ABB IRB 6650S - 200/3.0 Product Manual page 250

4 Repair
4.4.2. Replacement of complete wrist unit
Continued
248
Action
3. Fit the lifting tool to the wrist unit.
4.
CAUTION!
The complete wrist unit weighs 130 kg!All
lifting equipment used must be sized accord-
ingly!
5. 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.
6. Secure the wrist unit with 10 of the 12
attachment screws and washers.
7. Remove the guide pins and secure the two
remaining attachment screws as detailed
above.
8. Remove the lifting tool from the wrist unit.
9. 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.
10.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
11. Place the cabling to motor, axis 6, correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
Note/Illustration
Art. no. is specified Location of wrist
unit on page 245!
Shown in the figure Location of wrist
unit on page 245!
12 pcs: M12 x 50, 12.9 quality
UNBRAKO, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section Screw joints on page 384
before fitting.
Shown in the figure Location of wrist
unit on page 245!
xx0200000185
Put a loop of cable in this area with
cable straps (A), if necessary. The
cables are long enough to fit different
upper arm lengths.
Continues on next page
3HAC020993-001 Revision: G