ABB IRB 1010 Product Manual page 235

3
4
5
Refitting the wrist unit
Use these procedures to refit the wrist unit.
Refitting the wrist unit
1
2
Product manual - IRB 1010
3HAC081964-001 Revision: B
Action
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
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
Route the cable package into the wrist unit.
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5.4.4 Replacing the wrist unit
Note
xx2200000047
xx2200000539
Supplying
56.
Note
Supplying
56.
Continues on next page
5 Repair
Continued
235