Replacing The Wrist Housing - ABB CRB 15000 Product Manual

5 Repair

5.4.4 Replacing the wrist housing

5.4.4 Replacing the wrist housing
Location of the wrist
The wrist is located as shown in the figure.
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Summary of the replacement procedure
This is a brief summary of the replacement procedure, containing the major actions
to be performed.
Continues on next page
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1 Remove the tubular cover.
2 Separate the cabling between the tubular and the tilt (at the axis-4 joint unit).
3 Remove the tilt and place on a workbench.
4 Remove the axis-6 joint unit.
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Product manual - CRB 15000
3HAC077389-001 Revision: E