ABB CRB 15000 Product Manual page 589

3
4
Removing the axis-6 joint unit
1
Product manual - CRB 15000
3HAC077389-001 Revision: A
Action
Snap loose and disconnect the connectors:
• J7.CS
• J7.CP
Disconnect the connectors from the drive board.
• D6.X1
• D6.DC+
• D6.DC-
• D6.X4
• D6.X2
• D6.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.
5.6.6 Replacing the axis-6 joint unit
Note
xx2000002163
Tweezers
xx2000002164
Note
Lifting aid: 3HAC077789-001
Screws: M3x12 (4 pcs)
xx2000002168
Position shown in the figure shows
axis 5 jogged to +20°, which is a
more convenient position when re-
placing only the axis-6 joint unit.
Continues on next page
5 Repair
Continued
589