ABB IRB 140 type C Product Manual page 104

4 Repair
4.3.3. Replacement of damper, axis 5
Continued
Removal, damper axis 5
The procedure below details how to remove the damper, axis 5.
Refitting, damper axis 5
The procedure below details how to refit the damper, axis 5.
102
Action
1. Run the robot to a position that enables the end of the
damper to be pushed into the recess in the wrist unit.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
3. Unhook the end of the damper, and push it into the
recess.
4. Manually move the wrist (robot axis 5) away from the
damper to pull it out.
Action
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Push the end of the damper into the gap between the
wrist unit and upper arm.
3. Manually move the wrist (robot axis 5) in order to pull the
damper into position.
4. Fold out the damper hooks to secure it in position.
5.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further detailed in
section DANGER - First test run may cause injury or
damage! on page 32.
Note
Shown in the figure Location of
damper, axis 5 on page 101.
Note
Make sure the damper is
turned the correct way!
3HAC027400-001 Revision: C