4 Repair
4.4.2. Replacement of wrist unit
141 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
3. Apply flange sealing to the surface of the
wrist that will seal against the upper arm
tube.
Specified in Required equipment on
page 138.
Sealing surface shown in the figure
Location of wrist unit on page 138.
4. Refit the wrist with attachment screws and
washers (A).
xx0300000148
• A: 8 pcs, M10x35. Tightening
torque: 41 Nm.
5. Fill the wrist unit with oil. Detailed in section Oil change,
gearbox axis 5 and 6 (all robot
versions except IRB 4400/L10) on
page 105.
6. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration
information on page 235.
7.
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section DANGER - First
test run may cause injury or damage! on
page 33.
Action Info/Illustration
Continued
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