Replacing The Wrist Unit, Irb 1600Id - ABB Robotics IRB 1520 Product Manual

4.4.3 Replacing the wrist unit, IRB 1600ID

Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm.
xx0700000025
The figure shows the IRB 1600ID but the wrist unit, as shown, is also valid for IRB
1520.
A
B
C
D
E
F
G
Required equipment
Equipment
Wrist, ID
Product manual - IRB 1520
3HAC043435-001 Revision: L
Note
After replacement of motors/motor or gearbox in a manipulator, recalibration is
required.
A
Upper arm
Wrist
Motor axis 6
Hexagon socket head screw M5x25
Hexagon socket head screw M5X16 (10.9) (Short head)
Hexagon socket head screw M5x25
Hexagon socket head screw M8x35
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4.4.3 Replacing the wrist unit, IRB 1600ID
G
C
Art. No.
See Spare parts on page 301.
4 Repair
B
F
D
Note
Continues on next page
E
195