Operating Instructions
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BA KR 6, 16 F, KR C4 12.10.07 en
12.5 In--line wrist IW 16, repair
Information!
Section 12.1 of this chapter must be observed!
Before repair work is started, any attached tools or additional equipment that would hinder
repair must be dismounted.
Performing the following work is greatly facilitated if the robot is at a level which can be easily
reached by the personnel carrying out the repairs.
12.5.1 Removal, installation of in--line wrist
D Removal
(1) Move the arm into the horizontal position.
(2) If possible, move axes 4, 5 and 6 into their zero positions.
Warning!
Turn the main switch on the robot control cabinet to “OFF” and secure it with a
padlock to prevent unauthorized persons from switching it on again.
Caution!
If the in--line wrist is removed immediately after the robot has stopped operating,
it is liable to have an elevated surface temperature.
(3) Secure the in--line wrist (Fig. 119/4) with lifting tackle (3) or , if that is not possible, secure
it with a prop underneath.
Notice!
The wrist must be secured very carefully, as damage could otherwise be caused
to the wrist and to the arm.
(4) Remove sixteen M6x90--10.9 (5) Allen screws.
Notice!
Two pan head screws are also found (5) on the hole circle of the Allen screws.
These must not be loosened or removed.
(5) Pull the in--line wrist out of the arm (1).
Notice!
The in--line wrist must not be tilted as it is being pulled out. The resultant gap (2)
between the arm (1) and the in--line wrist (4) must be uniform at all times round
the entire circumference.
(6) Place the in--line wrist on a suitable support.
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