ABB IRB 140 type C Product Manual page 100

4 Repair
4.3.1. Replacement of wrist unit
Continued
98
Action
7. Manually push the wrist to adjust the wrist 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!
13.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Note
xx0200000445
A. Wrist unit, axes 5 and 6 gears
B. Drive shafts from motors, axes
C. Adjustment direction
D. Gear play
Tightening torque: 28 Nm.
The gear play must be checked
according to sub-sections Measuring
the gear play, axis 5 on page 148 and
Measuring the gear play, axis 6 on
page 150.
Detailed in section
down test on page
Detailed in section
gearbox axes 5 and 6 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
32.
5 and 6 gears
Performing a leak-
184.
Oil change,
69.
Calibration
163.
3HAC027400-001 Revision: C