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Required equipment
Equipment etc.
Wrist, type 2
Turning disk
Guide pins M12 x 200
Guide pins M12 x 200
Lifting tool, wrist unit
Standard toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Circuit diagram
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
3HAC026876-001 Revision: C
Spare part no.
3HAC16626-2
3HAC13752-1
Action
1. Remove all equipment fitted to the turning disk.
2. Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Also turn
axis 5 so that the turning disk faces to the side in
order to allow access to the motor 6 cover.
3.
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.
4. Remove the cover, wrist unit.
5. Remove the cover, upper arm tube.
6. Remove the cover of motor, axis 6 and disconnect
all connectors beneath.
4.4.2. Replacement of complete wrist unit
Art. no.
Note
3HAC13056-3
Always use guide pins in
pairs!
3HAC13056-3
3HAC13605-1
3HAC13605-1
-
The content is defined in
section
page
These procedures include
references to the tools
required.
3HAC025744-001 See chapter
diagram.
Note
Shown in the figure
unit on page
252.
Shown in the figure
unit on page
252.
Shown in the figure
unit on page
252.
Continues on next page
4 Repair
Continued
Standard toolkit on
394.
Circuit
Location of wrist
Location of wrist
Location of wrist
253
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