ABB IRB 1010 Product Manual page 234

5 Repair
5.4.4 Replacing the wrist unit
Continued
5
6
7
Separating the wrist unit from the axis 3-4 assembly unit
1
2
Continues on next page
234
Action
Carefully rotate the motor to make its motor con-
nector to a levelled position.
Carefully lift out the motor.
CAUTION
Be aware of the connector that is still connected!
The motor cannot be removed completely until
the connector is disconnected.
Disconnect the connector.
• FB5
Tip
Take photos of the connector and cable position
before disconnecting them, to have as a reference
when reconnecting.
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.
© Copyright 2022 ABB. All rights reserved.
Note
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Note
Supplying
56.
Product manual - IRB 1010
3HAC081964-001 Revision: B