ABB IRB 4400 - 45 Product Manual page 214

4 Repair
4.7.7. Refitting of motor, axis 5
Continued
212
Action
5. Fit the o-ring into the new motor.
6. Fit the measuring tool to the rear of the motor.
7. Release the brakes in the motors for axes 4 and 5, 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 of least play by turning the outgoing
shaft for axis 4 in intervals of 90°, one revolution in all,
to locate the area where the play for the motor axis 5
is the smallest.
10. Turn the motor for axis 5 one full revolution at a time,
five revolutions in all. Find the smallest play within this
range.
11. Push the motor in a radial direction so that the play is
minimal within one motor revolution without the gear
"chewing".
12. Refit the motor with its attachment screws and
washers, motor.
13. Refill with oil, if drained.
14. Check the position of the three gaskets, located
between the motors and the connection box. Replace
them if damaged.
15. Refit the connection box.
Make sure the gaskets are seated properly!
16. Reconnect all the connectors.
17. Refit the cover on the connection box.
18. Recalibrate the robot!
Info/Illustration
Part no. is specified in
Required equipment on
page 210.
Art. no. is specified in
Required equipment on
page 210.
Connect to connector
R3.MP4/MP5
• +24V: pin 7
• 0V: pin 8.
Shown in the figure Location
of motor on page 210.
4 pcs, M6x25. Tightening
torque: 15 Nm.
Detailed in section:
• Oil change, gearbox
axis 5 and 6 (all robot
versions except IRB
4400/L10) on page
105
• Oil change, gearbox
axis 5 and 6 (IRB
4400/L10 only) on
page 108.
Part no. is specified in
Required equipment on
page 210.
Shown in the figure Location
of motor on page 210.
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