ABB IRB 7600 Series Product Manual page 256

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
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256
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Remove all equipment fitted to the turning disk.
Turn axis 4 to a position where the cover, axis 5
faces upwards.
Remove the cover, axis 5, by unscrewing its attach-
ment screws.
CAUTION
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
Fit the lifting tool, wrist unit to the two holes on the
sealing surface against the cover, axis 5.
Remove the rear cover by unscrewing its attach-
ments.
Disconnect connector R2.M5/6 at the rear cable divi-
sion point.
Remove all cable attachment inside the upper arm
and at the rear of the robot.
Slightly raise the wrist unit to unload the screw joint,
facilitating removal of the attachment screws.
Remove the wrist unit attachment screws and wash-
ers.
Pull the cabling forwards through the upper arm tube.
Remove the friction washer between the wrist unit
and the upper arm tube.
Lift the wrist unit down and place it on a secure sur-
face.
© Copyright 2007 - 2018 ABB. All rights reserved.
Note
Shown in the figure Location of
wrist unit on page 254.
Art. no. is specified in Required
equipment on page 254.
If required, cut any cable ties
securing the cables in order to
fit the tool.
Shown in the figure Location of
wrist unit on page 254.
Shown in the figure Location of
wrist unit on page 254.
Do not remove the attachments
from the cabling!
Make sure the attachments do
not get stuck inside the tube!
A new washer must always be
used on reassembly.
Product manual - IRB 7600
3HAC022033-001 Revision: V