ABB IRB 2400 Series, Product Manual

Page: 176 / 242

Refitting, motor axis 2
The procedure below details how to refit the motor, axis 2.
Note/Illustration Action
DANGER
Turn off all electric power, hydraulic and pneu-
matic pressure supplies to the robot!
1
Check that the assembly surfaces are clean and
the motor is unscratched. 2
Always fit a new one, see art. no. in
Required equipment on page 174 .
Fit the o-ring . 3
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 173 .
Fit the motor by gently lifting it straight on. 4
4 pcs. Tightening torque: 2 Nm. Fit the four attachment screws and tighten them
slightly. Make the adjustments described below
before tightening the screws properly. 5
Connect to connector R3.MP2:
• +: pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor. 6
See the figure below. Fit the measuring tool to the rear of the motor. 7
Art. no. is specified in Required
equipment on page 174 .
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! 8
The tip of the dial indicator must
measure on a 50 mm radius from the
center of the motor shaft.
xx0200000473
Place the tip of a dial indicator against the
scribed mark on the measuring tool. 9
A Measuring tool
Set the gear play to 0.02 mm, which corresponds
to a reading on the dial indicator of 0.13 mm. 10
Continues on next page
176 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of motor, axis 2
Continued