Information
Action
A
B
C
B
xx0900000999
Remove the
wrist covers
.
4
Parts:
•
A: Wrist covers (2 pcs)
•
B: Attachment screws (3+3 pcs)
•
C: Axis 5 shall be in 90° position
See section
•
Replacing motor axis 5 on page 211
Remove
motor axis 5
.
5
See section
•
Removing the cable harness on
page 120
Remove the
cable harness
in the
wrist
.
6
Pull the
cable harness
out of the
wrist
housing
.
7
A
B
C
xx0900000900
Remove the
wrist housing (plastic)
.
8
Parts:
•
A: Attachment screws (3 pcs)
•
B: Wrist housing (plastic)
•
C: Axis 5 shall be in 90° position
See section
•
Removing the cable harness on
page 120
Remove the
cable harness
in the
upper arm
housing
.
9
Continues on next page
Product manual - IRB 120
157
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
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