ABB IRB 2400 Series, Руководство по эксплуатации продукта

Страница: 189 / 242

Note Action
Connect to connector R3.MP6:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor. 6
Find the smallest play by turning the outgoing
shaft for axis 4 in intervals of 90°, totally one
whole turn, and thereby finding the area where
the play for motor 6 becomes smallest. 7
Turn the motor for axis 5 one full turn at the time,
totally five turns. Find the smallest play for axis
6 within this area.
Turn the motor for axis 6 one full turn at a time
for a time for a total of three turns. Find the
smallest play for axis 6 within this area.
Use swift movements to avoid noticing the
magnetic field, which makes the gears stick to-
gether
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!
8
Tightening torque: 4.1 Nm. Tighten the motor attachment screws and secure
them with locking fluid. 9
Loctite 243
Described in Refitting, cable harness,
axes 4-6 on page 129 .
Reconnect the cabling. 10
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools. Recalibrate the robot. 11
General calibration information is in-
cluded in the section
Calibration in-
formation on page 205 .
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
First test run may cause
injury or damage on page 29 .
12
Product manual - IRB 2400 189
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