We have an IRB2400L s4c+ robot that we purchased refurbished just over a year ago. It apparently had the wrist refurbed/rebuilt before we received it, however during commissioning/initial programming I was getting a lot of errors to do with axis 5 and 6 jamming up and causing over torque errors to pop up. long story short, the supplier sent us a replacement wrist that had also apparently been refurbed/rebuilt. I got the wrists swapped out and this seemed to fix our problems until a few days ago when these errors started popping up on axis 5 again.
When jogging axis 5 manually the wrist moves down to limit with no problem, however when moving it up the wrist stops suddenly roughly half way with over torque errors. It looks like the wrist has gone faulty again. Can the wrist be repaired or does it need replaced? any advice would be greatly appreciated. I have attached images of some of the errors I was getting
I got a quote from ABB for a brand new wrist, however the cost of the wrist is nearly the same as what the robot cost itself, so its not really cost effective.