ABB IRB 4400 - 45 Product Manual page 203

3HAC022032-001 Revision: E
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, motor.
12. Refill with oil.
13. Refit the connection box.
14. Reconnect the connectors.
15. Refit the cover of the connection box.
16. Recalibrate the robot!
17.
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in section
First test run may cause injury or damage!
on page 33.
4.7.3. Replacement of motor, axis 3
Info/Illustration
xx0300000160
Motor axis 2, is shown in the figure!
A: Upper screw
B: Lower screw
C: Pushing direction
Adjustment is detailed in section
Adjustment of motors, axes 1-3 on
page 202
Shown in figure
page 198
M10x70
M10x30
Tightening torque: 60 Nm
Detailed in
2-3 on page 97
Shown in the figure
on page 198
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER -
4 Repair
Continued
Location of motor on
Oil in gearbox unit, axis 1-
Location of motor
Calibration
235.
201