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Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
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Product manual - IRB 7600
3HAC022033-001 Revision: V
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
CAUTION
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
Remove the cover, axis 5 from the wrist unit to be
fitted. Fit the lifting tool, wrist unit to the wrist unit.
Lift the wrist unit and move it to its mounting posi-
tion.
Fit a new friction washer between the upper arm
tube and the wrist unit.
Gently pull the wrist unit cable harness through the
upper arm and out the rear.
Secure the wrist unit with its attachment screws and
washers.
Secure the cable harness with the cable attachment
inside the upper arm as well as at the rear of the
upper arm.
Remove the lifting tool and refit the cover, axis 5
with its attachment screws.
Refit any cable ties that were previously cut during
disassembly.
Reconnect connector R2.M5/6 at the rear cable di-
vision point.
Refit the rear cover with its attachment screws.
Check the oil levels at gearboxes axis 5 and 6.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Note
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
on page 435
Make sure the cabling is not twis-
ted!
Shown in the figure
wrist unit on page
Shown in the figure
wrist unit on page
Shown in the figure
wrist unit on page
Detailed in sections:
•
Inspecting the oil level in
axis-5 gearbox on page 152
•
Inspecting the oil level in
axis-6 gearbox on page 155
Continues on next page
4 Repair
Continued
Required
254.
Required
254.
Screw joints
before fitting.
Location of
254.
Location of
254.
Location of
254.
257
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