4 Repair
4.4.2. Replacement of complete wrist unit
2793HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
4.4.2. Replacement of complete wrist unit
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Exploded
views in the Product manual, reference information.
xx0100000147
Required equipment
A Wrist unit
B Wrist unit attachment screws and washers
C Attachment, cable harness axis 5-6
D Connectors at cable harness division; R2.M5/6
E Turning disk
F Cover, axis 5
G Rear cover
H View with cable harness mounted on robot
Equipment, etc. Spare part no. Art. no. Note
Wrist, type 3 3HAC16628-4
Wrist, insulated 3HAC16628-3
Wrist, Foundry Prime 3HAC027295-001
Friction washer 3HAC11755-1 A new friction washer must
always be used when
refitting the wrist unit.
Lifting tool, wrist unit 3HAC12734-1
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