ABB IRB 2400/L, Product Manual

Page: 142 / 227

4 Repair
4.7.4. Replacement of motors, axes 4-6, IRB 2400L
3HAC022031-001 Revision: C 140
©
Co
py
rig
h
t 200
4-
200
8 ABB. All righ
ts reser
v
ed.
5. Fit the measuring tool at the rear of the
motor.
xx0300000005
6. The motor’s fixing screws shall be fastened,
but do not tighten them, to ensure that the
motor will be able to move parallel to the
gear when the adjustment is done
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
locate 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.
4.1 Nm
Loctite 243
11. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 76 .
12. Refill the axis 4 gearbox with lubricating oil . Art. no. and amount is specified in
Required equipment on page 137 .
13. Reconnect the cabling. Detailed in section Refitting, cable
harness, axes 4-6 on page 91 .
14. Recalibrate the robot. 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 .
Action Note/Illustration
Continued
Continues on next page