ABB IRB 4400 - 45 Product Manual page 194

4 Repair
4.7.1. Replacement of motor, axis 1
Continued
192
Action
9. Fit the upper and lower screws (A, B) and
tighten until there is no space between the
motor flange and the gearbox.
There should be a big backlash between the
motor pinion and the gear.
10. Note!
Adjust the motor before continuing the refitting
procedure!
11. Fit the other two attachment screws and
washers.
12. Check the oil level. Fill with oil if necessary
13. Refit the connection box.
Replace the gaskets if they are damaged!
14. Reconnect all the connectors.
15. Refit the cover of the connection box.
16. Recalibrate the robot!
Info/Illustration
xx0300000155
A: Lower screw
B: Upper screw
C: Pushing direction
Adjustment detailed in section
Adjustment of motors, axes 1-3 on
page 202
Total 4 pcs. M10x30.
Tightening torque: 60 Nm.
Detailed in section Inspection of oil
levels on page 98
Part no. is specified in Required
equipment on page 188
Calibration is detailed in a
separate calibration manual,
enclosed with the calibration tools.
General calibration information is
included in section Calibration
information on page 235.
Continues on next page
3HAC022032-001 Revision: E