ABB IRB 2400/10, Product Manual

Page: 100 / 227

4 Repair
4.4.1. Replacement of wrist IRB 2400/10/16
3HAC022031-001 Revision: C 98
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6. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Note! Release the brakes of the two motors, but one
at a time!
Connect to motor axis 5,
connector R3.MP5:
• + :pin 7
• - : pin 8
Connect to motor axis 6,
connector R3.MP6:
• + : pin 7
• - : pin 8
7. Fit the measuring tool at the rear of the motor. Art. no. is specified in Required
equipment on page 96 .
8. Push the wrist, as shown in the figure to the right, to
locate the smallest play in the same way as for
adjustment of play when changing motors for axes 5
and 6, detailed in section
Replacement of motors,
axes 4-6, IRB 2400/10/16 on page 144 .
xx0200000425
A. Gears on drive shaft unit,
axis 5-6
B. Gears on the wrist
9. Tighten the attachment screws and washers. Tightening torque: 17 Nm.
10. Check the play by moving axes 5 and 6 by hand.
11. Refill the wrist unit with oil. See the section Oil change,
gearbox axes 5-6 (wrist unit) on
page 69
.
12. 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 159 .
13.
DANGER!
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 35 .
Action Note/Illustration
Continued