NoteAction
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
2
CAUTION
Always cut the paint with a knife and grind
the paint edge when disassembling parts.
See Cut the paint or surface on the robot
before replacing parts on page 159.
3
Detailed in section Changing the oil in
axes 5 and 6 gearboxes on page 138.
Drain the oil from the wrist unit.4
Shown in the figure in section Location
of wrist unit on page 201.
Remove the wrist unit by unscrewing its
three attachment screws.
5
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
NoteAction
Clean the joints that have been opened.
See Cut the paint or surface on the robot
before replacing parts on page 159
1
Move the robot to a position where the
upper arm is vertical.
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
3
Continues on next page
Product manual - IRB 1600/1660 203
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the wrist unit, IRB 1600
Continued
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