ABB M2000 Product Manual page 103

Step
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
3HAC023297-001 Revision: A
Action
4. Fit the o-ring sealing plate and the wrist unit
to the upper arm with the attachment
screws, but do not tighten them.
5. In order to release the brake, connect the
24 VDC power supply to motors:
6. Fit the Arm to the rear of the motor.
7. Manually push the motor to adjust the motor
in relation to the gear in the gearbox.
Minimize the gear play as shown in the
figure.
8. Tighten the wrist unit attachment screws.
9. Check the gear play by moving axes 5 and
6 by hand.
10. Perform a leak-down test.
11. Refill the wrist unit with oil.
12. Recalibrate the robot!
• all the service tools and other foreign objects are removed from the manipulator!
• all normal safety equipment is installed properly, e.g. TPU enabling device.
• all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
• special attention is paid to the function of the part previously serviced.
4.3.1. Replacement of wrist unit
Note
Do not tighten its attachment screws!
Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
Art. no. is specified in section
equipment on page 99.
xx0200000445
• A: Wrist unit, axes 5 and 6
gears
• B: Drive shafts from motors,
axes 5 and 6 gears
• C: Adjustment direction
• D: Gear play
Tightening torque: 28 Nm ± 3 Nm
The gear play should be xx to pass the
test.
Detailed in section Leak-down
Detailed in section Oil change,
gearbox, axes 5 and 6 on page 73.
Calibration is detailed in separate
calibration manuals.
Art. no. for the manuals are specified in
section Document references
Product manual, reference
information.
4 Repair
Required
test.
in the
101