ABB Robotics IRB 6790 Product Manual page 302

4 Repair
4.5.2 Replacing the wrist
Continued
Refitting the wrist
1
2
3
Continues on next page
302
Action
Lift the wrist and insert the guide pins into
the holes of the arm tube.
Tip
Leave a small opening between wrist and
arm tube. This will make it easier to run the
cable harness back into the wrist.
Run the cabling into the wrist unit.
Be careful not to damage any part of the
cable harness.
Slide the wrist into fitting position.
Make sure that the tubeshaft plate is placed
properly in the groove in the wrist.
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Product manual - IRB 6790
3HAC063331-001 Revision: B