ABB IRB 140 Product Manual page 125

Equipment, etc.
O-ring sealing plate
Grease
Standard toolkit
Arm
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
1
2
3
4
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
1
2
3HAC027400-001 Revision: K
Spare part no.
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
CAUTION
Always cut the paint with a knife and grind
the paint edge when disassembling parts of
a Clean Room robot! See
on Clean Room robots on page 100
Drain the oil from the wrist unit.
Remove the wrist unit by unscrewing its
three attachment screws.
Action
Clean Room robots: clean the joints that
have been opened. See Replacing parts
on Clean Room robots on page 100
Move the robot to a position where the
upper arm is vertical.
© Copyright 2004-2013 ABB. All rights reserved.
4.4.1 Replacement of wrist unit
Art. no.
3HAC 3537-1
-
3HAC 9037-1
Note
Replacing parts
Detailed in section
axes 5 and 6 gearboxes on page
Shown in the figure in section
of wrist unit on page
Note
4 Repair
Continued
Note
Must be replaced.
Note! The o-ring sealing plate is
not interchangeable with art.no.
3HAC 7191-1!
For lubricating the o-ring sealing
plate.
Content is defined in section
Standard tools on page 215.
For adjusting the gear play, mo-
tor/pinion.
These procedures include refer-
ences to the tools required.
Changing the oil in
92.
Location
124.
Continues on next page
125