NoteAction
Shown in the figure Location of wrist
unit on page 263.
xx0200000254
Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
9
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Pick out the cabling from motor, axis 6 and
place it safely on the tube.
10
Art. no. is specified in Required
equipment on page 263.
Fit the lifting accessory to the wrist unit.11
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
12
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
13
Shown in the figure Location of wrist
unit on page 263.
Remove the wrist unit attachment screws and
washers.
14
Pull the wrist unit out, lift it away and place it
on a secure surface.
15
Shown in the figure Location of wrist
unit on page 263.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
16
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
NoteAction
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
1
Clean the joints that have been opened. See
Cut the paint or surface on the robot before
replacing parts on page 219
2
Art. no. is specified in Required equip-
ment on page 263.
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
3
Shown in the figure Location of wrist
unit on page 263.
Continues on next page
266 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
To Next Page
Loading...
