ABB IRB 4400/60 Product Manual page 232

4 Repair
4.7.4 Adjustment of motors, axes 1-3
Continued
3
4
5
6
7
8
9
10
232
Action
Release the brake of the current motor by
connecting the 24VDC supply.
Rotate the motor shaft with the measuring
tool. Measure the torque in both directions
with a spring balance.
A normal torque is 0.6-0.8 Nm (=6-8 N on ra-
dius 100 mm). Torques higher than 0.8 Nm
are not allowed, as they will reduce the life-
time of the motor and gear.
Loosen the lower and upper screws until the
motor can be moved sideways by hand.
Push the motor with one hand against the
gear and tighten the two screws with the
other hand.
Measure the torque with the motor shaft in
different positions. The torque should be max.
0.1 Nm (on radius 50 mm) more than meas-
ured before.
If the torque is more,
• slightly loosen the screws a little and
carefully knock the motor in the oppos-
ite direction
• then measure the torque again.
Check that the backlash is very limited, by
moving the tool back and forward in small
movements.
When turning the motor shaft, a tick-tack
sound can be heard from the brake disc
This should not be mixed up with the back-
lash. The difficult part is to find the motor
position where the torque just starts to in-
crease.
Remove the measuring tool.
Disconnect the brake release voltage.
Continue refitting the motor.
© Copyright 2004-2018 ABB. All rights reserved.
Information
Axis 1 motor: connect to connector
R3.MP1
• +24V: pin 7
• 0V: pin 8.
Axis 2 motor: connect to connector
R3.MP2
• +24V: pin 7
• 0V: pin 8.
Axis 3 motor: connect to connector
R3.MP3
• +24V: pin 7
• 0V: pin 8.
Note
The brake must be released in the mo-
tor.
1)
The brake disc is mounted on the
motor shaft with a type of splined
coupling. Between the splines there is
a narrow backlash.
Note
There should always be a backlash, but
it should be as minimal as possible.
1)
.
Refitting, motor axis 1 on page 218
Refitting, motor axis 2 on page 223
Refitting motor axis 3 on page 228
Product manual - IRB 4400
3HAC022032-001 Revision: Q