Note/IllustrationActionxx0600002646Use a marker pen to mark the position of themotor (A), if the same motor is to be refitted.5Shown in the figure Location ofmotor, axis 1 on page 182.Unscrew the four attachment screws andwashers of the motor.6Gently lift the motor straight up, making surenot to damage the motor pinion.7Refitting, motor axis 1The procedure below details how to refit the motor, axis 1.Note/IllustrationActionDANGERTurn off all electric power, hydraulic and pneumat-ic pressure supplies to the robot!1Check that the assembly surfaces are clean andthe motor is unscratched.2Always fit a new one, see art. no. inRequired equipment on page 183.Fit the new o-ring.3Note the position of the motor! Usethe mark , made on the motor basebefore removal. See also orientationof the holes on top of the motor,shown in the figure Location of mo-tor, axis 1 on page 182.Fit the motor by gently lowering it straight down.44 pcs. TIghtening torque: 2 Nm.Tighten the four attachment screws and washers.5Connect power supply to connectorR3.MP1:• + : pin 7• - : pin 8In order to release the brakes, connect the 24VDC power supply to the motor.6Art. no. is specified in Requiredequipment on page 183.Fit the measuring tool to the rear of the motor.7Shown in the figure below.Rotate the motor shaft several turns, using themeasuring tool.There must always be some backlash, meaningthat the shaft should go easy to rotate!8Continues on next page184 3HAC026048-001 Revision: E© Copyright 2006-2013 ABB. All rights reserved.4 Repair4.7.1 Replacement of motor, axis 1Continued
