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Wrist 2 joint – Wrist 1 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Important note: remove residues of old Loctite in screw holes with a M3 tap tool for threads before
assembling the joint to get the correct torque on the new screws.
2. Important note: Always use new pre-coated screws when it is possible. If you have to assemble with
old screws carefully clean the screws and attach Loctite 648 on the screws before assembly.
3. Orientate the Wrist 2 joint and Wrist 1 joint according to the marks and gently push them together.
4. Gently tighten the 6 screws, and then tighten in cross order with 1.3Nm.
5. Place the plastic cover ring according to the mark on the flange.
6. Gently put the flat ring back on top of the teflon ring.
7. Connect ESD wristband.
8. Twist the communication cable 1.5 to 2 full rounds before it is
connected. (To reduce electrical noise in the system)
1 x red wire = 48V DC
1 x black wire = GND
White and black = bus connector
9. After connection of the wires then mount the blue lid and tighten with 0.4Nm.
10. Proceed to chapter 3.1.15 Dual Robot Calibration and Joint calibration. for calibrating the robot.
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