ABB IRB 2400/10, Product Manual

Page: 150 / 227

4 Repair
4.7.5. Replacement of motors, axes 4-6, IRB 2400/10/16
3HAC022031-001 Revision: C 148
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3. Fit a new o-ring on the motor. Spare part no. is specified in
Required equipment on page
144
.
4. Fit the measuring tool at the rear of the motor. See how to fit the tool in the
figure in the procedure
Refitting,
motor axis 4 on page 146 .
Art. no. is specified in Required
equipment on page 144 .
5. The motor’s fixing screws shall be fastened, but do
not tighten them, to be sure that the motor will be able
to move parallel to the gear when the adjustment is
done
6. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP5:
• + : pin 7
• - : pin 8
7. Find the smallest play by turning the outgoing shaft
for axis 4 in intervals of 90°, one full turn, and thereby
finding the area where the play for motor 5 becomes
smallest.
Turn the motor for axis 5 one full turn at a time for a
total of five turns. Find where the smallest play is
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. Detailed in section Refitting,
cable harness, axes 4-6 on page
91
.
11. 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 .
12.
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
Continued
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