4 Repair
4.5.1 Changing the motor
84
3HAC021111-001 Revision: B
4.5: Axis 4
4.5.1 Changing the motor
See foldouts 5 and 8 in the list of spare parts.
The motor and the drive gear constitute one unit.
Position the arm system in such a way that the motor of axis 4 points upwards.
NOTE!
There are two different types of motors, (Elmo and Yaskawa) The different motors are not
compatible. Make sure to replace with correct model!
To dismantle
1. Remove the cover of the motor.
2. Loosen connectors R3.MP4 and R3.FB4.
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 <8/23>.
To assemble
1. Check that the assembly surfaces are clean and the motor unscratched.
2. Put O-ring <8/21> on the motor.
3. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP4 connector.
4. Install the motor, tighten screws <8/23> to a torque of approximately 2 Nm.
Note the position of the motor!
5. Adjust the position of the motor in relation to the drive in the gearbox.
6. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.
7. Make sure there is a small clearance.
8. Unscrew one screw at a time, apply Loctite 242 or 243 and tighten to a torque of
4.1 Nm ±10%.
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 <23>:4.1 Nm ±10%
Tool
Crank tool for checking the play:
3HAB 1201-1
Summary of Contents for IRB 1400
Page 1: ...Product manual Articulated robot IRB 1400 M2004 ...
Page 2: ......
Page 3: ...Product manual 3HAC021111 001 Revision B Articulated robot IRB 1400 M2000 M2004 ...
Page 12: ...0 0 2 Product documentation M2000 10 3HAC021111 001 Revision B ...
Page 132: ...5 Calibration M2000 5 4 1 Post calibration procedure 130 3HAC021111 001 Revision B ...
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Page 148: ...7 Alternative calibration 7 0 5 Retrieving offset values 146 3HAC021111 001 Revision B ...
Page 170: ...10 Foldouts 10 0 1 Introduction 168 3HAC021111 001 Revision B ...
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Page 182: ...11 Circuit diagram 11 0 1 Introduction 170 3HAC021111 001 Revision B ...
Page 196: ...Index 184 ...
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