ABB IRB 2400/L, Product Manual

Page: 99 / 227

4 Repair
4.4.1. Replacement of wrist IRB 2400/10/16
97 3HAC022031-001 Revision: C
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Removal, wrist unit
The procedure below details how to remove the wrist from the robot upper arm.
The wrist, which includes axes 5 and 6, is a complete unit comprising drive units 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 to carry out only the following servicing and repair work on
the wrist.
Refitting, wrist unit
The wrist, which includes axes 5 and 6, is a complete unit comprising drive units 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.
The procedure below details how to refitt the wrist to the robot upper arm.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Remove the oil plug on the wrist and drain it from all
the oil.
Shown in the figure Wrist unit
on page 96 .
3. Undo the attachment screws and remove the wrist. Shown in the figure Wrist unit
on page 96 .
Action Note/Illustration
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Clean the surface of the tubular shaft.
3. Lubricate the o-ring with grease to be sure that it
does not get displaced, and fit it in its position on the
upper arm tubular.
Art. no. is specified in Required
equipment on page 96 .
4. Fit the two guide pins (A) diagonally on the wrist.
Carefully push the wrist against the tubular. When
the gears are meeting each other, they may need to
be rotated to mesh properly.
Specified in Required equipment
on page 96 .
xx0200000424
5. Fix the wrist with two screws and two washers.
Remove the M8 guide pins and fit the other two
screws and washers.
Continued
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