4 Repair
4.4.2. Replacement of complete wrist unit
2533HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Required equipment
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Equipment etc. Spare part no. Art. no. Note
Wrist, type 2 3HAC16626-2
Turning disk 3HAC13752-1
Guide pins M12 x 200
Guide pins M12 x 200
3HAC13056-3
3HAC13056-3
Always use guide pins in
pairs!
Lifting tool, wrist unit 3HAC13605-1
3HAC13605-1
Standard toolkit - The content is defined in
section Standard toolkit on
page 394.
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
These procedures include
references to the tools
required.
Circuit diagram 3HAC025744-001 See chapter Circuit
diagram.
Action Note
1. Remove all equipment fitted to the turning disk.
2. Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Also turn
axis 5 so that the turning disk faces to the side in
order to allow access to the motor 6 cover.
Shown in the figure Location of wrist
unit on page 252.
3.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
4. Remove the cover, wrist unit. Shown in the figure Location of wrist
unit on page 252.
5. Remove the cover, upper arm tube. Shown in the figure Location of wrist
unit on page 252.
6. Remove the cover of motor, axis 6 and disconnect
all connectors beneath.
Continued
Continues on next page
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