Disassembly/Assembly
Guidelines
IRB 6400
Page 8 - 6
Axis 5 Guidelines
f. Remove screws (U16-17) from cable.
g. Carefully route cables through casting and allow to hang free.
5. ATTACH A HOIST TO WRIST ASSEMBLY (U10).
6. REMOVE SCREWS (U20) WITH WASHERS (U21).
7. REMOVE WRIST ASSEMBLY (U10):
CAUTION: BE CAREFULL THAT WRIST DOESN’T SWING
ABOUT AND BREAK THE CONNECTORS.
a. Pull wrist assembly (U10) out from tube shaft (U19) just far
enough to disconnect connectors at the back of axis 5 motor
(W52).
b. Disconnect connectors R4.MP5 & R4.FB5 at back of axis 5 motor
(W52).
c. Lift wrist assembly (U10) away and set on a safe working surface.
Protect connectors when setting assembly down.
8. IF WRIST ASSEMBLY IS GOING TO BE SHIPPED FOR SERVICE,
drain oil from wrist housing (W8) as outlined in Section 4. Reinstall
all magnetic plugs after draining oil.
C
WRIST ASSEMBLY
WEIGHS APPROX.
250 LB.
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