4 Repair
4.4.2. Replacement of complete wrist unit
3HAC020993-001 Revision: G246
© Copyright 2004-2008 ABB. All rights reserved.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Guide pins M12 x 200 3HAC13056-3 Always use guide pins in
pairs!
Lifting tool, wrist unit 3HAC 13605-1
Standard toolkit - The contents are defined
in section Standard toolkit
on page 388 in part 2 of the
Product manual.
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 See chapter Circuit
diagram in the Product
manual, reference infor-
mation.
Equipment etc. Spare part no. Art. no. Note
Action Note/Illustration
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. Remove all equipment fitted to the turning disk.
3. 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 245!
4. Remove the cover, wrist unit. Shown in the figure Location of wrist
unit on page 245!
5. Remove the cover, upper arm tube. Shown in the figure Location of wrist
unit on page 245!
6. Remove the cover of motor, axis 6 and disconnect
all connectors beneath.
Continued
Continues on next page
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