ABB IRB 1600 - 5/1,2 type A - Page 152

4 Repair
4.4.5. Replacement of wrist unit, IRB1600ID
3HAC026660-001 Revision: C150
© Copyright 2006-2008 ABB. All rights reserved.
3. Carefully refit the wrist with
motor to the upper arm tube.
Use a string to pull the cable
harness back through the VK-
hole in the upper arm tube.
xx0700000093
A. String
4. Use standard tools to refit the
three hexagon socket head
screw (M8x35).
Shown as (H) in figure Location of wrist unit on page
146.
Tightening torque 24 Nm
5. Reconnect through the VK-
hole the cable harness
contacts R4.FB6 and
R4.MP6.
Make sure that all the cabling is placed correctly inside
the upper arm tube.
6. Tightening the hexagon
socket head screw M5X16
(Short head).
Shown as (E) in figure Location of wrist unit on page
146.
Tightening torque 6 Nm
7. Tightening the plug (A).
Tightening torque 6 Nm
xx0700000092
8. Refit the AW equipment in the
upper arm.
Shown in Refitting, wrist unit on page 149
9. Recalibrate the robot. Shown in Introduction, calibration information.
Action Note
Continued