ABB IRB 2400/10, Product Manual

Page: 149 / 227

4 Repair
4.7.5. Replacement of motors, axes 4-6, IRB 2400/10/16
147 3HAC022031-001 Revision: C
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Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
7. In order to release the brakes, connect the
24 VDC power supply to the motor.
Connect to connector R3.MP4:
• + : pin 7
• - : pin 8
8. Start with a play in all positions and then
find the smallest play by turning the motor
shaft six turns and thereby finding the area
with the smallest play within this range.
Use swift movements to avoid noticing the
magnetic field, which makes the gears stick
together.
9. 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!
10. Tighten the motor attachment screws and
secure them with locking fluid.
Tightening torque: 4.1 Nm.
Loctite 243
11. Refill the gearbox with oil. Art. no. and amount is specified in
Required equipment on page 144 .
12. Reconnect the cabling. Described in Refitting, cable harness,
axes 4-6 on page 91 .
13. Recalibrate the robot.
(When all service work is done, i.e. the
other motors are also refitted.)
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is included
in section
Calibration information on page
159 .
14.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in section
DANGER -
First test run may cause injury or damage!
on page 35
.
Action Note/Illustration
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Check that the assembly surfaces are clean and the
motor unscratched.
Continued
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