ABB IRB 4400 - 45 Product Manual page 211

3HAC022032-001 Revision: E
Action
5. Fit the o-ring to the new motor unit.
6. Fit the measuring tool to the rear of the motor. Art. no. is specified in
7. Release the brake of the motor by connecting
the 24 VDC power supply.
8. Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel.
9. Find the position with the least play by turning
the motor shaft 10 revolutions, noting
changes in play as you turn the motor.
10. Push the motor in a radial direction so that the
play is minimal within one motor revolution
without the gear "chewing".
11. Refit the motor with its attachment screws
and washers, motor.
12. Refill with oil, if drained.
13. Check the position of the three gaskets,
located between the motors and the
connection box. Replace them if damaged.
14. Refit the connection box.
Make sure the gaskets are seated properly!
15. Reconnect all the connectors.
16. Refit the cover to the connection box.
17. Recalibrate the robot!
18.
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
test run may cause injury or damage! on page
33.
4.7.6. Refitting of motor, axis 4
Info/Illustration
Part no. is specified in
equipment on page
equipment on page
Connect to connector R3.MP4
•
•
Shown in the figure
on page
4 pcs, M6x25. Tightening torque: 15
Nm.
Detailed in section
gearbox axis 4 on page
Part no. is specified in
equipment on page
Shown in the figure
on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First
4 Repair
Continued
Required
207.
Required
207.
+24V: pin 7
0V: pin 8.
Location of motor
207.
Oil change,
102.
Required
207.
Location of motor
207.
Calibration
235.
209