4 Repair
4.4.2. Replacement of complete wrist unit
3HAC026876-001 Revision: F266
© Copyright 2007-2010 ABB. All rights reserved.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
7. Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly
located at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
Shown in the figure Location of wrist
unit on page 264.
xx0200000254
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
8. Pick out the cabling from motor, axis 6 and
place it safely on the tube.
9. Fit the lifting tool to the wrist unit. Art. no. is specified in Required
equipment on page 265.
10.
CAUTION!
The complete wrist unit weighs 130 kg! All lifting
equipment used must be sized accordingly!
11. Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
12. Remove the wrist unit attachment screws and
washers.
Shown in the figure Location of wrist
unit on page 264.
13. Pull the wrist unit out, lift it away and place it on
a secure surface.
14. Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
Shown in the figure Location of wrist
unit on page 264.
Action Note
Action Note
1.
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.
2. Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attachment
screws.
Art. no. is specified in Required
equipment on page 265.
Shown in the figure Location of wrist
unit on page 264.
Continued
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