ABB IRB 6650S - 200/3.0 Product Manual page 251

3HAC020993-001 Revision: G
Action
12. Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
(B) and the third is located on the bottom of
the cable bracket, in the center (C), shown in
the figure to the right.
13. Reconnect the connectors to motor, axis 6
and refit the motor cover.
14. Refit the cover, upper arm tube.
15. Refit the cover, wrist unit.
16. Recalibrate the robot!
17. Refit any equipment previously removed from
the turning disk.
18.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
4.4.2. Replacement of complete wrist unit
Note/Illustration
Shown in the figure
unit on page
xx0200000254
•
•
Shown in the figure
unit on page
Shown in the figure
unit on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
38.
4 Repair
Continued
Location of wrist
245!
B: Attachment screws, rear of
cable bracket
C: Attachment screw, bottom of
cable bracket
Location of wrist
245!
Location of wrist
245!
Calibration
365.
249