Note/IllustrationAction
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.
14
Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
NoteAction
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
1
Check that the assembly surfaces are clean and the
motor unscratched.
2
Spare part no. is specified in
Required equipment on page 190.
Fit a new o-ring on the motor.3
See how to fit the tool in the fig-
ure in the procedure Refitting,
motor axis 4 on page 192.
Fit the measuring tool at the rear of the motor.4
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 adjust-
ment is done
5
Connect to connector R3.MP5:
• + : pin 7
• -: pin 8
In order to release the brakes, connect the 24 VDC
power supply to the motor.
6
Find 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.
7
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.
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!
8
Tightening torque: 4.1 Nm.Tighten the motor attachment screws and secure
them with locking fluid.
9
Loctite 243
Detailed in section Refitting,
cable harness, axes 4-6 on
page 129.
Reconnect the cabling.10
Continues on next page
194 Product manual - IRB 2400
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
To Next Page
Loading...
