ABB CRB 15000 Product Manual page 326

5 Repair
5.4.4 Replacing the wrist housing
Continued
2
3
4
Removing the axis-5 joint unit
1
Continues on next page
326
Action
Remove the functional and protective earth cables
by removing the screw.
Snap loose and disconnect the connectors:
• J5/6.DC+
• J5/6.DC-
• J5/6.CS
• J5/6.CP
Disconnect the connectors from the drive board.
• D4/5.X1
• D5.DC+
• D5.DC-
• D4/5.X4
• D5.X2
• D4/5.X5
Use tweezers, if needed.
Action
Fit the lifting aid to the joint unit, on the torque
sensor side.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
© Copyright 2021 ABB. All rights reserved.
Note
xx2000002136
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Tweezers
xx2000002138
Note
Lifting aid: 3HAC077789-001
Screws: M3x12 (4 pcs)
xx2000002139
Product manual - CRB 15000
3HAC077389-001 Revision: A