ABB IRB 6700 Series Product Manual page 338

4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting the wrist cover
1
2
3
Concluding procedure
1
Continues on next page
338
Action
Inspect the gasket. Replace if damaged.
Foundry Plus and Foundr Prime:
• Make sure that the gasket is undam-
aged on the cover. Replace if dam-
aged.
• Put washers in the holes of the gas-
ket.
• Use attachment screws made of
stainless steel to fit the wrist cover.
Refit the wrist cover. In order not to dam-
age the cable harness when the wrist cover
is refitted, use this method:
1 Hold the cover angled. See figure!
2 Catch any part of the cable harness
hanging down.
3 Lift the cover, still held in an angle.
4 Move the upper part of the cover into
position.
5 Secure the cover with its attachment
screws.
Remove the lifting accessories.
Action
Re-calibrate the robot.
© Copyright 2013 - 2018 ABB. All rights reserved.
Note
xx1400000383
A Protection plugs (2 on wrist cover
and 2 on cover axis-5 gearbox)
B Washers (10 pcs) in gasket holes
Tightening torque: 10 Nm.
xx1300000772
Note
Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum, en-
closed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
Product manual - IRB 6700
3HAC044266-001 Revision: N
B
A
Calibrating
798.
787.