NoteAction
See the figure in:
• Location of wrist unit on
page 267
Check the o-ring or sealing. Replace if dam-
aged.
5
Prepare the refitting of the wrist by inserting the
attachment screws and washers in the upper
arm tube.
6
CAUTION
The robot wrist unit weighs 15 kg.
All lifting accessories used must be sized ac-
cordingly.
7
Carefully put the wrist unit in its place on the
upper arm.
CAUTION
Do not damage the gears.
8
CAUTION
Make sure that the o-ring stays in place on the
wrist unit.
xx1000000223
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 320.
9
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.
Secure the wrist unit with its attachment screws
and washers.
10
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
Measure the play by moving axes 5 and 6 with
the measuring tool.
11
Continues on next page
272 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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