ABB IRB 2600ID Product Manual page 272

4 Repair
4.4.3 Replacing wrist unit
Continued
5
6
7
8
9
10
11
Continues on next page
272
Action
Check the o-ring or sealing. Replace if dam-
aged.
Prepare the refitting of the wrist by inserting the
attachment screws and washers in the upper
arm tube.
CAUTION
The robot wrist unit weighs 15 kg.
All lifting accessories used must be sized ac-
cordingly.
Carefully put the wrist unit in its place on the
upper arm.
CAUTION
Do not damage the gears.
CAUTION
Make sure that the o-ring stays in place on the
wrist unit.
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.
© Copyright 2009-2023 ABB. All rights reserved.
Note
See the figure in:
• Location of wrist unit on
page 267
320.
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 267
Tightening torque: 35 Nm.
How to measure the play is described
in sections:
• Measuring the play, axis 5 on
page 274
• Measuring the play, axis 6 on
page 276
• Measuring the play, axis 5 (ID
upper arm) on page 278
• Measuring the play, axis 6 (ID
upper arm) on page 281
Product manual - IRB 2600
3HAC035504-001 Revision: AD