ABB M2000 Product Manual page 102

4 Repair
4.3.1. Replacement of wrist unit
Equipment, etc.
Standard toolkit
Arm
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Step
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
Step
100
Spare part no. Art. no.
Action
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Drain the oil from the wrist unit.
3. Remove the wrist unit by unscrewing its three
attachment screws.
Action
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Run the robot to a position where the upper
arm is vertical. The axis 5 motion plane
should be horizontal.
3. Lightly lubricate the o-ring sealing plate with
grease.
Note
3HAC020812-001 The contents are defined in
section
the Product manual,
reference
3HAC 9037-1 For adjusting the gear play,
motor/pinion
These procedures include
references to the tools
required.
Note
Detailed in section
change, gearbox, axes 5
and 6 on page 73.
Shown in the figure in
section
on page 99.
Note
Art. no. is specified in section
equipment on page 99.
3HAC023297-001 Revision: A
Standard toolkit in
information!
Oil
Location of wrist unit
Required