ABB CRB 15000, Product Manual, Page: 613 / 1096

Removing the axis-5 joint unit
Note Action
Lifting aid: 3HAC077789-001 Fit the lifting aid to the joint unit, on the torque
sensor side.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
1
Screws: M3x12 (4 pcs)
xx2000002139
xx2000002140
Remove two attachment screws.
Dispose the screws.
New screws are included in the spare part delivery
of the joint unit. 2
xx2100000284
Put the cabling at the slot in order not to squeeze
it during removal of joint unit. 3
Guide pin, M3x110: 3HAC077787-
001 Fit two guide pins to the axis-5 joint unit. 4
Always use guide pins in pairs.
For joint units on axes 4, 5 and 6.
xx2100000332
xx2100000333
Remove the remaining attachment screws.
Use two screws as press out screws in the upcom-
ing step, then dispose all screws.
New screws are included in the spare part delivery
of the joint unit. 5
Continues on next page
Product manual - CRB 15000 613
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.4.4 Replacing the wrist housing
Continued