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4 Repair
4.4.2. Replacement of complete wrist unit
Continued
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
250
Action
11. Remove the wrist unit attachment screws and
washers.
12. Pull the cabling forwards through the upper arm tube. Make sure the attachments do
13. Remove the friction washer between the wrist unit
and the upper arm tube.
14. Lift the wrist unit down and place it on a secure
surface.
Action
1.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section
DANGER - First test run may
cause injury or damage! on page
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.
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.
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.
8. Secure the cable harness with the cable attachment
inside the upper arm as well as at the rear of the
upper arm.
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.
Note
not get stuck inside the tube!
A new washer must always be
used on reassembly.
Note
36.
Art. no. is specified in
equipment on page
Art. no. is specified in
equipment on page
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
page 390
Make sure the cabling is not
twisted!
Shown in the figure
wrist unit on page
3HAC022033-001 Revision: E
Required
248.
Required
248.
Screw joints on
before fitting.
Location of
248.
Continues on next page
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