InformationAction
CAUTION
Whenever parting/mating motor and gearbox,
the gears may be damaged if excessive force
is used!
2
Note
The motor unit from ELMO and YASKAWA
are not compatible!
3
Check that the assembly surfaces are clean
from paint, lubricant etc.
4
Make sure that the motor and the gearbox
are not damaged or scratched.
Part no. is specified in Required equip-
ment on page 235.
Fit the o-ring to the new motor unit.5
Art. no. is specified in Required equip-
ment on page 235.
Fit the measuring tool to the rear of the motor.6
Connect to connector R3.MP4
• +24V: pin 7
• 0V: pin 8.
Release the brake of the motor by connecting
the 24 VDC power supply.
7
Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel.
8
Find the position with the least play by turning
the motor shaft 10 revolutions, noting
changes in play as you turn the motor.
9
Push the motor in a radial direction so that
the play is minimal within one motor revolu-
tion without the gear "chewing".
10
Shown in the figure Location of motor
on page 235.
Refit the motor with its attachment screws
and washers, motor.
11
4 pcs, M6x25. Tightening torque: 15 Nm.
Detailed in section Oil change, gearbox
axis 4 on page 118.
Refill with oil, if drained.12
Part no. is specified in Required equip-
ment on page 235.
Check the position of the three gaskets, loc-
ated between the motors and the connection
box. Replace them if damaged.
13
Shown in the figure Location of motor
on page 235.
Refit the connection box.
Make sure the gaskets are seated properly!
14
Reconnect all the connectors.15
Refit the cover to the connection box.16
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
Recalibrate the robot!17
General calibration information is in-
cluded in section Calibration on
page 263.
Continues on next page
Product manual - IRB 4400 237
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.6 Refitting of motor, axis 4
Continued
To Next Page
Loading...
