ABB CRB 15000 Product Manual page 438

5 Repair
5.4.4 Replacing the wrist housing
Continued
5
6
7
Removing the axis-5 cover
1
Continues on next page
438
Action
Press the joint unit out of position using two of
the previous attachment screws as removal tools.
Remove the joint unit from the tubular.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
Remove the lifting aid and guide pins.
Action
Remove the cover by removing the four screws.
© Copyright 20212022 ABB. All rights reserved.
Note
xx2100000330
xx2000002169
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.
xx2000001957
Note
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Product manual - CRB 15000
3HAC077389-001 Revision: E