ABB IRB 4400/60 Product Manual page 241

Refitting, motor axis 5
The procedure below details how to refit the axis 5 motor.
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Product manual - IRB 4400
3HAC022032-001 Revision: Q
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply (do not turn off for
Foundry Prime robots!)
to the robot, before entering the robot working
area.
CAUTION
Whenever parting/mating motor and gearbox, the
gears may be damaged if excessive force is used!
Note
The motor units 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 into the new motor.
Fit the measuring tool to the rear of the motor.
Release the brakes in the motors for axes 4 and
5, 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 of least play by turning the out-
going shaft for axis 4 in intervals of 90°, one re-
volution in all, to locate the area where the play
for the motor axis 5 is the smallest.
Turn the motor for axis 5 one full revolution at a
time, five revolutions in all. Find the smallest play
within this range.
Push the motor in a radial direction so that the
play is minimal within one motor revolution without
the gear "chewing".
Refit the motor with its attachment screws and
washers, motor.
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.7 Refitting of motor, axis 5
Continued
Information
Part no. is specified in Required
equipment on page 240.
Art. no. is specified in Required
equipment on page 240.
Connect to connector
R3.MP4/MP5
• +24V: pin 7
• 0V: pin 8.
Shown in the figure Location of
motor on page 239.
4 pcs, M6x25. Tightening torque:
15 Nm.
Continues on next page
241