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Product manual - IRB 4400
3HAC022032-001 Revision: Q
Action
CAUTION
Whenever parting/mating motor and gearbox,
the gears may be damaged if excessive force
is used!
Note
The motor unit from ELMO and YASKAWA
are not compatible!
Check that the assembly surfaces are clean
from paint, lubricant etc.
Make sure that the motor and the gearbox
are not damaged or scratched.
Fit the o-ring to the new motor unit.
Fit the measuring tool to the rear of the motor.
Release the brake of the motor by connecting
the 24 VDC power supply.
Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel.
Find the position with the least play by turning
the motor shaft 10 revolutions, noting
changes in play as you turn the motor.
Push the motor in a radial direction so that
the play is minimal within one motor revolu-
tion without the gear "chewing".
Refit the motor with its attachment screws
and washers, motor.
Refill with oil, if drained.
Check the position of the three gaskets, loc-
ated between the motors and the connection
box. Replace them if damaged.
Refit the connection box.
Make sure the gaskets are seated properly!
Reconnect all the connectors.
Refit the cover to the connection box.
Recalibrate the robot!
© Copyright 2004-2018 ABB. All rights reserved.
4.7.6 Refitting of motor, axis 4
Information
Part no. is specified in
Required equip-
ment on page
235.
Art. no. is specified in
Required equip-
ment on page
235.
Connect to connector R3.MP4
•
+24V: pin 7
•
0V: pin 8.
Shown in the figure
Location of motor
on page
235.
4 pcs, M6x25. Tightening torque: 15 Nm.
Detailed in section
Oil change, gearbox
axis 4 on page
118.
Part no. is specified in
Required equip-
ment on page
235.
Shown in the figure
Location of motor
on page
235.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in section
Calibration on
page
263.
Continues on next page
4 Repair
Continued
237
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