NoteAction
Locate the smallest play by turning the outgoing
shaft for axis 4 in intervals of 90°, one full turn,
and thereby finding the area where the play for
motor 5 becomes smallest. Turn the motor for
axis 5 one full turn at a time for a total of five
turns. Find where the smallest play is within this
area.
7
Use swift movements to avoid noticing the mag-
netic field, which makes the gears stick together.
Push or tap the motor in radial direction so that
the play becomes minimal within one motor turn,
without the gear “chewing”. Do not use force!
8
Tightening torque: 4.1 Nm.Tighten the motor attachment screws and secure
them with locking fluid.
9
Loctite 243
Described in Refitting, cable harness,
axes 4-6 on page 129.
Reconnect the cabling.10
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
Recalibrate the robot.11
General calibration information is in-
cluded in the section Calibration in-
formation 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.
12
Refitting, motor axis 6
The procedure below details how to refit the motor, axis 6.
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 an 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 esure that the motor will
be able to move parallel to the gear when the
adjustment is done
5
Continues on next page
188 Product manual - IRB 2400
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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