ABB M2000, Руководство по эксплуатации продукта

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4 Repair
4.3.1. Replacement of wrist unit
101 3HAC023297-001 Revision: A
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
• all the service tools and other foreign objects are removed from the manipulator!
• all normal safety equipment is installed properly, e.g. TPU enabling device.
• all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
• special attention is paid to the function of the part previously serviced.
4. Fit the o-ring sealing plate and the wrist unit
to the upper arm with the attachment
screws, but do not tighten them. Do not tighten its attachment screws!
5. In order to release the brake, connect the
24 VDC power supply to motors: Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
6. Fit the Arm to the rear of the motor. Art. no. is specified in section Required
equipment on page 99.
7. Manually push the motor to adjust the motor
in relation to the gear in the gearbox.
Minimize the gear play as shown in the
figure.
xx0200000445
• A: Wrist unit, axes 5 and 6
gears
• B: Drive shafts from motors,
axes 5 and 6 gears
• C: Adjustment direction
• D: Gear play
8. Tighten the wrist unit attachment screws. Tightening torque: 28 Nm ± 3 Nm
9. Check the gear play by moving axes 5 and
6 by hand. The gear play should be xx to pass the
test.
10. Perform a leak-down test. Detailed in section Leak-down test .
11. Refill the wrist unit with oil. Detailed in section Oil change,
gearbox, axes 5 and 6 on page 73.
12. Recalibrate the robot! Calibration is detailed in separate
calibration manuals.
Art. no. for the manuals are specified in
section
Document references in the
Product manual, reference
information
.
Step Action Note