NoteAction
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the wrist unit
Use these procedures to remove the wrist unit.
Preparations before removing the wrist unit
NoteAction
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
1
xx2200000174
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: 0°
• Axis 4: 0°
• Axis 5: +90°
• Axis6: No significance
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
3
Removing the covers
NoteAction
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Continues on next page
228 Product manual - IRB 1010
3HAC081964-001 Revision: B
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.4.4 Replacing the wrist unit
Continued
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