ABB Robotics IRB 1520 Product Manual page 199

3
4
5
6
Product manual - IRB 1520
3HAC043435-001 Revision: L
Action
Carefully fit the wrist (with motor axis 6 fitted)
to the upper arm tube, using the string to pull
the cable harness back through the hole for
the VK cover.
Secure the wrist with its attachment screws
and washers.
Reconnect connectors R4.FB6 and R4.MP6,
through the hole for the VK cover.
Secure the flexible coupling with the M5x16
screw.
© Copyright 2012-2020 ABB. All rights reserved.
4.4.3 Replacing the wrist unit, IRB 1600ID
Note
xx0700000093
A: String
M8x35 8.8-A2F (3 pcs)
Tightening torque 24 Nm
Note
When reconnecting the connectors
R4.FB6 and R4.MP6, make sure to push
the connectors towards the wrist as far
away from the axis 5-6 cable spiral as
possible, to avoid grease to accumulate
on the resolver connector.
Tightening torque 6 Nm
xx1100000355
Continues on next page
4 Repair
Continued
199