4 Repair
4.4.2. Replacement of wrist unit
3HAC027151-001 Revision: B180
© Copyright 2006-2008 ABB. All rights reserved.
3. Put some grease on the surface of the fit.
4. Check the cylidrical pin. If the pin is damaged - replace!
5. Fit the wrist with its 8 attachment screws and
washers.
M12x50 12.9 gleitmo (8 pcs)
Tightening torque: 120 Nm
6. Refit the cable harness, axes 5 and 6. Detailed in section Replacement
of cable harness, upper end on
page 159.
7. Refit the cover, wrist unit. Shown in the figure Location of
wrist unit on page 178.
8. Recalibrate the robot. Calibration is detailed in a
separate calibration manual,
enclosed with the calibration
tools.
General calibration information is
included in section Calibration
information.
9. Refit any equipment previously removed from the
wrist unit.
10.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page 33.
Action Note
Continued
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