ABB IRB 6650S - 200/3.0 Product Manual page 248

4 Repair
4.4.2. Replacement of complete wrist unit
Continued
Equipment etc.
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.
246
Spare part no. Art. no.
Action
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. Remove all equipment fitted to the turning disk.
3. 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.
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.
Note
3HAC13056-3 Always use guide pins in
pairs!
3HAC 13605-1
- The contents are defined
in section
on page 388
Product manual.
These procedures include
references to the tools
required.
See chapter
diagram
manual, reference infor-
mation.
Note/Illustration
Shown in the figure
unit on page 245!
Shown in the figure
unit on page 245!
Shown in the figure
unit on page 245!
Continues on next page
3HAC020993-001 Revision: G
Standard toolkit
in part 2 of the
Circuit
in the Product
Location of wrist
Location of wrist
Location of wrist