ABB IRB 4400 - 45 Product Manual page 205

3HAC022032-001 Revision: E
Action
3. Release the brake of the current motor by
connecting the 24VDC supply.
4. Rotate the motor shaft with the measuring
tool. Measure the torque in both directions
with a spring balance.
A normal torque is 0.6-0.8 Nm (=6-8 N on
radius 100 mm). Torques higher than 0.8 Nm
are not allowed, as they will reduce the
lifetime of the motor and gear.
5. Loosen the lower and upper screws until the
motor can be moved sideways by hand.
Note! The brake must be released in the
motor.
6. Push the motor with one hand against the
gear and tighten the two screws with the
other hand.
7. Measure the torque with the motor shaft in
different positions. The torque should be
max. 0.1 Nm (on radius 50 mm) more than
measured before.
If the torque is more,
• slightly loosen the screws a little and
carefully knock the motor in the
opposite direction
• then measure the torque again.
Check that the backlash is very limited, by
moving the tool back and forward in small
movements.
When turning the motor shaft, a tick-tack
sound can be heard from the brake disc
This should not be mixed up with the
backlash. The difficult part is to find the motor
position where the torque just starts to
increase.
8. Remove the measuring tool.
9. Disconnect the brake release voltage.
10. Continue refitting the motor.
4.7.4. Adjustment of motors, axes 1-3
Info/Illustration
Axis 1 motor: connect to connector
R3.MP1
• +24V: pin 7
• 0V: pin 8.
Axis 2 motor: connect to connector
R3.MP2
• +24V: pin 7
• 0V: pin 8.
Axis 3 motor: connect to connector
R3.MP3
• +24V: pin 7
• 0V: pin 8.
1)
The brake disc is mounted on the
motor shaft with a type of splined
coupling. Between the splines there is
a narrow backlash.
Note! There should always be a
backlash, but it should be as minimal
as possible.
1)
.
Refitting, motor, axis 1
Refitting, motor, axis 2
Refitting, motor, axis 3
4 Repair
Continued
203