ABB IRB 390 Product Manual page 243

Adjusting the gear play
1
2
3
4
Product manual - IRB 390
3HAC066566-001 Revision: B
Action
Remove both lower arms that belong to the cur-
rent upper arm from the delta unit:
1 Loosen the lower shaft from the delta unit
by loosening the nut.
Use an interchangeable head torque
wrench and the open-end head insert.
Save the sealing washer for refitting, or re-
place it if damaged.
Adjust the play on the motor by starting with a big
play and then gradually finding the smallest play.
Turn the motor shaft seven turns and find the
smallest play within this range.
Push or tap the motor in radial direction so that
the play becomes minimal within one motor turn,
without the gear "chewing".
Tighten the motor attachment screws.
Fit sealing washers to the lower arms.
Replace the sealing washers if damaged.
© Copyright 2020 - 2021 ABB. All rights reserved.
5.6.1 Replacing the axis-1, axis 2 and axis-3 motor
Note
This is done to simplify the adjust-
ment of the gear play.
Interchangeable head torque
wrench
Torque wrench head, open-end in-
sert: 3HAC073854-001
xx1900002150
xx1900001801
Tightening torque: 24 Nm.
Sealing washer: 3HAC062123-001.
xx2000000861
5 Repair
Continued
Continues on next page
243