InformationAction
CAUTION
Whenever parting/mating motor and gearbox, the
gears may be damaged if excessive force is used!
2
Note
The motor units 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
equipment on page 243.
Fit the o-ring to the new motor unit.5
Art. no. is specified in Required
equipment on page 243.
Fit the measuring tool at the rear of the motor.6
Connect to connector
R3.MP4/MP5/MP6
• +24V: pin 7
• 0V: pin 8.
Release the brakes in the motors for axes 4, 5 and
6, 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 of least play by turning the outgoing
shaft for axis 4 in intervals of 90°, one revolution in
all, to locate the area where the play for the axis 6
motor is the smallest.
9
Turn the motor for axis 5 one full revolution at a time,
five revolutions in all. Find the least play for axis 6
within this range.
10
Turn the motor for axis 6 one full revolutipon at a
time, three turns in all. Find the least play for axis 6
within this range.
11
Push the motor in a radial direction so that the play
is minimal within one motor revolution without the
gear "chewing".
12
Shown in the figure Location of
motor on page 243.
Refit the motor with its attachment screws and
washers, motor.
13
4 pcs, M6 x 25. Tightening
torque: 15 Nm.
Detailed in section
• Oil change, gearbox axis
5 and 6 (all robot ver-
sions) on page 121.
Refill with oil, if drained.14
Part no. is specified in Required
equipment on page 243.
Check the position of the three gaskets, located
between the motors and the connection box. Replace
them if damaged.
15
Shown in the figure Location of
motor on page 243.
Refit the connection box.
Make sure the gaskets are seated properly!
16
Reconnect all the connectors.17
Continues on next page
Product manual - IRB 4400 245
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.8 Refitting of motor, axis 6
Continued
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