NoteAction
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
4
Shown in the figure Location of wrist
unit on page 221.
Remove the cover, wrist unit.5
Shown in the figure Location of wrist
unit on page 221.
Remove the cover, upper arm tube.6
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
7
Shown in the figure Location of wrist
unit on page 221.
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.
8
• 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.
9
Art. no. is specified in Required
equipment on page 222.
Fit the lifting accessory to the wrist unit.10
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
11
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
12
Shown in the figure Location of wrist
unit on page 221.
Remove the wrist unit attachment screws and
washers.
13
Pull the wrist unit out, lift it away and place it
on a secure surface.
14
Shown in the figure Location of wrist
unit on page 221.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
15
Continues on next page
224 Product manual - IRB 6660
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of complete wrist unit
Continued
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