Removing the joint unit
Use these procedures to remove the joint unit.
Preparations before removing the joint unit
NoteAction
xx2100000044
Jog the robot to the specified position: xxx
• Axis 1: 0°
• Axis 2: 0° (home position)
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: -90°
• Axis 6: No significance.
CAUTION
Jog the axis on which the joint unit is to be re-
placed to home position, to achieve correct cable
routing during replacement of the joint unit.
1
CAUTION
Turn off all supplies for electrical power to the
robot, before starting the repair work.
2
Removing the lower arm covers (-10/1.52 and -12/1.27)
NoteAction
CAUTION
Make sure that all supplies for electrical power
are turned off.
1
xx2300000812
Remove the lower cover of lower arm by removing
the screws.
2
Continues on next page
878 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27)
Continued
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