4 Repair
4.4.2. Replacement of complete wrist unit
281
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Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
11. Remove the
wrist unit attachment screws and
washers
.
12. Pull the cabling forwards through the upper arm tube. Make sure the attachments do
not get stuck inside the tube!
13. Remove the friction washer between the wrist unit
and the upper arm tube.
A new washer must always be
used on reassembly.
14. Lift the wrist unit down and place it on a secure
surface.
Action
Note
Action
Note
1.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
cause injury or damage! on page 47
.
2.
CAUTION!
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
3. Remove the cover, axis 5 from the wrist unit to be
fitted. Fit the
lifting tool, wrist unit
to the wrist unit.
Art. no. is specified in
.
4. Lift the wrist unit and move it to its mounting
position.
5. Fit a new
friction washer
between the upper arm
tube and the wrist unit.
Art. no. is specified in
.
6. Gently pull the wrist unit cable harness through the
upper arm and out the rear.
7. Secure the wrist unit with its attachment screws and
washers.
Screws: M12 x 50, UNBRAKO
quality 12.9, tightening torque:
115 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section
8. Secure the cable harness with the cable attachment
inside the upper arm as well as at the rear of the
upper arm.
Make sure the cabling is not
twisted!
9. Remove the lifting tool and refit the
cover, axis 5
with its attachment screws.
10. Refit any cable ties that were previously cut during
disassembly.
Continued
Continues on next page
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