Motoman UP20 Motor/Brake replacement

[rex2802]

Can anyone point me to instructions or provide instructions on changing out the motor/brake assembly on this robot?
The brake has worn tot he point that if power is turned off the arm will not stay in place.
Thanks!

[tony gast]

I have never seen a brake wear out.....They are only a parking brake.....has this robot been greased recently? and what axis motor?.....motomotors are very easy to change.......

[zdrav]

Can you see the type of motor-there have to be a label

[rex2802]

Coming from an ABB background I call it Axis 2. I have not seen it but the customer reports that when the robot is powered down Axis 2 will not hold position.
I do not have the motor part number right now, but can get it.
I will get in touch with the customer for more information.
Thanks for the replies!

[rzapo]

where are you from. if you force the robot whit hand, can you  move it?

[rex2802]

Located outside of Philadelphia PA.
I have not tried moving the robot by hand.
It is always in production when I visit.

[rzapo]

if is posible to be move by hand, meen that the breack are broken and you must change the motor. i have such a problem and it wasgenerated by bad maintanace. the client work more then 18000 H without any maintanace programe.

[rex2802]

Customer has no idea if the robot has been greased recently. They say when the robot i powered down the arm eventually creeps down to it's hard stop.
Is this just a simple motor/brake swap out?
If so what are the steps? block arm, power down. remove cables, remove motor/brake assembly. Install new motor/brake, connect cables, recalibrate/update arm calibration and go on my way?
Thanks

[tony gast]

Take robot to 0 position
CHECK and or SCRIBE axis marks
teach a reference point anywhere
Block up arm in any position.
power down
R&R motor
take all axes to 0 on position display....EXCEPT the one that you changed the motor on
line up SCRIBE mark on the one that you changed the motor on
calibrate only the one that you changed the motor on
check reference point above
tweak the ABSO data on ONLY the one that you changed the motor on to align this point as programmed above
PLAY >>>> SERVO>>>>>START

[rex2802]

Tony,
Just a few questions. (I am coming from an ABB background)
Zero Position is all pointers on axis aligned?
This reference point is going to store all of the current joint data? This is for checking after the r/r
Sounds do able. I just need to get sometime on the teach pendant and how to navigate through the menus.
 

[tony gast]

I just go to an used p-variable and set to pulse, all zeros
driving to the point will take you to the calibration point to check marks or allow you to make you own.
BTW greasing the motor without removing the vent plug fills the brake with grease.....oops
Yes the point is to check with after R&R and calibration.....just to fine tune with

[rex2802]

Tony,
Thanks for all the help.
I wont be tackling this repair fro about a month.
customer is too busy to stop for the repair.
Jack