Replacing the Motor or the Gearbox on the Main Axis
The use and application of the information contained herein require expertise in the design and programming of automated control systems. Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during installation and setup, operation, repair, and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all equipment. Verify compliance with any safety information, different electrical requirements, and normative standards that apply to your machine or process in the use of this equipment.
|
|
|
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH |
|
oDisconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any accessories, hardware, cables, or wires. oPlace a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-energized position. oWait 15 minutes to allow the residual energy of the DC bus capacitors to discharge. oMeasure the voltage on the DC bus with a properly rated voltage sensing device and verify that the voltage is less than 42.4 Vdc. oDo not assume that the DC bus is voltage-free when the DC bus LED is off. oBlock the motor shaft to prevent rotation prior to performing any type of work on the drive system. oDo not create a short-circuit across the DC bus terminals or the DC bus capacitors. oReplace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. oUse only the specified voltage when operating this equipment and any associated products. |
|
Failure to follow these instructions will result in death or serious injury. |
Perform the following procedures to replace the motor or gearbox on main axis:
oRemoving the motor and the gearbox
oRemoving the motor from the gearbox
oMounting the new motor and/or the new gearbox
oCabling the new motor and the gearbox
Removing the Motor and the Gearbox
|
|
|
FALLING HEAVY LOAD |
|
Support the motor and gearbox while removing. |
|
Failure to follow these instructions can result in death, serious injury, or equipment damage. |
|
Step |
Action |
|---|---|
|
1 |
Remove the upper arm as described in Replacing the Upper Arms. |
|
2 |
oFor robots with an MH3 motor (VRKT•M): Disconnect and remove the two motor supply cables. oFor robots with an ILM motor (VRKT•L): Lift up the locking device slightly of the hybrid cable and then remove the cable. |
|
3 |
Disconnect and remove the ground cable from the motor. |
|
4 |
Remove the 16 bolts (1) by means of which the gearbox is bolted to the mounting plate. 
|
|
5 |
Carefully remove the motor and gearbox (5) from the mounting plate in rearward direction. NOTE: Do not tilt transmission and do not damage the alignment hole at the mounting plate. |
Removing the Motor from the Gearbox
|
Step |
Action |
|---|---|
|
1 |
Remove the plug screw (2) on the gearbox flange.
|
|
2 |
Remove the four screws (3) on the motor which connect the motor to the gearbox. |
|
3 |
Carefully rotate the motor until the screw on the clamping flange appears in the aperture of the plug screw. |
|
4 |
Loosen the screw in the clamping flange. |
|
5 |
Carefully remove the motor from the gearbox. |
Mounting the New Motor and/or the New Gearbox
|
NOTICE |
|
DISTORTION OF MOTOR AND GEARBOX |
|
Only fasten motor and gearbox with all components at the same ambient temperature. |
|
Failure to follow these instructions can result in equipment damage. |
|
Step |
Action |
|---|---|
|
1 |
Ensure that the gearbox and the housing are at the same temperature, as otherwise - in the case of a temperature difference - the gearbox may not fit into the aperture provided. |
|
2 |
Attach the motor to the gearbox according to the specifications of the manufacturer. Tightening torques: oClamping hub: 14 Nm (124 lbf-in) oMotor screws: 16 Nm (142 lbf-in) |
|
3 |
Insert the plug screw into the gearbox flange. |
|
4 |
Attach the motor/gearbox combination to the robot mounting plate in the orientation specified. Tightening torque: 4.7 Nm (42 lbf-in) For further information, refer to the respective detail drawing in Mechanical and Electrical Data. |
|
NOTICE |
|
COLLISION OF COMPONENTS |
|
Calibrate the robot mechanics after the replacement of an upper arm, a motor, or a gearbox. |
|
Failure to follow these instructions can result in equipment damage. |
Cabling the Motor and the Gearbox
|
NOTICE |
|
DISTORTION OF MOTOR AND GEARBOX |
|
Only fasten motor and gearbox with all components at the same ambient temperature. |
|
Failure to follow these instructions can result in equipment damage. |
|
Step |
Action |
|---|---|
|
1 |
Attach the ground strap to the motor. Tightening torque: 2.9 Nm (25.7 lbf-in) For further information about motor assembly, observe the respective operating instructions of the motors: oVRKT•M: MH3 Servo motor Motor Manual oVRKT•L: Lexium 62 ILM Hardware Guide |
|
2 |
Attach the motor supply cables and lock them in position. |
|
3 |
When using a new gearbox: Mount the threaded pin (1) as otherwise it may not be possible to mount the upper arm. NOTE: Verify that the threaded pin protrudes approximately 3 mm (0.118 in) 
For further information, refer to the respective detail drawing in Mechanical and Electrical Data. |
|
4 |
Mount the upper arm as described in Replacing the Upper Arms. |
|
5 |
|
|
6 |
Mount the lower arms with parallel plate to the upper arms and mount the parallel rods. For further information, refer to Mounting the Lower Arms with Parallel Plate and Mounting the Rods for Parallel Linkage. |
|
NOTICE |
|
COLLISION OF COMPONENTS |
|
Calibrate the robot mechanics after the replacement of an upper arm, a motor, or a gearbox. |
|
Failure to follow these instructions can result in equipment damage. |
