4 Repair
4.4.2. Replacement of complete wrist unit
2553HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
3. Fit the lifting tool to the wrist unit. Art. no. is specified Location of wrist
unit on page 252.
4.
CAUTION!
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
5. Lift the wrist unit and guide it to the upper arm
tube with help of the guide pins.
Make sure the cabling from motor, axis 5 is
safely run into the arm tube and does not get
jammed.
6. Secure the wrist unit with 10 of the 12
attachment screws and washers.
Shown in the figure Location of wrist
unit on page 252.
12 pcs: M12 x 50, 12.9 quality
UNBRAKO, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section Screw joints on page 390
before fitting.
7. Remove the guide pins and secure the two
remaining attachment screws as detailed
above.
8. Remove the lifting tool from the wrist unit.
9. Reconnect the motor axis 5 by connecting the
two connectors inside the upper arm tube
(R3.FB5, R3.MP5) and secure the cable
bracket with the two attachment screws to the
tube.
Shown in the figure Location of wrist
unit on page 252.
10.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
11. Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
In case of excess of cable length:
• put the excess cable in a loop in the
area shown in the figure and secure
with with cable straps. Cables are
longer in order to fit different upper arm
lengths.
xx0200000185
Parts:
•A: Cable straps
Action Note
Continued
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