ABB IRB 2600 Product Manual page 267

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Product manual - IRB 2600
3HAC035504-001 Revision: G
Action
Adjust the play of the wrist by following these
steps:
• Push the wrist as shown in the figure to
locate the smallest play in the same way
as for adjustment of motors for axes 4,
5 and 6. See Refitting motors on page
Secure the wrist unit with its attachment screws
and washers.
Measure the play by moving axes 5 and 6 with
the measuring tool.
Perform a leak-down test.
Refill oil in gearbox axes 5-6.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run
may cause injury or damage! on page
© Copyright 2009-2015 ABB. All rights reserved.
4.4.3 Replacing wrist unit
Note
298.
xx1000000223
Parts:
• A: Gears on drive shaft unit,
axes 5-6
• B: Gears on the wrist
See the figure in
• Location of wrist unit on
page 264
Tightening torque: 35 Nm.
How to measure the play is described
in sections:
• Measuring the play, axis 5 on
page 268
• Measuring the play, axis 6 on
page 270
• Measuring the play, axis 5 (ID
upper arm) on page 272
• Measuring the play, axis 6 (ID
upper arm) on page 275
See Performing a leak-down test on
page 190.
How to fill oil in gearbox axes 5-6 is
described in section:
• Changing oil, axes-5 and -6
gearboxes on page 176
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in section
tion on page 361.
50.
4 Repair
Continued
Calibration informa-
267