ABB IRB 2400/L Product Manual page 181

Refitting, motor axis 3
The procedure below details how to refit the motor, axis 3.
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Product manual - IRB 2400
3HAC022031-001 Revision: P
Action
DANGER
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Check that the assembly surfaces are clean
and the motor is unscratched.
Fit a new o-ring to the motor.
Fit the motor, by gently lifting it straight on.
Tighten the four screws lightly.
In order to release the brakes, connect the 24
VDC power supply to the motor.
Fit the measuring tool to the rear of the motor.
Rotate the motor shaft several turns, using
the measuring tool.
There must always be some backlash, mean-
ing that the shaft should go easy to rotate!
Place the tip of a dial indicator against the
scribed mark on the measuring tool.
Set the gear play to 0.02 mm, which corres-
ponds to a reading on the dial indicator of 0.13
mm.
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4.7.3 Replacement of motor, axis 3
Note/Illustration
Always mount a new one, see art. no.
in section Required equipment on
page 179.
Note the position of the motor! Use the
mark on the motor base, made before
removal. Also see the orientation holes
on the motor cover, shown in the figure
Location of motor, axis 3 on page
Tightening torque: 2 Nm.
Connect to connector R3.MP3:
• +: pin 7
• -: pin 8
See the figure below.
Art. no. is specified in Required equip-
ment on page 179.
See the figure below.
The tip of the dial indicator must
measure on a 50 mm radius from the
center of the motor shaft.
xx0200000473
A Measuring tool
Continues on next page
4 Repair
Continued
178.
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