ABB IRB 6640 Foundry Prime Product Manual page 266

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
9
10
11
12
13
14
15
16
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
1
2
3
Continues on next page
266
Action
Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6 and
place it safely on the tube.
Fit the lifting accessory to the wrist unit.
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
Remove the wrist unit attachment screws and
washers.
Pull the wrist unit out, lift it away and place it
on a secure surface.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
Clean the joints that have been opened. See
Cut the paint or surface on the robot before
replacing parts on page 219
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
© Copyright 2011-2018 ABB. All rights reserved.
Note
Shown in the figure Location of wrist
unit on page 263.
xx0200000254
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Art. no. is specified in
equipment on page 263.
Shown in the figure Location of wrist
unit on page 263.
Shown in the figure Location of wrist
unit on page 263.
Note
Art. no. is specified in
ment on page 263.
Shown in the figure Location of wrist
unit on page 263.
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Required
Required equip-