NoteAction
Shown in the figure Location of wrist
unit on page 263.
xx0200000254
Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
and the third is located on the bottom of the
cable bracket, in the center.
13
• B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
• C: Attachment screw, bottom of
cable bracket
Reconnect the connectors to the axis-6 motor
and refit the motor cover.
14
Shown in the figure Location of wrist
unit on page 263.
Refit the cover, upper arm tube.
For robots with protection type Foundry Plus
and Foundry Prime: check the gasket. If
damaged, or not previously installed, fit a new
gasket.
15
Article number for the gasket is spe-
cified in Required equipment on
page 263.
Shown in the figure Location of wrist
unit on page 263.
Refit the cover, wrist unit.
For robots with protection type Foundry Plus
and Foundry Prime: check the gasket. If
damaged, or not previously installed, fit a new
gasket.
16
Tightening torque: 14 Nm±10%. Screw
3HAB3409-25 (with Loctite), Washer
3HAC062379-001.
Article number for the gasket is spe-
cified in Required equipment on
page 263.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
17
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Re-calibrate the robot!18
General calibration information is in-
cluded in section Calibration informa-
tion on page 439.
Refit any equipment previously removed from
the turning disk.
19
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 29.
20
268 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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