ABB IRB 140 Product Manual page 143

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
Product manual - IRB 140
3HAC027400-001 Revision: V
Spare part no.
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page
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.
See Cut the paint or surface on the robot
before replacing parts on page
Drain the oil from the wrist unit.
Remove the wrist unit by unscrewing its
three attachment screws.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.1 Replacing the wrist unit, IRB 1600
Art. no. Note
Must be replaced.
Note! The o-ring sealing plate is
not interchangeable with art.no.
3HAC 7191-1!
3HAC 3537-1 For lubricating the o-ring sealing
plate.
- Content is defined in section
Standard tools on page
3HAC 9037-1 For adjusting the gear play, mo-
tor/pinion.
These procedures include refer-
ences to the tools required.
Note
118.
Detailed in section
axes 5 and 6 gearboxes on page
Shown in the figure in section
of wrist unit on page
4 Repair
Continued
239.
118.
Changing the oil in
110.
Location
142.
Continues on next page
143