Note/IllustrationAction
Detailed in section Performing a leak-
down test on page 112.
Perform a leak-down test.11
Art. no. and amount is specified in Re-
quired equipment on page 183.
Refill the axis 4 gearbox with lubricating oil.12
Detailed in section Refitting, cable har-
ness, axes 4-6 on page 129.
Reconnect the cabling.13
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot.14
General calibration information is in-
cluded in the section Calibration inform-
ation on page 205.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 29.
15
Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
NoteAction
DANGER
Turn off all electric power, hydraulic and pneu-
matic pressure supplies to the robot!
1
Check that the assembly surfaces are clean and
the motor unscratched.
2
Spare part no. is specified in Re-
quired equipment on page 183.
Fit a new o-ring on the motor.3
Look at the figure in the procedure
Refitting, motor axis 4 on page 186.
Fit the measuring tool at the rear of the motor.4
Art. no. is specified in Required
equipment on page 183.
The motor’s fixing screws shall be fastened, but
do not tighten them, to ensure that the motor will
be able to move parallel to the gear when the
adjustment is done.
5
Connector to connector R3.MP5:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the 24
VDC power supply to the motor.
6
Continues on next page
Product manual - IRB 2400 187
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of motors, axes 4-6, IRB 2400L
Continued
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