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Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
3HAC028197-001 Revision: A
Action
7. Loosen the cable bracket, wrist unit on top of the
wrist by undoing the three attachment screws.
Two of the attachment screws are visibly located
at the rear of the bracket and the third located at
the bottom of the cable bracket, in the center.
8. Pick out the cabling from motor, axis 6 and place
it safely on the tube.
9. Loosen the cable bracket in the upper arm tube by
undoing the two screws on top of the tube.
10. Disconnect the motor axis 5 by disconnecting the
two connectors in the upper arm tube (R3.FB5,
R3.MP5).
11. Fit the lifting tool to the wrist unit.
12.
CAUTION!
The complete wrist unit weighs 130 kg! All lifting
equipment used must be sized accordingly!
13. Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment screws.
14. Remove the wrist unit attachment screws and
washers.
15. Pull the wrist unit out, lift it away and place it on a
secure surface.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attachment
screws.
3. Fit the lifting tool to the wrist unit.
4.4.2. Replacement of complete wrist unit
Note
Shown in the figure
unit on page
183.
xx0200000254
•
B: Attachment screws, rear
of cable bracket (2 pcs)
•
C: Attachment screw, bottom
of cable bracket
Shown in the figure
unit on page
183.
Shown in the figure
unit on page
183.
Art. no. is specified in
equipment on page
Shown in the figure
unit on page
183.
Note
Art. no. is specified in
equipment on page
Shown in the figure
unit on page
183.
Art. no. is specified
unit on page
183.
Continues on next page
4 Repair
Continued
Location of wrist
Location of wrist
Location of wrist
Required
184.
Location of wrist
Required
184.
Location of wrist
Location of wrist
185
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