ABB Robotics IRB 1520 Product Manual page 198

4 Repair
4.4.3 Replacing the wrist unit, IRB 1600ID
Continued
7
8
9
Refitting the wrist unit
Use this procedure to refit the complete wrist unit.
1
2
Continues on next page
198
Action
Disconnect the connectors R4.FB6 and
R4.MP6 to motor axis 6, through the hole for
the VK cover.
Remove the attachment screws securing the
wrist.
Remove the wrist with motor 6 from the upper
arm tube and put it on a work bench or simil-
ar.
CAUTION
Be careful when handling the wrist. Always
hold on the casting, do not hold on the wrist
cover. This can damage the sealing which
will cause oil leakage.
Action
Move the wrist (with the axis 6 motor fitted)
to the mounting site.
Apply a string or similar to the cable harness
and run it out through the hole for the VK
cover.
© Copyright 2012-2020 ABB. All rights reserved.
Note
xx0700000053
• A: Connectors R4.FB6 & R4.MP6
xx0700000052
• A: Hex socket head cap screw
M8x35 quality 8.8-A2F (3 pcs)
Note
Product manual - IRB 1520
3HAC043435-001 Revision: L