Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
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.
1
Art. no. is specified in Required equip-
ment on page 222.
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
2
Shown in the figure Location of wrist
unit on page 221.
Art. no. is specified Location of wrist
unit on page 221.
Fit the lifting tool to the wrist unit.3
CAUTION
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
4
Lift the wrist unit and guide it to the upper arm
tube with help of the guide pins.
Make sure the cabling from motor, axis 5 is
safely run into the arm tube and does not get
jammed.
5
Shown in the figure Location of wrist
unit on page 221.
Reconnect the motor axis 5 by connecting the
two connectors inside the upper arm tube
(R3.FB5, R3.MP5) and secure the cable
bracket with the two attachment screws to the
tube.
6
Shown in the figure Location of wrist
unit on page 221.
Secure the wrist unit with 10 of the 12 attach-
ment screws and washers.
7
12 pcs: M12 x 50, 12.9 quality Gleitmo.
Tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion Screw joints on page 377 before fit-
ting.
Remove the guide pins and secure the two
remaining attachment screws as detailed
above.
8
Remove the lifting tool from the wrist unit.9
Note
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
10
Continues on next page
Product manual - IRB 6660 225
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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