Removing the axis-6 joint unit
NoteAction
Lifting aid: 3HAC077789-001Fit the lifting aid to the joint unit, on the torque
sensor side.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
1
Screws: M3x12 (4 pcs)
xx2000002168
Position shown in the figure shows
axis 5 jogged to +20°, which is a
more convenient position when re-
placing only the axis-6 joint unit.
xx2000002170
Remove two attachment screws.
Dispose the screws.
New screws are included in the spare part delivery
of the joint unit.
2
Position shown in the figure shows
axis 5 jogged to +20°, which is a
more convenient position when re-
placing only the axis-6 joint unit.
Guide pin, M3x110: 3HAC077787-
001
Fit two guide pins to the axis-6 joint unit.3
Always use guide pins in pairs.
For joint units on axes 4, 5 and 6.
xx2100000328
Continues on next page
Product manual - CRB 15000 609
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.4.4 Replacing the wrist housing
Continued
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