ABB IRB 2400/L Product Manual page 195

11
12
Refitting, motor axis 6
The procedure below details how to refit the motor, axis 6.
1
2
3
4
5
6
7
Product manual - IRB 2400
3HAC022031-001 Revision: P
4.7.5 Replacement of motors, axes 4-6, IRB 2400/10/16
Action
Recalibrate the robot.
(When all service work is done, i.e. the other motors
are also refitted.)
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further de-
tailed in the section First test 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 unstructured.
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
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 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 together
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
Continued
Note
Calibration is detailed in a separ-
ate calibration manual enclosed
with the calibration tools.
General calibration information
is included in the section
ration information on page
Note
Spare part no. is specified in
quired equipment on page
See how to fit the tool in the figure
in the procedure Refitting, motor
axis 4 on page 192.
Art. no. is specified in Required
equipment on page 190.
Connect to connector R3.MP6:
• + : pin 7
• -: pin 8
Continues on next page
Calib-
205.
Re-
190.
195