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3HAC021353-001

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R3.MP4 power and R3.FB4 feedback distinguish ABB 3HAC021353-001 as the Yaskawa axis-4 motor for IRB 2400/10 and /16.
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Technical specifications for 3HAC021353-001

  • Manufacturer:
    ABB
  • Part Number:
    3HAC021353-001
  • Product Family:
    ABB Robots
  • Product Type:
    IRB 2400 Axis-4 Motor with Pinion
  • Stock:
    1
  • Robot family:
    IRB 2400
  • Robot configurations:
    IRB 2400/10 and IRB 2400/16
  • Axis assignment:
    Axis 4
  • Motor supplier:
    Yaskawa
  • Assembly scope:
    Motor including pinion
  • Power connector:
    R3.MP4
  • Feedback connector:
    R3.FB4
  • Weight:
    2.94 kg
  • Tariff Code:
    85015100
  • Country of origin:
    Czech Republic
  • Place of shipment:
    Xiamen,Fujian,China
By purchasing this item, you agree to the Terms & Conditions, ApterPower is not an authorized distributor for listed manufacturers or tradenames and therefore the manufacturer's warranty does not apply. All our products come with ApterPower's 1-year warranty.

More Information

Overview Manuals Fourth-Axis Role Connector Identity Motor Adjustment Product Applications

Features:

  • Fourth-axis role: ABB places the unit at the first wrist motor position
  • Yaskawa drive item: the official scope includes the motor pinion
  • Axis-coded connections: R3.MP4 and R3.FB4 identify power and feedback
3HAC021353-001 anchors the IRB 2400 axis-4 drive and is not a generic axes-4-to-6 motor.

Its Yaskawa technology and axis-coded electrical interfaces define the service boundary before mechanical work starts.

Correct label orientation, gear engagement and calibration restore the fourth-axis reference after replacement.
Apter Power can review the IRB 2400 axis record, Yaskawa label, complete 3HAC021353-001 identity and quotation scope.
ABB 3HAC021353-001 IRB 2400 Axis-4 Motor with Pinion Manuals,Datasheets,Link
Important Notice: Other accessories, manuals, cables, calibration data, software, etc. are not included with this equipment unless listed in the above stock item description. All prices are shown in USD.
  • Axis assignment: ABB lists the motor for axis 4.
  • /10 robot: the Yaskawa article is documented for this configuration.
  • /16 robot: ABB includes the same fourth-axis motor identity.
  • Drive scope: the named unit includes its pinion.
  • Power path: R3.MP4 identifies the axis-4 motor power connection.
  • Feedback path: R3.FB4 identifies the matching motor feedback connection.
  • Connection box: both interfaces are handled before the motor is withdrawn.
  • Technology gate: the installed unit must remain within the Yaskawa design.
  • Orientation: the original motor-label position is preserved.
  • Gear engagement: adjustment establishes correct motor-to-gear play.
  • Calibration: axis reference is restored before controlled testing.
  • IRB 2400/10 axis-4 repair: renew the documented Yaskawa wrist-drive unit.
  • IRB 2400/16 fourth-axis maintenance: restore power, feedback and pinion interfaces.
  • Wrist-drive recalibration: recover the axis reference after motor adjustment.
Description
With power on R3.MP4 and feedback on R3.FB4, 3HAC021353-001 occupies a clearly defined fourth-axis control path in IRB 2400 /10 and /16 robots.

As the first drive stage in the wrist group, 3HAC021353-001 transfers Yaskawa motor output through its supplied pinion. The named connections support focused electrical and mechanical service at axis 4.
Alternative Names
3HAC021353001 IRB 2400 axis 4 Yaskawa motor ABB fourth-axis wrist motor IRB2400 motor with pinion
Technical notes
For 3HAC021353-001, ABB ties the IRB 2400 axis-4 motor to R3.MP4 power and R3.FB4 feedback. The listed unit is Yaskawa, and the manual rejects interchange with Elmo. Conflicting supplier identity stops removal before either connector or the wrist-drive adjustment is disturbed or installation is authorized.
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FAQS

The following is a list of questions commonly asked by our customers. Please contact us if you have a question about our process that is not answered below.
What should a technician do if the cable tags at the planned 3HAC021353-001 position read R3.MP5 and R3.FB5?
Stop before disconnecting the motor. ABB associates this axis-4 article with R3.MP4 power and R3.FB4 feedback; the axis-5 tags indicate that the work position or record is inconsistent.
Can an IRB 2400 work order for 3HAC021353-001 omit the axis because the article number is already known?
No. ABB assigns this motor to axis 4 on the /10 and /16 configurations, and the axis record is needed to keep its power, feedback and calibration work separate from axes 5 and 6.
Should installation proceed when the removed motor is Elmo but the order specifies 3HAC021353-001?
No. ABB identifies this article as Yaskawa and states that Elmo and Yaskawa motor units are not compatible.
Why can the shaft remain locked while 3HAC021353-001 is aligned at axis 4?
The axis-4 motor brake may still be applied. ABB uses a temporary 24 VDC supply at R3.MP4 during fitting so the shaft can be positioned without forcing the drive.
Why can the connection box sit incorrectly after 3HAC021353-001 is refitted?
The motor may have been rotated away from its original label position. ABB retains that orientation so R3.MP4, R3.FB4 and the cable arrangement return to the documented axis-4 layout.
After fitting 3HAC021353-001, what should an axis-4 feedback fault direct the technician to inspect first?
Inspect the R3.FB4 feedback connection first. ABB assigns R3.FB4 to this axis-4 motor; commissioning should stop until the axis-coded feedback path is restored and then recalibrated.