ABB IRB 140 Product Manual page 126

4 Repair
4.4.1 Replacement of wrist unit
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Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Lightly lubricate the o-ring sealingplate
with grease.
In order to release the brake, connect
the 24 VDC power supply to motors:
Fit the o-ring sealingplate and the wrist
unit to the upper arm with the attachment
screws, but do not tighten them.
Fit the arm to the rear of the motor.
Manually push the wrist to adjust the
wrist in relation to the gear in the gear-
box.
The gear play must be checked accord-
ing to subsections Measuring the gear
play, axis 5 on page 182 and
the gear play, axis 6 on page 184
Tighten the wrist unit attachment screws.
Check the gear play by moving axes 5
and 6 by hand.
Perform a leak-down test.
Refill the wrist unit with oil.
© Copyright 2004-2013 ABB. All rights reserved.
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
Art. no. is specified in section
equipment on page
Measuring
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.
The gear play should be as decribed in sub-
section Measuring the gear play, axis 5 on
page 182 and
6 on page 184
Detailed in section
test on page 217.
Detailed in section
5 and 6 gearboxes on page
Required
124.
124.
Required
124.
Measuring the gear play, axis
to pass the test.
Performing a leak-down
Changing the oil in axes
92.
3HAC027400-001 Revision: K