4 Repair
4.4.2. Replacement of wrist unit
143 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
7. Tighten the attachment screws and washers
(A).
xx0300000149
• A: 6 pcs, M8x30. Tightening
torque: 34 Nm.
8. Check the play by moving axes 5 and 6 by
hand.
9. Fill the wrist unit with oil. Detailed in section Oil change,
gearbox axis 5 and 6 (IRB 4400/L10
only) on page 108.
10. 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.
11.
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 Note/Illustration
Continued
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