Disassembly/Assembly
Guidelines
IRB 6400
Page 8 - 7
Axis 5 Guidelines
WRIST ASSEMBLY (U10) Installation
NOTE: The wrist assembly includes Axes 5 &
6 and is a complete exchangeable unit con-
taining motor units and gears. Two different
types of wrist can be supplied, standard and
foundry. See the parts list for part numbers.
Two different types of motors are supplied for axes 4, 5, & 6; ELMO
or SIEMENS. The same type must be used for all three axes - motor
types cannot be mixed.
If the motor type is for ALL axes is changed, the robot control pro-
gram must be reloaded and the correct type be selected.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. MOUNT WRIST ASSEMBLY (U10):
a. Be sure that roll pin (U35) is installed in tube shaft (U19).
b. Lift wrist assembly (U10) and position in front of tube shaft (U19)
where Axis 5 motor connectors can be connected.
c. Connect motor connectors R4.MP5 & R4.FB5.
CAUTION: BE CAREFUL THAT WRIST DOESN’T SWING
ABOUT AND BREAK THE CONNECTORS.
d. Move wrist assembly (U10) into tube shaft (U19), ready for
mounting. Make sure motor cables are aren’t binding inside tube
shaft.
e. Lubricate screws (U20) and washers (U21) with Molycote 1000
grease.
f. Insert screws (U20) with washers (U21). Torque to 90 ft-lb.
2. CONNECT THE UPPER PART OF UPPER CABLE (U14) THAT CON-
NECTS TO THE WRIST AXIS 6:
a. Carefully feed cables through wrist casting to back of Axis 6
Motor.
b. Install screws (U16-17).
3. REMOVE HOIST.
E
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REFERENCE DRAWINGS
Exploded Views:
Assemblies:
3HAA 0001-GX ( pg 13-18)
REQUIRED TOOLS
“U” (pg 8-9, 12-4)
Hand Tools
“W” (pg 8-10, 12-5)
3HAA 0001-AAH ( pg 13-13)
3HAA 0001-GX ( pg 13-21)
3HAA 0001-AAS ( pg 14-A)
3HAB 4254-2 ( pg 14-J)
Torque Wrench (90 ft-lb)
Molycote 1000 Grease
WRIST ASSEMBLY
WEIGHS APPROX.
250 LB.
C
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