ABB IRB 4400 - L10, Product Manual

Page: 241 / 304

Refitting, motor axis 5
The procedure below details how to refit the axis 5 motor.
Information Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply (do not turn off for
Foundry Prime robots!)
to the robot, before entering the robot working
area.
1
CAUTION
Whenever parting/mating motor and gearbox, the
gears may be damaged if excessive force is used!
2
Note
The motor units from ELMO and YASKAWA are
not compatible!
3
Check that the assembly surfaces are clean from
paint, lubricant etc. 4
Make sure that the motor and the gearbox are not
damaged or scratched.
Part no. is specified in Required
equipment on page 240 .
Fit the o-ring into the new motor. 5
Art. no. is specified in Required
equipment on page 240 .
Fit the measuring tool to the rear of the motor. 6
Connect to connector
R3.MP4/MP5
• +24V: pin 7
• 0V: pin 8.
Release the brakes in the motors for axes 4 and
5, by connecting the 24 VDC power supply. 7
Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel. 8
Find the position of least play by turning the out-
going shaft for axis 4 in intervals of 90°, one re-
volution in all, to locate the area where the play
for the motor axis 5 is the smallest. 9
Turn the motor for axis 5 one full revolution at a
time, five revolutions in all. Find the smallest play
within this range. 10
Push the motor in a radial direction so that the
play is minimal within one motor revolution without
the gear "chewing". 11
Shown in the figure Location of
motor on page 239 .
Refit the motor with its attachment screws and
washers, motor.
12
4 pcs, M6x25. Tightening torque:
15 Nm.
Continues on next page
Product manual - IRB 4400 241
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.7 Refitting of motor, axis 5
Continued