ABB IRB 1400, Product Manual

Page: 96 / 198

4 Repair
4.7.1 Dismantling the wrist
94 3HAC021111-001 Revision: B
4.7.1 Dismantling the wrist
See foldouts 1 (6 for IRB 1400H) and 9 in the list of spare parts.
To dismantle 1. Remove the 2 plastic plugs on the rear of the wrist.
2. Release the brake in axes 5 and 6.
3. Rotate axes 5 and 6 so that you can see screws <9/15> in the clamping sleeve
through the hole.
4. Disconnect the clamping sleeve.
5. Undo screws <1/53> and remove the wrist.
To assemble 1. Mount the wrist, tighten screws <1/53> to a torque of 8.3 Nm ±10%.
Note! The grease nipple on the tilt house should be pointing against the base
when the axis 4 is in the calibration position.
2. Screw the clamping sleeves together using screws <9/15>.
3. Replace the plastic plugs.
4. Calibrate the robot as described in section Calibration information on page 131.
Tightening torque Screwed joint of wrist/tubular shaft, item <1/53>:8.3 Nm ±10%