CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page 117.
Removal, wrist unit
The procedure below details how to remove the wrist from the robot upper arm.
The wrist, which includes axes 5 and 6, is a complete unit comprising drive units
and gearboxes. It is a replacement unit of complex design and should not normally
be serviced on-site. Instead it should be sent to ABB for service etc.
ABB recommends its customers to carry out only the following servicing and repair
work on the wrist.
NoteAction
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
1
Shown in the figure Wrist unit
on page 135.
Remove the oil plug on the wrist and drain it from all
the oil.
2
Shown in the figure Wrist unit
on page 135.
Undo the attachment screws and remove the wrist.3
Refitting, wrist unit
The wrist, which includes axes 5 and 6, is a complete unit comprising drive units
and gearboxes. It is a replacement unit of complex design and should not normally
be serviced on-site. Instead it should be sent to ABB for service.
The procedure below details how to refitt the wrist to the robot upper arm.
Note/IllustrationAction
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
1
Clean the surface of the tubular shaft.2
Art. no. is specified in Required
equipment on page 135.
Lubricate the o-ring with grease to be sure that it
does not get displaced, and fit it in its position on
the upper arm tubular.
3
Specified in Required equipment
on page 135.
xx0200000424
Fit the two guide pins (A) diagonally on the wrist.
Carefully push the wrist against the tubular. When
the gears are meeting each other, they may need to
be rotated to mesh properly.
4
Continues on next page
136 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.1 Replacement of wrist IRB 2400/10/16
Continued
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