ABB IRB 1010 Product Manual page 196

5 Repair
5.4.3 Replacing the axis 3-4 assembly unit
Continued
Separating the wrist unit from the axis 3-4 assembly unit
1
2
3
4
5
Continues on next page
196
Action
Connect the power supply to axis-3 motor and
release the axis-3 brake to move the axis 3 to -
90°. Then, disconnect the power supply.
Note
The robot is not connected to the controller during
replacement, power must be supplied to the con-
nector R1.MP according to the section
power to connector R1.MP on page
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
Remove the screws (dark-colored in the figure).
Separate the wrist unit.
Connect the power supply to axis-3 motor and
release the axis-3 brake to move the axis 3 to zero
position. Then, disconnect the power supply.
Note
The robot is not connected to the controller during
replacement, power must be supplied to the con-
nector R1.MP according to the section
power to connector R1.MP on page
© Copyright 2022 ABB. All rights reserved.
Note
Supplying
56.
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xx2200000539
Supplying
56.
Product manual - IRB 1010
3HAC081964-001 Revision: B