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4 Repair
4.4.2. Replacement of complete wrist unit
Continued
186
Action
4.
CAUTION!
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
5. Lift the wrist unit and guide it to the upper arm
tube with help of the guide pins.
Make sure the cabling from motor, axis 5 is
safely run into the arm tube and does not get
jammed.
6. Secure the wrist unit with 10 of the 12
attachment screws and washers.
7. Remove the guide pins and secure the two
remaining attachment screws as detailed
above.
8. Remove the lifting tool from the wrist unit.
9. Reconnect the motor axis 5 by connecting the
two connectors inside the upper arm tube
(R3.FB5, R3.MP5) and secure the cable
bracket with the two attachment screws to the
tube.
10.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
11. Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
In case of excess of cable length:
•
put the excess cable in a loop in the
area shown in the figure and secure
with with cable straps. Cables are
longer in order to fit different upper arm
lengths.
Note
Shown in the figure
Location of wrist
unit on page
183.
12 pcs: M12 x 50, 12.9 quality
UNBRAKO, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section
Screw joints on page 276
before fitting.
Shown in the figure
Location of wrist
unit on page
183.
xx0200000185
Parts:
•
A: Cable straps
Continues on next page
3HAC028197-001 Revision: A
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