4 Repair
4.5.1 Changing the motor
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3HAC021111-001 Revision: B
4.5: Axis 4
4.5.1 Changing the motor
See foldouts 5 and 8 in the list of spare parts.
The motor and the drive gear constitute one unit.
Position the arm system in such a way that the motor of axis 4 points upwards.
NOTE!
There are two different types of motors, (Elmo and Yaskawa) The different motors are not
compatible. Make sure to replace with correct model!
To dismantle
1. Remove the cover of the motor.
2. Loosen connectors R3.MP4 and R3.FB4.
3. Remove the connection box by unscrewing <5/160>.
4. Note the position of the motor before removing it.
5. Loosen the motor by unscrewing <8/23>.
To assemble
1. Check that the assembly surfaces are clean and the motor unscratched.
2. Put O-ring <8/21> on the motor.
3. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP4 connector.
4. Install the motor, tighten screws <8/23> to a torque of approximately 2 Nm.
Note the position of the motor!
5. Adjust the position of the motor in relation to the drive in the gearbox.
6. Screw the 3HAB 1201-1 crank tool into the end of the motor shaft.
7. Make sure there is a small clearance.
8. Unscrew one screw at a time, apply Loctite 242 or 243 and tighten to a torque of
4.1 Nm ±10%.
9. Connect the cabling.
10.Calibrate the robot as specified in section Calibration information on page 131.
Tightening torque
The motor’s fixing screws, item <23>:4.1 Nm ±10%
Tool
Crank tool for checking the play:
3HAB 1201-1
Содержание IRB 1400
Страница 1: ...Product manual Articulated robot IRB 1400 M2004 ...
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Страница 3: ...Product manual 3HAC021111 001 Revision B Articulated robot IRB 1400 M2000 M2004 ...
Страница 12: ...0 0 2 Product documentation M2000 10 3HAC021111 001 Revision B ...
Страница 132: ...5 Calibration M2000 5 4 1 Post calibration procedure 130 3HAC021111 001 Revision B ...
Страница 141: ...6 Calibration information 6 0 6 Checking the calibration position 3HAC021111 001 Revision B 139 ...
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Страница 148: ...7 Alternative calibration 7 0 5 Retrieving offset values 146 3HAC021111 001 Revision B ...
Страница 160: ...8 Reference information IRB 1400 8 0 9 Lifting equipment and lifting instructions 158 3HAC021111 001 Revision B ...
Страница 170: ...10 Foldouts 10 0 1 Introduction 168 3HAC021111 001 Revision B ...
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Страница 182: ...11 Circuit diagram 11 0 1 Introduction 170 3HAC021111 001 Revision B ...
Страница 183: ...11 Circuit diagram 11 0 2 Sheet 101 List of contents 3HAC021111 001 Revision B 171 11 0 2 Sheet 101 List of contents ...
Страница 186: ...11 Circuit diagram 11 0 5 Sheet 104 Motor axes 1 3 3HAC021111 001 Revision B 174 11 0 5 Sheet 104 Motor axes 1 3 ...
Страница 187: ...11 Circuit diagram 11 0 6 Sheet 105 Feedback axes 1 3 3HAC021111 001 Revision B 175 11 0 6 Sheet 105 Feedback axes 1 3 ...
Страница 189: ...11 Circuit diagram 11 0 8 Sheet 107 Feedback axes 4 6 3HAC021111 001 Revision B 177 11 0 8 Sheet 107 Feedback axes 4 6 ...
Страница 194: ...11 Circuit diagram 11 0 12 Sheet 111 External connections Option 182 3HAC021111 001 Revision B ...
Страница 196: ...Index 184 ...
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