NoteAction
Calibration is detailed in a separ-
ate calibration manual enclosed
with the calibration tools.
Recalibrate the robot.
(When all service work is done, i.e. the other motors
are also refitted.)
11
General calibration information
is included in the section Calib-
ration information on page 205.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further de-
tailed 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 pneumatic
pressure supplies to the robot!
1
Check that the assembly surfaces are clean and
the motor unstructured.
2
Spare part no. is specified in Re-
quired equipment on page 190.
Fit a new o-ring on the motor.3
See how to fit the tool in the figure
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.MP6:
• + : 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
6 becomes smallest.
7
Turn the motor for axis 5 one full turn at the time,
totally five turns. Find the smallest play for axis 6
within this area.
Turn the motor for axis 6 one full turn at a for a total
of three turns. Find the smallest play for axis 6
within this area.
Use swift movements to avoid noticing the magnetic
field, which makes the gears stick together
Continues on next page
Product manual - IRB 2400 195
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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