7-2
159281-1CD
HW1480357
HP20D
7 Disassembly and Reassembly of Wrist Unit
Fig. 7-1: Disassembly and Reassembly of Wrist Unit
Table 7-1: Wrist Unit Parts Checklist
No. Name Qty. Notes
Wrist unit 1 Mass: 14.5 kg
Hexagon socket head cap screw M6
(length: 65 mm)
Conical spring washer 2H-6
8
each
Tightening torque:
10 N•m
Support HW9406556-1 1
GT-SA bolt M4
(length: 12 mm)
2 Tightening torque:
2.8 N•m
Cover HW9200798-1 1
GT-SA bolt M5
(length: 12 mm)
12 Tightening torque:
6 N•m
B- and T-axis internal wiring harness
1
5
3
6
4
2
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