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3HAC021722-001

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At the IRB 2400 wrist, ABB 3HAC021722-001 is the orange Yaskawa axis-5 motor unit that transmits drive through its pinion on /10 and /16 robots.
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Technical specifications for 3HAC021722-001

  • Manufacturer:
    ABB
  • Part Number:
    3HAC021722-001
  • Product Family:
    ABB Robots
  • Product Type:
    IRB 2400 Axis-5 Motor with Pinion
  • Stock:
    1
  • Robot family:
    IRB 2400
  • Robot configurations:
    IRB 2400/10 and IRB 2400/16
  • Axis assignment:
    Axis 5
  • Motor supplier:
    Yaskawa
  • Finish:
    ABB Orange
  • Assembly scope:
    Motor including pinion
  • Motor power connector:
    R3.MP5
  • Motor feedback connector:
    R3.FB5
  • Brake-release supply:
    24 VDC, max. 1.5 A
  • Replacement O-ring:
    3HAB3772-12
  • Measuring tool:
    3HAB7887-1
  • Motor fastening torque:
    4.1 Nm
  • Weight:
    3.44 kg
  • Estimated shipping dimensions:
    29x7x7cm
  • 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 Axis-5 Circuits Gear Adjustment Service Materials Product Applications

Features:

  • Fifth-axis role: the motor is assigned to IRB 2400 /10 and /16 wrist assemblies.
  • Separate electrical paths: MP5 power and FB5 feedback remain individually identified.
  • Measured mechanical service: the motor position is adjusted before final fastening.
The fifth-axis drive sits between the shared wrist connection box and its local gearbox, giving the product a clear electrical and mechanical boundary.

Its orange Yaskawa identity distinguishes the service article, while the MP5 and FB5 labels preserve the two axis-specific circuits.

A complete motor task includes fresh sealing, controlled brake release, gear adjustment and robot reference recovery after refitting.
Apter Power can review the full 3HAC021722-001 marking, IRB 2400 configuration, condition evidence, service data and quotation scope.
ABB 3HAC021722-001 IRB 2400 Axis-5 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.
  • Power path: R3.MP5 identifies the motor-power connection.
  • Feedback path: R3.FB5 identifies the position-feedback connection.
  • Shared access: both interfaces sit within the axes 4–6 connection-box area.
  • Reconnection rule: both labeled circuits return before the cover and cable route are closed.
  • Brake release: a 24 VDC source connects through MP5 pins 7 and 8.
  • Search motion: the axis-4 output and axis-5 motor are rotated to locate minimum play.
  • Mechanical limit: the pinion must move without gear chewing or force.
  • Final fastening: attachment screws are tightened to 4.1 Nm with locking fluid.
  • Motor seal: one new 3HAB3772-12 O-ring is fitted for the serviced motor.
  • Grease: 3HAB3537-1 is listed for the gear interface.
  • Measurement: 3HAB7887-1 supports the adjustment procedure.
  • Locking compound: Loctite 2400 or equivalent Loctite 243 secures the fasteners.
  • IRB 2400/10 axis-5 maintenance: restore the orange Yaskawa wrist drive.
  • IRB 2400/16 wrist repair: renew the same fifth-axis motor identity.
  • Axis-5 connection recovery: reinstate the MP5 power and FB5 feedback circuits.
  • Post-repair recommissioning: recalibrate and test the affected wrist axis under controlled conditions.
Description
Wrist-axis motion on the IRB 2400 /10 and /16 uses 3HAC021722-001, the ABB Orange Yaskawa motor unit at axis 5. Its joint-specific identity separates it from the neighboring motors arranged inside the same upper-arm connection box.

Power and feedback for 3HAC021722-001 remain distinct through the R3.MP5 and R3.FB5 interfaces. This separation lets maintenance isolate the fifth-axis drive electrically while the shared wrist cabling and adjacent motors stay part of the installed robot.

As a motor-and-pinion assembly, 3HAC021722-001 restores the mechanical input to the fifth-axis gearbox. A planned repair can therefore define one precise drive item while treating seals, lubricants, adjustment tools and calibration as supporting service requirements.
Alternative Names
3HAC021722001 IRB 2400 axis 5 Yaskawa motor ABB Orange wrist motor IRB2400 motor with pinion
Technical notes
ABB 3HAC021722-001 belongs to the Yaskawa motor architecture used at IRB 2400 axis 5; ABB states that Yaskawa and Elmo motor units are not compatible. A shared wrist position is not a substitution basis. Stop replacement when the installed motor technology cannot be identified from the robot and motor records.
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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.
Should a graphite-white wrist motor be accepted as 3HAC021722-001?
No. The -001 article is ABB Orange, while the graphite-white Yaskawa version carries the -003 suffix. Hold the delivery when finish and complete suffix do not agree.
What should a technician do if 3HAC021722-001 binds while the gear play is being set?
Stop applying force and repeat the minimum-play search through the prescribed axis-4 and axis-5 rotations. Binding or gear chewing means the motor position is not ready for final tightening.
Can the old motor O-ring be reused when 3HAC021722-001 is installed?
No. ABB lists one new 3HAB3772-12 O-ring for each serviced motor. Fit it on clean, undamaged surfaces before completing the axis-5 assembly.
Which wiring labels should be recovered after replacing 3HAC021722-001?
Reconnect R3.MP5 for motor power and R3.FB5 for feedback. These axis-specific labels are the reliable map inside the shared axes 4–6 connection box.
When may the robot resume motion after 3HAC021722-001 has been refitted?
Only after mechanical adjustment, fastener locking, cabling and covers are complete, the robot is recalibrated, and the controlled first-test-run requirements are satisfied.
What details make an RFQ for 3HAC021722-001 technically specific?
State IRB 2400/10 or /16, axis 5, the complete motor label, Yaskawa technology, finish, connector and pinion condition, quantity, and destination. Avoid a request that says only “IRB 2400 wrist motor.”