ABB IRB 140 type C Product Manual page 99

Equipment, etc.
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.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
3HAC027400-001 Revision: C
Spare part 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. Move the robot to a position where the upper
arm is vertical.
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
3. Lightly lubricate the o-ring sealingplate with
grease.
4. In order to release the brake, connect the 24
VDC power supply to motors:
5. Fit the o-ring sealingplate and the wrist unit to
the upper arm with the attachment screws, but
do not tighten them.
6. Fit the arm to the rear of the motor.
4.3.1. Replacement of wrist unit
Art. no. Note
3HAC 9037-1 For adjusting the gear play,
motor/pinion.
These procedures include
references to the tools required.
Note
Detailed in section Oil change, gearbox
axes 5 and 6 on page
Shown in the figure in section
wrist unit on page 96.
Note
Art. no. is specified in section
equipment on page
Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
Do not tighten its attachment screws!
Use a new o-ring! Spare part no. is
specified in Required equipment on
page 96.
Art. no. is specified in section
equipment on page
Continues on next page
4 Repair
Continued
69.
Location of
Required
96.
Required
96.
97