4 Repair
4.4.2. Replacement of complete wrist unit
2813HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
11. Remove the wrist unit attachment screws and
washers.
12. Pull the cabling forwards through the upper arm tube. Make sure the attachments do
not get stuck inside the tube!
13. Remove the friction washer between the wrist unit
and the upper arm tube.
A new washer must always be
used on reassembly.
14. Lift the wrist unit down and place it on a secure
surface.
Action Note
Action Note
1.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run may
cause injury or damage! on page 47.
2.
CAUTION!
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
3. Remove the cover, axis 5 from the wrist unit to be
fitted. Fit the lifting tool, wrist unit to the wrist unit.
Art. no. is specified in Required
equipment on page 279.
4. Lift the wrist unit and move it to its mounting
position.
5. Fit a new friction washer between the upper arm
tube and the wrist unit.
Art. no. is specified in Required
equipment on page 279.
6. Gently pull the wrist unit cable harness through the
upper arm and out the rear.
7. Secure the wrist unit with its attachment screws and
washers.
Screws: M12 x 50, UNBRAKO
quality 12.9, tightening torque:
115 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints on
page 423 before fitting.
8. Secure the cable harness with the cable attachment
inside the upper arm as well as at the rear of the
upper arm.
Make sure the cabling is not
twisted!
9. Remove the lifting tool and refit the cover, axis 5
with its attachment screws.
Shown in the figure Location of
wrist unit on page 279.
10. Refit any cable ties that were previously cut during
disassembly.
Continued
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