Note/IllustrationAction
Note the position of the motor! Use
the mark , made on the motor base
before removal. See also orientation
of the holes on top of the motor,
shown in the figure Location of mo-
tor, axis 1 on page 168.
Fit the motor by gently lowering it straight down.4
TIghtening torque: 2 Nm.Tighten the four attachment screws and washers.5
Connect power supply to connector
R3.MP1:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor.
6
Article number is specified in Re-
quired equipment on page 169.
Fit the measuring tool to the rear of the motor.7
Shown in the figure below.
Rotate the motor shaft several turns, using the
measuring tool.
There must always be some backlash, meaning
that the shaft should go easy to rotate!
8
The tip of the dial indicator must
measure on a 50 mm radius from
the center of the motor shaft.
xx0200000473
Place the tip of a dial indicator against the scribed
mark on the measuring tool.
9
Measuring tool
Set the gear play to 0.02 mm, which corresponds
to a reading on the dial indicator of 0.13 mm.
10
Pull gently in one direction. Note the reading.
(The gear must not turn.)
11
Then gently knock on the tool in the other direc-
tion and note the reading. The difference in
reading = gear play. The gear play should be 0.02
mm which corresponds to a reading on the dial
indicator of 0.13 mm.
12
4 pcs. Tightening torque: 35 NmTighten the motor attachment screws.13
Shown in the figure Location of mo-
tor, axis 1 on page 168.
Refit the connection box with the three attach-
ment screws and plain washers.
Make sure the gasket is fitted properly!
14
Continues on next page
Product manual - IRB 2400 171
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.1 Replacement of motor, axis 1
Continued
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