4 Repair
4.4.3. Replacement of complete wrist unit, IRB 6640ID
2693HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
4.4.3. Replacement of complete wrist unit, IRB 6640ID
Wrist unit for robot models IRB 6640ID
This section is only valid for robot models IRB 6640ID. How to replace the wrist unit on the
models IRB 6640 is detailed in section Replacement of complete wrist unit on page 264.
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Upper arm
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID) .
xx0500001567
Required equipment
A Wrist unit
B Attachment screws and washers, wrist unit
C Upper arm tube
Equipment Spare part no. Art. no. Note
Wrist, process See Spare parts
chapter.
Guide pins M12 x 200
Guide pins M12 x 200
3HAC13056-3
3HAC13056-3
Always use guide pins in
pairs!
Roundslings -
Standard toolkit - The content is defined in
the section Standard
toolkit on page 409.
Other tools and procedures
may be required. See
references to these
procedures in the step-by-
step instructions below.
These procedures
include references to the
tools required.
Circuit diagram - See the chapter Circuit
diagram.
Product manual -
DressPack/SpotPack
- Art. no. is specified in
section References.
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