4 Repair
4.7.5. Replacement of motors, axes 4-6, IRB 2400/10/16
149
3HAC022031-001 Revision: C
©
Co
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rig
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t 200
4-
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8 ABB. All righ
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Refitting, motor axis 6
The procedure below details how to refit the motor, axis 6.
Action
Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Check that the assembly surfaces are clean and
the motor unstructured.
3. Fit a new
o-ring
on the motor.
Spare part no. is specified in
Required equipment on page 144
.
4. Fit the
measuring tool
at the rear of the motor.
See how to fit the tool in the figure
in the procedure
.
.
5. 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
adjustment is done
6. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP6:
•
+ : pin 7
•
- : pin 8
7. 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.
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
8. 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!
9. Tighten the motor attachment screws and secure
them with locking fluid.
Tightening torque: 4.1 Nm.
Loctite 243
10. Reconnect the cabling.
Detailed in section
Continued
Continues on next page
Summary of Contents for IRB 2400/L
Page 1: ...Product manual Articulated robot IRB 2400 L IRB 2400 10 IRB 2400 16 M2000 M2000A M2004 ...
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Page 8: ...Table of Contents 6 3HAC022031 001 Revision C Copyright 2004 2008 ABB All rights reserved ...
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