4 Repair
4.4.5. Replacement of wrist unit, IRB1600ID
1473HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Arm 3HAC9037-1 For adjusting the
gear play, motor/
pinion.
Other tools and procedures
may be required.
See references to
these procedures in
the step-by-step
instructions below.
Loctite 542 12690014-412
Equipment Spare part no. Art. No. Note
Action Note
1.
DANGER!
Turn of all electric power,
hydraulic and pneumatic
pressure supplies to the
robot!.
2. Remove the AW
equipment in the upper
arm.
Shown in Remove AW Gun on page 160
3. The plug (A) in figure
covering the screw (C).
Remove the plug using
standard tools (B).
Remove the screw for
looking of motor axis 5,
(C) in figure Location of
wrist unit on page 146.
xx0700000092
A. Plug.
B. Standard tool, Contents, standard toolkit.
C. Hexagon socket head screw M5X16 (Short head).
Continued
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