NoteAction
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.
3
Shown in the figure in Location of
wrist unit on page 217.
Remove all equipment fitted to the wrist unit.4
Shown in the figure Location of
wrist unit on page 217.
Remove the cover, wrist unit in order to reach the
cable harness.
Note
Foundry Plus
Make sure not to lose the washers placed in the
holes of the Foundry Plus gasket.
xx1400002580
5
Detailed in section Replacement
of cable harness, upper end on
page 192.
Remove the cable harness, axes 5 and 6.6
CAUTION
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
7
Secure the wrist unit with a roundsling in an over-
head crane.
8
Shown in the figure Location of
wrist unit on page 217.
Unscrew the eight attachment screws securing the
wrist unit.
9
Note! Do not damage the cylindric-
al pin in the process.
Remove the wrist unit from the upper arm by moving
it a little back and forth until it is lose.
10
Refitting
NoteAction
Secure the wrist unit with a roundsling in an over-
head crane and lift it to its mounting position.
1
Continues on next page
Product manual - IRB 6620 219
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of wrist unit
Continued
To Next Page
Loading...
