4 Repair
4.4.2. Replacement of complete wrist unit, IRB 6600 and IRB 6650
2813HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
12. Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
(B) and the third is located on the bottom of
the cable bracket, in the center (C), shown in
the figure to the right.
Shown in the figure Location of wrist
unit on page 277!
xx0200000254
• B: Attachment screws, rear of
cable bracket
• C: Attachment screw, bottom of
cable bracket
13. Reconnect the connectors to motor, axis 6
and refit the motor cover.
14. Refit the cover, upper arm tube. Shown in the figure Location of wrist
unit on page 277!
15. Refit the cover, wrist unit. Shown in the figure Location of wrist
unit on page 277!
16. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration
information on page 409.
17. Refit any equipment previously removed from
the turning disk.
18.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section DANGER - First test
run may cause injury or damage! on page 38.
Action Note/Illustration
Continued
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