ABB IRB1410, Product Manual, Page: 108 / 166

4 Repair
4.7.2 Dismantling the wrist
106 3HAC026320-001 Revision: A
4.7.2 Dismantling the wrist
General
See foldouts 1 and 9 in chapter, Foldout.
To dismantle
To assemble
Action Note/Illustration
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 in
the clamping sleeve through the hole. See foldout/pos. <9/15>
4. Disconnect the clamping sleeve.
5. Undo screws and remove the wrist. See foldout/pos. <1/53>
Action Note/Illustration
1. Mount the wrist, tighten screws. See foldout/pos. <1/53>
Torque, 8.3 Nm ±10%.
NOTE!
The grease nipple on the tilt house should be
pointing against the base The grease nipple
on the tilt house should be pointing against
the base
2. Screw the clamping sleeves together using
screws. See foldout/pos. <9/15>
3. Replace the plastic plugs.
4. Calibrate the robot. Detailed in section:
Calibration methods on page
115
.