Refitting of motor, axis 4-6 IRB 2400/10/16

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170

4.7.10. Refitting of motor, axis 4-6 IRB 2400/10/16

Location of motor axis 4-6

The motor axis 4-6 is located on the back of the manipulator as shown in the figure below:

A more detailed view of the component and its position may be found in chapter Foldouts in the Product manual, reference information.

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Required equipment

A Torx screw

B Cover

C Connection box

D Screw

E Motor 6

F Motor 5

G Motor 4

H Gearbox

Equipment, etc. Spare

part no. Art. no. Note

O-ring 3HAB 3772-1

Loctite 243 3HAB 7116-1

Bearing grease 3HAB 3537-1

Mount tool 3HAB 7887-1

Lubricating oil 1171 2016-604

Standard toolkit The contents are defined in

section Standard toolkit in the Product manual, reference information!

4.7.10. Refitting of motor, axis 4-6 IRB 2400/10/16

Reassemble of motor axis 4

The procedure below details how to reassemble motor, axis 4.

Other tools and procedures may be required. See

references to these procedures in the step-by-step instructions below.

These procedures include references to the tools required.

Reused screws may be used, providing they are lubricated as detailed in Screw Joints before fitting.

Circuit Diagram 3HAC 6670-3 See chapter Circuit diagram in the Product manual, reference information.

Equipment, etc. Spare

part no. Art. no. Note

Step Action Info/Illustration

1. Check that the assembly surfaces are clean and the motor unscratched

2. Fit a new O-ring on the motor. 3HAB 3772-1 3. Grease the gear with bearing grease 3HAB 3537-1 4. Fit the tool at the rear of the motor.

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Tool no. 3HAB 7887-1 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. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP4 connectors

4.7.10. Refitting of motor, axis 4-6 IRB 2400/10/16

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Reassemble of motor axis 5

The procedure below details how to reassemble motor, axis 5.

Reassemble of motor axis 6

The procedure below details how to reassemble motor, axis 6.

7. Start with a play in all positions and then seek up the smallest play by turning the motor shaft 6 turns and thereby find the area with the smallest play within this range. 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.

4.1 Nm.

Loctite 243 10. Fill the gearbox whith the proper

quantity of oil

1.5 litres (0.4 US gallon)

11. Connect the cabling. Described in Refitting of cable harness on page 84

Step Action Info/Illustration

Step Action Note/Illustration

1. Check that the assembly surfaces are clean and the motor unscratched

2. Fit a new O-ring on the motor. 3HAB 3772-1

3. Mount the tool at the rear of the motor. Tool no. 3HAB7887-1 4. 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

5. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP5 connectors

6. Seek up the smallest play by turning the outgoing shaft for axis 4 in intervals of 90°, one full turn, and thereby find the area where the play for motor 5 becomes smallest. Turn the motor for axis 5 one full turn at a time for a total of 5 turns. Find where the smallest play is within this area. Use swift movements to avoid noticing the magnetic field, which makes the gears stick together.

7. 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!

8. Tighten the motor attachment screws and secure them with locking fluid.

4.1 Nm.

Loctite 243

9. Connect the cabling. Described in Refitting of

cable harness on page 84

4.7.10. Refitting of motor, axis 4-6 IRB 2400/10/16

Step Action Note/Illustration

1. Check that the assembly surfaces are clean and the motor unstructured.

2. Fit a new O-ring on the motor. 3HAB 3772-1

3. Fit the tool at the rear of the motor. Tool no. 3HAB 7887-1.

4. 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

5. Release the brake, apply 24 V DC to terminals 7 and 8 on the R3.MP6 connectors

6. Seek up the smallest play by turning the outgoing shaft for axis 4 in intervals of 90°, one full turn, and thereby find the area where the play for motor 6 becomes smallest. Turn the motor for axis 5 one full turn at the time, totally 5 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 3 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

7. 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!

8. Tighten the motor attachment screws and secure them with locking fluid.

4.1 Nm.

Loctite 243

9. Fill the gearbox with the proper quantity of oil 0.8 litres (0.2 US gallon) total for 5 and 6.

10. Connect the cabling. Described in Refitting of

cable harness on page 84.

11. Calibrate the robot. Calibration is detailed in

separate calibration manuals.

Art. no. for the manuals are specified in section

Document references in the Product manual, reference information.

4.8.1. Removal of gearbox, axis 1-3

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