4 Repair
4.7.4. Replacement of motors, axes 4-6, IRB 2400L
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7. Find the smallest play by turning the outgoing
shaft for axis 4 in intervals of 90°, totally one
whole turn, and thereby finding the area where
the play for motor 6 becomes smallest.
Turn the motor for axis 5 one full turn at the time,
totally five turns. Find the smallest play for axis 6
within this area.
Turn the motor for axis 6 one full turn at a time for
a time for a total of three turns. Find the smallest
play for axis 6 within this area.
Use swift movements to avoid noticing the
magnetic field, which makes the gears stick
together
8. Push or tap the motor in radial direction so that
the play becomes minimal within one motor turn,
without the gear “chewing”.
Do not use force!
9. Tighten the motor attachment screws and secure
them with locking fluid.
Tightening torque: 4.1 Nm.
Loctite 243
10. Reconnect the cabling.
Described in
11. Recalibrate the robot.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
12.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section
cause injury or damage! on page 35
.
Action
Note
Continued
Summary of Contents for IRB 2400/10
Page 1: ...Product manual Articulated robot IRB 2400 L IRB 2400 10 IRB 2400 16 M2000 M2000A M2004 ...
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Page 8: ...Table of Contents 6 3HAC022031 001 Revision C Copyright 2004 2008 ABB All rights reserved ...
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