4 Repair
4.4.2. Replacement of wrist unit
139 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Removal of wrist unit
The procedure below details how to remove the wrist unit from the robot.
This component includes a complete unit comprising motors 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.
ABB recommends its customers to carry out only the following servicing and repair work on
this unit.
O-ring
(IRB 4400/L10)
3HAB 3772-12
Grease 3HAB 3537-1 Used to lubricate the o-ring
groove.
Flange sealing 1234 0011-116 Loctite 574
Standard toolkit 3HAC 17594-1 The contents are defined in
section Standard toolkit on
page 264.
Measuring tool 3HAB 7887-1 Used when mounting the
wrist unit to robot version
IRB 4400/L10.
Other tools and
procedures may be
required. See references
to these procedures in the
step-by-step instructions
below.
These procedures include
references to the tools
required.
Calibration Pendulum
Instruction
Art. no. is specified in section
Document references on
page 262.
Equipment, etc.
Spare part
no.
Art. no. Note
Action Info/Illustration
1.
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Drain the oil from the wrist unit. Draining is detailed in sections Oil
change, gearbox axis 5 and 6 (all
robot versions except IRB 4400/
L10) on page 105
Continued
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