ABB IRB 1600 - 5/1,2 type A User Manual

4 Repair
4.4.4. Replacement of wrist unit
3HAC026660-001 Revision: C144
© Copyright 2006-2008 ABB. All rights reserved.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step instruc-
tions below.
These procedures include
references to the tools required.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Drain the oil from the wrist unit. Detailed in section Oil change, gearbox
axes 5 and 6 on page 97.
3. Remove the wrist unit by unscrewing its
three attachment screws.
Shown in the figure in section Location of
wrist unit on page 143.
Action Note
1. Move the robot to a position where the
upper arm is vertical.
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the
robot!
3. Lightly lubricate the o-ring sealingplate
with grease.
Art. no. is specified in section Required
equipment on page 143.
4. In order to release the brake, connect the
24 VDC power supply to motors:
Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
5. Fit the o-ring sealingplate to the upper
arm. Fit the wrist unit to the upper arm
with the three attachment screws, while
making sure that the gears mate
properly.
Use a new o-ring! Spare part no. is specified
in Required equipment on page 143.
3 pcs, M8 x 25, tightening torque: 28 Nm.
6. Perform a leak-down test. Detailed in section Performing a leak-down
test on page 108.
7. Refill the wrist unit with oil. Detailed in section Oil change, gearbox axes
5 and 6 on page 97.
Continued
Continues on next page

ABB IRB 1600 - 5/1,2 type A Specifications

General

Brand	ABB
Model	IRB 1600 - 5/1, 2 type A
Category	Robotics
Language	English