ABB IRB 6660 - 130/3.1 Product Manual page 186

4 Repair
4.4.2. Replacement of complete wrist unit
Continued
D
E
F
Required equipment
Equipment etc.
Wrist unit
Wrist, type 2
Guide pins M12 x 200
Lifting tool, wrist unit
Standard toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Circuit diagram
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
184
Cover, upper arm tube
Upper arm tube
Attachment screws and washers, wrist unit
Spare part no.
3HAC026679-001
3HAC16626-2
Action
1. Remove all equipment fitted to the turning disk.
2. Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Also turn
axis 5 so that the turning disk faces to the side in
order to allow access to the motor 6 cover.
3.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
4. Remove the cover, wrist unit.
5. Remove the cover, upper arm tube.
6. Remove the cover of motor, axis 6 and disconnect
all connectors beneath.
Art. no. Note
3HAC13056-3 Always use guide pins in
pairs!
3HAC13605-1
- The content is defined in
section
page 280.
These procedures include
references to the tools
required.
3HAC025744-001 See chapter
diagram.
Note
Shown in the figure
unit on page 183.
Shown in the figure
unit on page 183.
Shown in the figure
unit on page 183.
Continues on next page
3HAC028197-001 Revision: A
Standard toolkit on
Circuit
Location of wrist
Location of wrist
Location of wrist