ABB IRB 2400/L Product Manual page 193

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Product manual - IRB 2400
3HAC022031-001 Revision: P
4.7.5 Replacement of motors, axes 4-6, IRB 2400/10/16
Action
Fit the measuring tool at the rear of the
motor.
The motor's fixing screws shall be fastened,
but do not tighten them, to be sure that the
motor will be able to move parallel to the
gear when the adjustment is done
In order to release the brakes, connect the
24 VDC power supply to the motor.
Start with a play in all positions and then
find the smallest play by turning the motor
shaft six turns and thereby finding the area
with the smallest play within this range.
Use swift movements to avoid noticing the
magnetic 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.
Refill the gearbox with oil.
Reconnect the cabling.
Recalibrate the robot.
(When all service work is done, i.e. the
other motors are also refitted.)
© Copyright 2004-2018 ABB. All rights reserved.
Note/Illustration
xx0300000005
Art. no. is specified in Required equipment
on page 190.
Connect to connector R3.MP4:
• + : pin 7
• -: pin 8
Tightening torque: 4.1 Nm.
Loctite 243
Art. no. and amount is specified in
quired equipment on page
Described in Refitting, cable harness, axes
4-6 on page 129.
Calibration is detailed in a separate calib-
ration manual enclosed with the calibration
tools.
General calibration information is included
in the section Calibration information on
page 205.
Continues on next page
4 Repair
Continued
Re-
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