4 Repair
4.7.7. Refitting of motor, axis 5
3HAC022032-001 Revision: E212
© Copyright 2004-2008 ABB. All rights reserved.
5. Fit the o-ring into the new motor. Part no. is specified in
Required equipment on
page 210.
6. Fit the measuring tool to the rear of the motor. Art. no. is specified in
Required equipment on
page 210.
7. Release the brakes in the motors for axes 4 and 5, by
connecting the 24 VDC power supply.
Connect to connector
R3.MP4/MP5
• +24V: pin 7
• 0V: pin 8.
8. Place the new motor unit in the gearbox.
Do not damage the pinion or the gear wheel.
9. 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 motor axis 5
is the smallest.
10. Turn the motor for axis 5 one full revolution at a time,
five revolutions in all. Find the smallest play 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. Refit the motor with its attachment screws and
washers, motor.
Shown in the figure Location
of motor on page 210.
4 pcs, M6x25. Tightening
torque: 15 Nm.
13. Refill with oil, if drained. Detailed in section:
• Oil change, gearbox
axis 5 and 6 (all robot
versions except IRB
4400/L10) on page
105
• Oil change, gearbox
axis 5 and 6 (IRB
4400/L10 only) on
page 108.
14. Check the position of the three gaskets, located
between the motors and the connection box. Replace
them if damaged.
Part no. is specified in
Required equipment on
page 210.
15. Refit the connection box.
Make sure the gaskets are seated properly!
Shown in the figure Location
of motor on page 210.
16. Reconnect all the connectors.
17. Refit the cover on the connection box.
18. Recalibrate the robot! Calibration is detailed in a
separate calibration manual,
enclosed with the calibration
tools.
General calibration
information is included in
section Calibration
information on page 235.
Action Info/Illustration
Continued
Continues on next page
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