ABB IRB 2400 Series, Product Manual

Page: 186 / 242

Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
Note/Illustration Action
DANGER
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
1
Check that the assembly surfaces are clean
and the motor unscratched 2
Spare part no. is specified in Required
equipment on page 183 .
Fit a new o-ring on the motor. 3
Art. no. is specified in Required equip-
ment on page 183 .
Lubricate the gear with bearing grease . 4
xx0300000005
Fit the measuring tool at the rear of the mo-
tor.
5
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 6
Connect to connector R3.MP4:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the
24 VDC power supply to the motor. 7
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. 8
Use swift movements to avoid noticing the
magnetic field, which makes the gears stick
together.
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
4.1 Nm Tighten the motor attachment screws and
secure them with locking fluid. 10
Loctite 243
Continues on next page
186 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of motors, axes 4-6, IRB 2400L
Continued