4 Repair
4.4.2. Replacement of wrist unit
3HAC022032-001 Revision: E142
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, wrist unit IRB 4400/L10
The procedure below details how to refit the wrist unit to robot version IRB 4400/L10.
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 etc.
ABB recommends its customers carry out only the following servicing/repair work on this
unit.
Action Note/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. Lubricate and fit the o-ring to the wrist unit. Part no. is specified in Required
equipment on page 138.
Shown in the figure Location of wrist
unit on page 138.
3. Move the upper arm to a vertical position,
wrist side pointing upwards.
4. Refit the wrist unit. Do not tighten the
attachment screws!
5. Release the brakes on axes 5 and 6 (one at
a time) and fit the measuring tool at the rear
of the motor.
Art. no. is specified in Required
equipment on page 138.
6. Push the wrist to locate the smallest play. Adjustment of play is detailed in
section Refitting of motors axis 5 and
6.
xx0300000153
Upper arm seen from front
• A: Gears on drive shaft
• B: Gears on wrist
Continued
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