ABB IRB 2400/L Product Manual page 189

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Product manual - IRB 2400
3HAC022031-001 Revision: P
Action
In order to release the brakes, connect the 24
VDC power supply to the motor.
Find the smallest play by turning the outgoing
shaft for axis 4 in intervals of 90°, totally one
whole turn, and thereby finding the area where
the play for motor 6 becomes smallest.
Turn the motor for axis 5 one full turn at the time,
totally five turns. Find the smallest play for axis
6 within this area.
Turn the motor for axis 6 one full turn at a time
for a time for a total of three turns. Find the
smallest play for axis 6 within this area.
Use swift movements to avoid noticing the
magnetic field, which makes the gears stick to-
gether
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
© Copyright 2004-2018 ABB. All rights reserved.
4.7.4 Replacement of motors, axes 4-6, IRB 2400L
Note
Connect to connector R3.MP6:
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.
4 Repair
Continued
• + : pin 7
• -: pin 8
Refitting, cable harness,
129.
Calibration in-
205.
189