Installation and Commissioning

Repairs The Wrist and Axes 5 and 67 The Wrist and Axes 5 and 6The wrist, which includes axes 5 and 6, is a complete unit, comprising drive units andgears. It is of such a complex design that it is not normally serviced on-site, but shouldbe sent to ABB Flexible Automation to be serviced.ABB ROBOTICS recommends its customers to carry out only the following servicingand repair work on the wrist.• Grease the wrist according to the table in the chapter on maintenance.7.1 Dismantling the wristSee 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 in the clamping sleevethrough the hole.4. Disconnect the clamping sleeve.5. Undo screws and remove the wrist.To assemble:6. Mount the wrist, tighten screws to a torque of 8.3 Nm ±10%.Note! The grease nipple on the tilt house should be pointing against the base whenthe axis 4 is in the calibration position.7. Screw the clamping sleeves together using screws .8. Replace the plastic plugs.9. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screwed joint of wrist/tubular shaft, item : 8.3 Nm ±10%Product Manual IRB 1400 33