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Product manual - IRB 2400
3HAC022031-001 Revision: P
Action
Fix the wrist with two screws and two washers. Re-
move the M8 guide pins and fit the other two screws
and washers.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Note! Release the brakes of the two motors, but one
at a time!
Fit the measuring tool at the rear of the motor.
Push the wrist, as shown in the figure to the right,
to locate the smallest play in the same way as for
adjustment of play when changing motors for axes
5 and 6, detailed in section
axes 4-6, IRB 2400/10/16 on page
Tighten the attachment screws and washers.
Check the play by moving axes 5 and 6 by hand.
Refill the wrist unit with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further de-
tailed in the section
First test run may cause injury
or damage on page
29.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.1 Replacement of wrist IRB 2400/10/16
Note/Illustration
Connect to motor axis 5, connect-
or R3.MP5:
Connect to motor axis 6, connect-
or R3.MP6:
Art. no. is specified in
equipment on page
Replacement of motors,
190.
xx0200000425
Tightening torque: 17 Nm.
This is detailed in section
change, gearbox axes 5-6 (wrist
unit) on page
Calibration is detailed in a separ-
ate calibration manual enclosed
with the calibration tools.
General calibration information
is included in the section
tion information on page
4 Repair
Continued
•
+ :pin 7
•
-: pin 8
•
+ : pin 7
•
-: pin 8
Required
135.
A Gears on drive shaft unit,
axis 5-6
B Gears on the wrist
Oil
93.
Calibra-
205.
137
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