Note/IllustrationAction
xx0300000005
Fit the measuring tool at the rear of the
motor.
5
Art. no. is specified in Required equipment
on page 190.
The motor’s fixing screws shall be fastened,
but do not tighten them, to be sure that the
motor will be able to move parallel to the
gear when the adjustment is done
6
Connect to connector R3.MP4:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the
24 VDC power supply to the motor.
7
Start with a play in all positions and then
find the smallest play by turning the motor
shaft six turns and thereby finding the area
with the smallest play within this range.
8
Use swift movements to avoid noticing the
magnetic 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!
9
Tightening torque: 4.1 Nm.Tighten the motor attachment screws and
secure them with locking fluid.
10
Loctite 243
Art. no. and amount is specified in Re-
quired equipment on page 190.
Refill the gearbox with oil.11
Described in Refitting, cable harness, axes
4-6 on page 129.
Reconnect the cabling.12
Calibration is detailed in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
(When all service work is done, i.e. the
other motors are also refitted.)
13
General calibration information is included
in the section Calibration information on
page 205.
Continues on next page
Product manual - IRB 2400 193
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of motors, axes 4-6, IRB 2400/10/16
Continued
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