Spring washer, conical 8.4x18x2, quality steel-mZn12c (5 pcs)C
GearsD
Wrist unitE
O-ring (Placed on the wrist, not visible)F
Sealing (lower image)
Guide pinG
(only available for robots that are calibrated with Axis Calibration)
(not available on IRB 2600ID)
Required equipment
NoteEquipment
For spare parts no. see Spare parts - Upper
arm (2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
Wrist unit
For spare parts no. see Spare parts - Upper
arm (2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
O-ring
Sealing
Content is defined in section Standard tools
on page 452.
Standard toolkit
These procedures include references to the
tools required.
Other tools and procedures may be required.
See references to these procedures in the
step-by-step instructions below.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
NoteAction
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 413.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
268 Product manual - IRB 2600
3HAC035504-001 Revision: AD
© Copyright 2009-2023 ABB. All rights reserved.
4 Repair
4.4.3 Replacing wrist unit
Continued
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