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4 Repair
4.4.2. Replacement of complete wrist unit
Continued
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
254
Action
7. Loosen the cable bracket, wrist unit on top of the
wrist by undoing the three attachment screws.
Two of the attachment screws are visibly located
at the rear of the bracket and the third located at
the bottom of the cable bracket, in the center.
8. Pick out the cabling from motor, axis 6 and place
it safely on the tube.
9. Loosen the cable bracket in the upper arm tube by
undoing the two screws on top of the tube.
10. Disconnect the motor axis 5 by disconnecting the
two connectors in the upper arm tube (R3.FB5,
R3.MP5).
11. Fit the lifting tool to the wrist unit.
12.
CAUTION!
The complete wrist unit weighs 130 kg! All lifting
equipment used must be sized accordingly!
13. Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment screws.
14. Remove the wrist unit attachment screws and
washers.
15. Pull the wrist unit out, lift it away and place it on a
secure surface.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the
air pressure to motors and SMB.
2. Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attachment
screws.
Note
Shown in the figure
Location of wrist
unit on page
252.
xx0200000254
•
B: Attachment screws, rear
of cable bracket (2 pcs)
•
C: Attachment screw, bottom
of cable bracket
Shown in the figure
Location of wrist
unit on page
252.
Shown in the figure
Location of wrist
unit on page
252.
Art. no. is specified in
Required
equipment on page
253.
Shown in the figure
Location of wrist
unit on page
252.
Note
Art. no. is specified in
Required
equipment on page
253.
Shown in the figure
Location of wrist
unit on page
252.
Continues on next page
3HAC026876-001 Revision: C
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