ABB CRB 15000, Product Manual, Page: 614 / 1096

Note Action
xx2100000334
Press the joint unit out of position using two of
the previous attachment screws as removal tools. 6
xx2000002141
Remove the joint unit from the tubular.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
7
xx2000001957
Remove the lifting aid and guide pins. 8
Replacing the wrist
Note Action
Wrist housing: 3HAC073951-001
(for CRB 15000-5/0.95) /
3HAC073951-001 (for CRB 15000-
10/1.52 and CRB 15000-12/1.27) Replace the writ unit. 1
Refitting the wrist housing
Use these procedures to refit the wrist.
Preparations before fitting the joint unit
Note Action
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the
unit read the safety information in section
The
unit is sensitive to ESD on page 53 .
1
Continues on next page
614 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.4.4 Replacing the wrist housing
Continued