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BA KR 6, 16 F, KR C4 12.10.07 en
12.9 Removal, installation of wrist axis motor units A4 to A6
Information!
Section 12.1 of this chapter must be observed!
Warning!
If wrist axis motor unit A5 is to be removed from or installed in an operable
robot, the main switch on the control cabinet must be turned to “OFF” and
secured with a padlock to prevent unauthorized persons from switching it on
again.
The following description applies to wrist axis motor unit A5 and analogously also to wrist axis
motor unit A4. Attention is drawn to special aspects that have to be observed in the case of
wrist axis motor unit A6.
The removal and installation operations are facilitated if the wrist axes are in their zero posi-
tions and the arm is vertical, pointing downwards.
D Removal
Caution!
If wrist axis motor unit A5 is removed immediately after the robot has stopped
operating, it is liable to have an elevated surface temperature.
Caution!
Any tooling mounte d must be eithe r secured to prevent it from turning or removed.
(1) Remove the sealing cover (Fig. 125/8).
(2) Release and unplug connectors XP5 (6) and XM5 (7).
(3) Remove the adjusting screw (1).
Information!
With F--variant robots, seals are fitted between the arm and the wrist axis motor units.
These must be removed and exchanged if necessary during installation.
When ordering wrist axis motor units, always indicate if they are for use in these robot
variants.
(4) Remove four M5x16 Allen screws (2) and lock washers, and take off motor unit (3).
Information!
When removing motor units A 4 (5) and A 5 (3), the corresponding toothed belts must
also be removed at the same time, though they remain in the arm.
In the case of wrist axis motor unit A 6 (4), remove loose disc springs.
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