ABB CRB 15000 Product Manual page 698

5 Repair
5.6.6 Replacing the axis-6 joint unit
Continued
Removing the joint unit
Use these procedures to remove the joint unit.
Preparations before removing the joint unit
1
2
Removing the tool flange
1
2
Continues on next page
698
Action
Jog the robot to the specified position:
• Axis 1: No significance.
• Axis 2: No significance.
• Axis 3: No significance.
• Axis 4: No significance.
• Axis 5: approximately +20°
• Axis 6: 0° (home position)
CAUTION
Jog the axis on which the joint unit is to be re-
placed to home position, to achieve correct cable
routing during replacement of the joint unit.
CAUTION
Turn off all supplies for electrical power to the
robot, before starting the repair work.
Action
Remove the tool flange screws and washers.
CAUTION
There is cabling connected between the cover
and the joint unit drive board.
Open the cover with care to avoid damage to the
cabling or the connector(s).
Do not leave the cover in location without being
secured with the attachment screws.
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Product manual - CRB 15000
3HAC077389-001 Revision: E