4 Repair
4.4.3. Replacement of complete wrist unit, IRB 6600ID and IRB 6650ID
3HAC023082-001 Revision: E284
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit to the robot.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Fit the two guide pins in the upper arm tube, in two of
the attachment holes for the wrist unit.
Art. no. is specified in Required
equipment on page 282.
3.
CAUTION!
The complete wrist unit weighs 187 kg! All lifting
equipment used must be sized accordingly!
4. Attach the lifting slings to the wrist unit and lift it to the
upper arm tube.
5. Insert the cabling and connectors through the wrist
unit and match the wrist against the upper arm tube
with guidance from the guide pins.
6. Secure the wrist unit with 10 of the 12 attachment
screws and washers.
Shown in the figure Location of
wrist unit on page 282.
12 pcs; M12 x 50, 12.9 quality
UNBRAKO. Tightening torque:
115 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 432 before fitting.
7. Remove the guide pins and secure the two remaining
attachment screws as detailed above.
8. Reconnect the motor connectors to the motors, axes
5 and 6. Fasten the cabling as shown in the cable
layout in the figure Cable layout, wrist unit on page
256.
9. 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.
10. Refit any equipment previously removed from the
turning disk.
Continued
Continues on next page
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