Info/IllustrationAction
Specified in Required equipment on
page 166.
Apply flange sealing to the surface of the
wrist that will seal against the upper arm tube.
3
Sealing surface shown in the figure Loca-
tion of wrist unit on page 166.
xx0300000148
Refit the wrist with attachment screws and
washers (A).
4
• A: 8 pcs, M10x35. Tightening
torque: 41 Nm.
Detailed in section Oil change, gearbox
axis 5 and 6 (all robot versions) on
page 121.
Fill the wrist unit with oil.5
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot!6
General calibration information is included
in section Calibration on page 263.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 27.
7
Product manual - IRB 4400 169
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of wrist unit
Continued
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