NoteArt. no.Equipment etc.
For spare part number,
see Spare parts on
page 487.
Cover for wrist unit
For robots with protection Foundry
Plus and Foundry Prime.
3HAC043225-001Gasket for wrist house cover
For robots with protection Foundry
Plus and Foundry Prime.
3HAC043224-001Gasket for cable cover on up-
per arm tube
Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC043303-001Gasket for small cover on up-
per arm tube
Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC043302-001Gasket for cable cover on arm
extender 250 mm
Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC043398-001Gasket for cable cover on arm
extender 450 mm
Always use guide pins in pairs!3HAC13056-3Guide pins M12 x 200
3HAC13605-1Lifting accessory, wrist unit
Content is defined in section
Standard tools on page 465.
-Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
See chapter Circuit diagrams on
page 489.
Circuit diagram
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
NoteAction
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
264 Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of complete wrist unit
Continued
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