NoteAction
Shown as (H) in figure Location of wrist
unit on page 206.
Use standard tools to refit the three hexagon
socket head screw (M8x35).
4
Tightening torque 24 Nm
Note
When reconnecting the connectors
R4.FB6 and R4.MP6, make sure to push
the connectors towards the wrist as far
away from the axis 5-6 cable spiral as
possible, to avoid grease to accumulate
on the resolver connector.
Reconnect connectors R4.FB6 and R4.MP6,
through the hole for the VK cover.
5
Shown as (E) in figure Location of wrist
unit on page 206.
Tighten the hexagon socket head screw
M5X16 (Short head).
6
Tightening torque 6 Nm
Refit the VK cover.7
xx0700000092
Tightening the plug (A).
Tightening torque 6 Nm
8
Shown in Refitting the wrist unit on
page 210
Refit the AW equipment in the upper arm.9
Pendulum Calibration is described in
Operating manual - Calibration Pendulum,
enclosed with the calibration tools.
Recalibrate the robot.10
Axis Calibration is described in Calibrat-
ing with Axis Calibration method on
page 349.
General calibration information is included
in section Calibration on page 337.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section First test run may
cause injury or damage on page 28.
11
Product manual - IRB 1600/1660 211
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.4.5 Replacing the wrist unit, IRB 1600ID
Continued
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