ABB IRB 2400/L Product Manual page 188

4 Repair
4.7.4 Replacement of motors, axes 4-6, IRB 2400L
Continued
7
8
9
10
11
12
Refitting, motor axis 6
The procedure below details how to refit the motor, axis 6.
1
2
3
4
5
Continues on next page
188
Action
Locate the smallest play by turning the outgoing
shaft for axis 4 in intervals of 90°, one full turn,
and thereby finding the area where the play for
motor 5 becomes smallest. Turn the motor for
axis 5 one full turn at a time for a total of five
turns. Find where the smallest play is within this
area.
Use swift movements to avoid noticing the mag-
netic field, which makes the gears stick together.
Push or tap the motor in radial direction so that
the play becomes minimal within one motor turn,
without the gear "chewing". Do not use force!
Tighten the motor attachment screws and secure
them with locking fluid.
Reconnect the cabling.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section First test run may cause
injury or damage on page
Action
DANGER
Turn off all electric power, hydraulic and pneu-
matic pressure supplies to the robot!
Check that the assembly surfaces are clean and
the motor unscratched
Fit an new o-ring on the motor.
Fit the measuring tool at the rear of the motor.
The motor's fixing screws shall be fastened, but
do not tighten them, to esure that the motor will
be able to move parallel to the gear when the
adjustment is done
© Copyright 2004-2018 ABB. All rights reserved.
Note
Tightening torque: 4.1 Nm.
Loctite 243
Described in
axes 4-6 on page
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in the section
formation on page
29.
Note
Spare part no. is specified in
quired equipment on page
Look at the figure in the procedure
Refitting, motor axis 4 on page
Art. no. is specified in
equipment on page
Refitting, cable harness,
129.
Calibration in-
205.
Re-
183.
186.
Required
183.
Product manual - IRB 2400
3HAC022031-001 Revision: P