4 Repair
4.4.3. Replacement of wrist unit
3HAC023637-001 Revision: B126
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Drain the oil from the wrist unit. Detailed in section Oil change, gearbox
axes 5 and 6 on page 92.
3. Remove the wrist unit by unscrewing its
three attachment screws.
Shown in the figure in section Location of
wrist unit on page 125.
Action Note
1. Move the robot to a position where the upper
arm is vertical.
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
3. Lightly lubricate the o-ring sealingplate with
grease.
Art. no. is specified in section Required
equipment on page 125.
4. In order to release the brake, connect the 24
VDC power supply to motors:
Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
5. Fit the o-ring sealingplate to the upper arm. Fit
the wrist unit to the upper arm with the three
attachment screws, while making sure that the
gears mate properly.
Use a new o-ring! Spare part no. is
specified in Required equipment on
page 125.
3 pcs, M8 x 25, tightening torque: 28
Nm.
6. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 100.
7. Refill the wrist unit with oil. Detailed in section Oil change,
gearbox axes 5 and 6 on page 92.
Continued
Continues on next page
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