ABB IRB 7600 - 150/3.5, Product Manual

Page: 251 / 482

4 Repair
4.4.2. Replacement of complete wrist unit
249 3HAC022033-001 Revision: E
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4 - 20
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ed
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Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Standard toolkit - The content is defined in
section
Standard toolkit on
page 394 .
Calibration Pendulum
toolkit 3HAC15716-1 Complete kit that also
includes operating
manual.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below. These procedures include
references to the tools
required.
Circuit diagram - See chapter Circuit
diagram .
Equipment, etc. Spare part no. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Remove all equipment fitted to the turning disk.
3. Turn axis 4 to a position where the cover, axis 5 faces
upwards.
Shown in the figure Location of
wrist unit on page 248 .
4. Remove the cover, axis 5, by unscrewing its
attachment screws.
5.
CAUTION!
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
6. Fit the lifting tool, wrist unit to the two holes on the
sealing surface against the cover, axis 5.
Art. no. is specified in Required
equipment on page 248 .
If required, cut any cable ties
securing the cables in order to fit
the tool.
7. Remove the rear cover by unscrewing its attach-
ments.
Shown in the figure Location of
wrist unit on page 248 .
8. Disconnect connector R2.M5/6 at the rear cable
division point .
Shown in the figure Location of
wrist unit on page 248 .
9. Remove all cable attachment inside the upper arm
and at the rear of the robot.
Do not remove the attachments
from the cabling!
10. Slightly raise the wrist unit to unload the screw joint,
facilitating removal of the attachment screws.
Continued
Continues on next page