ABB IRB 7600 Series Product Manual page 282

4 Repair
4.4.2. Replacement of complete wrist unit
Continued
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.
1.
2. Remove all equipment fitted to the turning disk.
3. Turn axis 4 to a position where the cover, axis 5 faces
4. Remove the cover, axis 5, by unscrewing its
5.
6. Fit the lifting tool, wrist unit to the two holes on the
7. Remove the rear cover by unscrewing its attach-
8. Disconnect connector R2.M5/6 at the rear cable
9. Remove all cable attachment inside the upper arm
10. Slightly raise the wrist unit to unload the screw joint,
280
工控帮助教小舒QQ2823408167
Spare part no.
Action
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
Turn off all electric power and hydraulic but not the air
pressure to the gearboxes, motors and SMB.
upwards.
attachment screws.
CAUTION!
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
sealing surface against the cover, axis 5.
ments.
division point.
and at the rear of the robot.
facilitating removal of the attachment screws.
Art. no. Note
- Content is defined in
section Standard toolkit on
page 427.
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
3HAC022033-001 Revision: K
Circuit
Location of
279.
Required
279.
Location of
279.
Location of
279.