4 Repair4.4.1. Replacement of wrist IRB 2400/10/163HAC022031-001 Revision: C98© Copyright 2004-2008 ABB. All rights reserved.6. In order to release the brakes, connect the 24 VDCpower supply to the motor.Note! Release the brakes of the two motors, but oneat a time!Connect to motor axis 5,connector R3.MP5:• + :pin 7• - : pin 8Connect to motor axis 6,connector R3.MP6:• + : pin 7• - : pin 87. Fit the measuring tool at the rear of the motor. Art. no. is specified in Requiredequipment on page 96.8. Push the wrist, as shown in the figure to the right, tolocate the smallest play in the same way as foradjustment of play when changing motors for axes 5and 6, detailed in section Replacement of motors,axes 4-6, IRB 2400/10/16 on page 144.xx0200000425A. Gears on drive shaft unit,axis 5-6B. Gears on the wrist9. 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) onpage 69.12. Recalibrate the robot. Calibration is detailed in aseparate calibration manual,enclosed with the calibrationtools.General calibration information isincluded in section Calibrationinformation on page 159.13.DANGER!Make sure all safety requirements are met whenperforming the first test run. These are furtherdetailed in section DANGER - First test run maycause injury or damage! on page 35.Action Note/IllustrationContinued
