ABB IRB 1010 Product Manual page 238

5 Repair
5.4.4 Replacing the wrist unit
Continued
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238
Action
Connect the power supply to axis-4 motor and
release the axis-4 brake to move the axis 4 to -
90°. Then, disconnect the power supply.
Note
The robot is not connected to the controller during
replacement, power must be supplied to the con-
nector R1.MP according to the section
power to connector R1.MP on page
Install the timing belt to the pulleys and verify that
the belt runs correctly in the grooves of the pul-
leys.
Remove the pulley screw from the motor.
Install an M2.5x20 or longer adjustment screw to
the motor.
Note
Do not insert the entire screw to the hole.
The screw shall be installed with proper force to
avoid shaft rotation.
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Note
Supplying
56.
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Product manual - IRB 1010
3HAC081964-001 Revision: B