ABB IRB 2400/10, Product Manual

Page: 127 / 227

4 Repair
4.7.1. Replacement of motor, axis 1
125 3HAC022031-001 Revision: C
©
Co
py
rig
h
t 200
4-
200
8 ABB. All righ
ts reser
v
ed.
4. Fit the motor by gently lowering it straight down. Note the position of the motor! Use
the mark , made on the motor base
before removal. See also orientation
of the holes on top of the motor,
shown in the figure
Location of
motor, axis 1 on page 122 .
5. Tighten the four attachment screws and washers . 4 pcs. TIghtening torque: 2 Nm.
6. In order to release the brakes, connect the 24
VDC power supply to the motor.
Connect power supply to connector
R3.MP1:
• + : pin 7
• - : pin 8
7. Fit the measuring tool to the rear of the motor. Art. no. is specified in Required
equipment on page 123 .
Shown in the figure below.
8. Rotate the motor shaft several turns, using the
measuring tool.
There must always be some backlash, meaning
that the shaft should go easy to rotate!
9. Place the tip of a dial indicator against the scribed
mark on the measuring tool.
The tip of the dial indicator must
measure on a 50 mm radius from
the center of the motor shaft.
xx0200000473
A. Measuring tool
10. Set the gear play to 0.02 mm, which corresponds
to a reading on the dial indicator of 0.13 mm.
11. Pull gently in one direction. Note the reading.
(The gear must not turn.)
12. Then gently knock on the tool in the other
direction and note the reading. The difference in
reading = gear play. The gear play should be 0.02
mm which corresponds to a reading on the dial
indicator of 0.13 mm.
13. Tighten the motor attachment screws. 4 pcs. Tightening torque: 23 Nm.
14. Refit the connection box with the three
attachment screws and plain washers.
Make sure the gasket is fitted properly!
Shown in the figure Location of
motor, axis 1 on page 122 .
Action Note/Illustration
Continued
Continues on next page