ABB IRB 6640 Foundry Prime Product Manual page 268

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
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268
Action
Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
and the third is located on the bottom of the
cable bracket, in the center.
Reconnect the connectors to the axis-6 motor
and refit the motor cover.
Refit the cover, upper arm tube.
For robots with protection type Foundry Plus
and Foundry Prime: check the gasket. If
damaged, or not previously installed, fit a new
gasket.
Refit the cover, wrist unit.
For robots with protection type Foundry Plus
and Foundry Prime: check the gasket. If
damaged, or not previously installed, fit a new
gasket.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
Re-calibrate the robot!
Refit any equipment previously removed from
the turning disk.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2011-2018 ABB. All rights reserved.
Note
Shown in the figure
unit on page
xx0200000254
• B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
• C: Attachment screw, bottom of
cable bracket
Shown in the figure
unit on page
Article number for the gasket is spe-
cified in Required equipment on
page 263.
Shown in the figure
unit on page
Tightening torque: 14 Nm±10%. Screw
3HAB3409-25 (with Loctite), Washer
3HAC062379-001.
Article number for the gasket is spe-
cified in Required equipment on
page 263.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
General calibration information is in-
cluded in section
tion on page
First test run
29.
Product manual - IRB 6640 Foundry Prime
Location of wrist
263.
Location of wrist
263.
Location of wrist
263.
Calibration informa-
439.
3HAC040586-001 Revision: N