ABB IRB 6640 Foundry Prime Product Manual page 265

Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
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Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
Remove all equipment fitted to the turning disk.
Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Turn
axis 5 to +90°.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
CAUTION
Always cut the paint with a knife and grind the
paint edge when disassembling parts. See
the paint or surface on the robot before repla-
cing parts on page 219.
Remove the cover, wrist unit.
Remove the cover, upper arm tube.
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
© Copyright 2011-2018 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Note
Note
xx0200000185
Cut
Shown in the figure
unit on page 263.
Shown in the figure
unit on page 263.
Continues on next page
4 Repair
Continued
Location of wrist
Location of wrist
265