing screws, item 10:8.3 Nm ±10%
