NoteAction
See the figure in:
• Location of wrist unit on
page 257
Check the o-ring. Replace if damaged.4
Prepare the refitting of the wrist by inserting the
attachment screws and washers in the upper
arm tube.
5
CAUTION
The robot wrist unit weighs 25 kg (IRB 4600 -
60/2.05, - 45/2.05, -40/2.55) and 15 kg (IRB 4600
- 20/2.50).
All lifting accessories used must be sized ac-
cordingly!
6
Carefully put the wrist unit in its place on the
upper arm.
CAUTION
Do not damage gears!
7
CAUTION
Make sure that the o-ring stays in place on the
wrist unit!
xx1000000223
Adjust the play of the wrist by following these
steps:
• Fit the measuring tool at the rear of the
motor.
• Push the wrist as shown in the figure to
locate the smallest play in the same way
as for adjustment of motors for axes 4,
5 and 6. See Refitting motors on page286.
8
Parts:
• A: Gears on drive shaft unit,
axes 5-6
• B: Gears on the wrist
See the figure in
• Location of wrist unit on
page 257
Tightening torque: 35 Nm.
Secure the wrist unit with its attachment screws
and washers.
9
How to measure the play is described
in sections:
• Measuring the play, axis 5 on
page 262
• Measuring the play, axis 6 on
page 265
Measure the play by moving axes 5 and 6 with
the measuring tool.
10
See Performing a leak-down test on
page 190.
Perform a leak-down test.11
Continues on next page
260 3HAC033453-001 Revision: H
© Copyright 2009-2013 ABB. All rights reserved.
4 Repair
4.4.3 Replacing wrist unit
Continued
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