ABB IRB 1660 Product Manual page 204

4 Repair
4.4.4 Replacing the wrist unit, IRB 1600
Continued
4
5
6
7
8
Continues on next page
204
Action
With the new spare part wrist there is a
parallel pin enclosed.
The parallel pin must be installed on the
wrist if the robot is calibrated with the
Axis Calibration method.
If the calibration method is unknown,
look at the tubular shaft interface. If it
has an elongated hole, install the parallel
pin into the wrist, according to the next
step.
If the robot is calibrated with Axis Calib-
ration. fit the parallel pin into the corres-
ponding hole in the wrist.
Note
If the parallel pin is not installed on a ro-
bot calibrated with Axis Calibration, the
calibration result will be affected negat-
ively.
Lightly lubricate the o-ring sealingplate
with grease.
In order to release the brake, connect
the 24 VDC power supply to motors:
Fit the o-ring sealingplate to the upper
arm. Fit the wrist unit to the upper arm
with the three attachment screws, while
making sure that the gears mate prop-
erly.
© Copyright 2006-2018 ABB. All rights reserved.
Note
xx1700000117
xx1700000118
Verify that the parallel pin sticks out from the
wrist according to the measurement given
below.
6 ±0,5
xx1700000119
Art. no. is specified in section
equipment on page 201.
Connect to connector R3.MP5 or 6:
• +: pin 7
• -: pin 8
Use a new o-ring! Spare part no. is specified
in Required equipment on page
3 pcs, M8 x 25, tightening torque: 28 Nm.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
Required
201.