ABB IRB 140 Product Manual page 145

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Product manual - IRB 140
3HAC027400-001 Revision: V
Action
Check the gear play by moving axes 5
and 6 by hand.
Perform a leak-down test.
Refill the wrist unit with oil.
Seal and paint the joints that have been
opened. See Cut the paint or surface on
the robot before replacing parts on
page 118
Note
After all repair work, wipe the robot free
from particles with spirit on a lint free
cloth.
Recalibrate the robot!
DANGER
Make sure all safety requirements are
met when performing the first test run.
These are further detailed in the section
First test run may cause injury or dam-
age on page 26.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.1 Replacing the wrist unit, IRB 1600
Note
The gear play should be as decribed in sub-
section Measuring the gear play, axis 5 on
page 203 and Measuring the gear play, axis
6 on page 205 to pass the test.
Detailed in section Performing a leak-down
test on page 241.
Detailed in section Changing the oil in axes
5 and 6 gearboxes on page
Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum, en-
closed with the calibration tools.
General calibration information is included
in section Calibration information on
page 215.
4 Repair
Continued
110.
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