ABB IRB 2400/10, Product Manual

Page: 132 / 227

4 Repair
4.7.2. Replacement of motor, axis 2
3HAC022031-001 Revision: C 130
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3. Fit the o-ring . Always fit a new one, see art. no. in
Required equipment on page 128 .
4. Fit the motor by gently lifting it straight on. Note the position of the motor! Use
the mark on the motor base, made
before removing the motor. Also see
the orientation holes on the motor
cover, shown in the figure
Location of
motor, axis 2 on page 127 .
5. Fit the four attachment screws and tighten them
slightly. Make the adjustments described below
before tightening the screws properly.
4 pcs. Tightening torque: 2 Nm.
6. In order to release the brakes, connect the 24
VDC power supply to the motor.
Connect to connector R3.MP2:
• +: pin 7
• -: pin 8
7. Fit the measuring tool to the rear of the motor. See the figure below.
Art. no. is specified in Required
equipment on page 128 .
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.)
See the figure above.
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.
See the figure above.
13. Tighten the four attachment screws. 4 pcs. Tightening torque: 23 Nm.
Action Note/Illustration
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