4 Repair
4.7.6. Refitting of motor, axis 4
209
3HAC022032-001 Revision: E
© Copyri
ght
200
4-2008 ABB.
All rights reserved.
5. Fit the o-ring to the new motor unit.
6. Fit the measuring tool to the rear of the motor. Art. no. is specified in
7. Release the brake of the motor by connecting
the 24 VDC power supply.
Connect to connector R3.MP4
•
+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 with the least play by turning
the motor shaft 10 revolutions, noting
changes in play as you turn the motor.
10. Push the motor in a radial direction so that the
play is minimal within one motor revolution
without the gear "chewing".
11. Refit the motor with its attachment screws
and washers, motor.
Shown in the figure
.
4 pcs, M6x25. Tightening torque: 15
Nm.
12. Refill with oil, if drained.
13. Check the position of the three gaskets,
located between the motors and the
connection box. Replace them if damaged.
14. Refit the connection box.
Make sure the gaskets are seated properly!
Shown in the figure
.
15. Reconnect all the connectors.
16. Refit the cover to the connection box.
17. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
18.
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
test run may cause injury or damage! on page
33
.
Action
Info/Illustration
Continued
Summary of Contents for IRB 4400 - 45
Page 2: ......
Page 8: ...Table of Contents 6 3HAC022032 001 Revision E Copyright 2004 2008 ABB All rights reserved ...
Page 296: ......
Page 297: ... Copyright 2004 2006 ABB All rights reserved Foldout 1 ...
Page 298: ... Copyright 2004 2006 ABB All rights reserved Foldout 2 ...
Page 299: ... Copyright 2004 2006 ABB All rights reserved Foldout 3 1 ...
Page 301: ... Copyright 2004 2006 ABB All rights reserved Foldout 4 ...
Page 302: ... Copyright 2004 2006 ABB All rights reserved Foldout 5 ...
Page 303: ... Copyright 2004 2006 ABB All rights reserved Foldout 6 1 ...
Page 304: ... Copyright 2004 2006 ABB All rights reserved Foldout 6 2 ...
Page 305: ... Copyright 2004 2006 ABB All rights reserved Foldout 6 3 ...
Page 307: ... Copyright 2004 2006 ABB All rights reserved Foldout 8 ...
Page 313: ... Copyright 2004 2006 ABB All rights reserved Motor Axis 1 3 Sheet 103 ...
Page 314: ... Copyright 2004 2006 ABB All rights reserved Feed Back Axis 1 3 Sheet 104 ...
Page 315: ... Copyright 2004 2006 ABB All rights reserved Motor Axis 4 6 Sheet 105 ...
Page 316: ... Copyright 2004 2006 ABB All rights reserved Feed Back Axis 4 6 Sheet 106 ...
Page 317: ... Copyright 2004 2006 ABB All rights reserved Customer Connection Sheet 107 ...
Page 318: ... Copyright 2004 2006 ABB All rights reserved Pos Indicator Axis 1 Option Sheet 108 ...
Page 321: ......