ABB IRB 140 Product Manual page 144

4 Repair
4.4.1 Replacing the wrist unit, IRB 1600
Continued
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
1
2
3
4
5
6
7
8
9
Continues on next page
144
Action
Clean the joints that have been opened.
See Cut the paint or surface on the robot
before replacing parts on page 118
Move the robot to a position where the
upper arm is vertical.
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 203 and
the gear play, axis 6 on page 205
Tighten the wrist unit attachment screws.
© Copyright 2004-2018 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.
Required
142.
142.
Required
142.
Product manual - IRB 140
3HAC027400-001 Revision: V