ABB IRB 2400/L Product Manual page 194

4 Repair
4.7.5 Replacement of motors, axes 4-6, IRB 2400/10/16
Continued
14
Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
1
2
3
4
5
6
7
8
9
10
Continues on next page
194
Action
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section
run may cause injury or damage on
page 29.
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 unscratched.
Fit a 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 be sure that the motor will be
able to move parallel to the gear when the adjust-
ment is done
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°, 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 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.
Reconnect the cabling.
© Copyright 2004-2018 ABB. All rights reserved.
Note/Illustration
First test
Note
Spare part no. is specified in
Required equipment on
See how to fit the tool in the fig-
ure in the procedure
motor axis 4 on page
Art. no. is specified in
equipment on page
Connect to connector R3.MP5:
•
•
Tightening torque: 4.1 Nm.
Loctite 243
Detailed in section
cable harness, axes 4-6 on
page 129.
Product manual - IRB 2400
page190.
Refitting,
192.
Required
190.
+ : pin 7
-: pin 8
Refitting,
3HAC022031-001 Revision: P