NoteAction
CAUTION
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
2
Put some grease on the surface of the fit.3
If the pin is damaged replace it.Check the cylindrical pin.4
M12x50 12.9 gleitmo (8 pcs)Fit the wrist with its 8 attachment screws and
washers.
5
Tightening torque: 120 Nm
Detailed in the section Replace-
ment of cable harness, upper end
on page 192.
Refit the cable harness, axes 5 and 6.6
Shown in the figure Location of
wrist unit on page 217.
Standard
Fit the wrist cover.
7
xx1400002579
Foundry Plus
Make sure the wrist cover gasket and the small
gasket fitted in the recess of the wrist cover are
undamaged. Replace if damaged.
8
xx1400002580
Foundry Plus
Make sure the washers are fitted in the gasket
holes. Refit the wrist cover, Foundry Plus.
9
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the cal-
ibration tools.
Recalibrate the robot.10
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 319.
General calibration information is
included in section Calibration on
page 305.
Continues on next page
220 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of wrist unit
Continued
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