ABB IRB 6640 Foundry Prime - Page 265

NoteAction
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
1
Remove all equipment fitted to the turning disk.2
xx0200000185
Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Turn
axis 5 to +90°.
3
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
4
CAUTION
Always cut the paint with a knife and grind the
paint edge when disassembling parts. See Cut
the paint or surface on the robot before repla-
cing parts on page 219.
5
Shown in the figure Location of wrist
unit on page 263.
Remove the cover, wrist unit.6
Shown in the figure Location of wrist
unit on page 263.
Remove the cover, upper arm tube.7
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
8
Continues on next page
Product manual - IRB 6640 Foundry Prime 265
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of complete wrist unit
Continued