ABB IRB 7600 - 500/2.55 Product Manual page 251

Equipment, etc.
Standard toolkit
Calibration Pendulum
toolkit
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
Circuit diagram
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
3HAC022033-001 Revision: E
Spare part no.
Action
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.
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.
7. Remove the rear cover by unscrewing its attach-
ments.
8. Disconnect connector R2.M5/6 at the rear cable
division point.
9. Remove all cable attachment inside the upper arm
and at the rear of the robot.
10. Slightly raise the wrist unit to unload the screw joint,
facilitating removal of the attachment screws.
4.4.2. Replacement of complete wrist unit
Art. no. Note
- The content is defined in
section
page 394.
3HAC15716-1 Complete kit that also
includes operating
manual.
These procedures include
references to the tools
required.
- See chapter
diagram.
Note
Shown in the figure
wrist unit on page
Art. no. is specified in
equipment on page
If required, cut any cable ties
securing the cables in order to fit
the tool.
Shown in the figure
wrist unit on page
Shown in the figure
wrist unit on page
Do not remove the attachments
from the cabling!
Continues on next page
4 Repair
Continued
Standard toolkit on
Circuit
Location of
248.
Required
248.
Location of
248.
Location of
248.
249