4 Repair
4.4.2. Replacement of wrist unit
1793HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Removal
The procedure below details how to remove the writ unit.
Refitting
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1. Move the robot to a suitable position for removal of
the wrist unit.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
3. Remove all equipment fitted to the wrist unit. Shown in the figure in Location of
wrist unit on page 178.
4. Remove the cover, wrist unit in order to reach the
cable harness.
Shown in the figure Location of
wrist unit on page 178.
5. Remove the cable harness, axes 5 and 6. Detailed in section Replacement
of cable harness, upper end on
page 159.
6.
CAUTION!
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
7. Secure the wrist unit with a roundsling in an
overhead crane.
8. Unscrew the eight attachment screws securing the
wrist unit.
Shown in the figure Location of
wrist unit on page 178.
9. Remove the wrist unit from the upper arm by moving
it a little back and forth until it is lose.
Note! Don´t damage the
cylindrical pin in the process!
Action Note
1. Secure the wrist unit with a roundsling in an
overhead crane and lift it to its mounting position.
2.
CAUTION!
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
Continued
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