ABB IRB 6700 Series Product Manual page 351

Removing the wrist
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2
3
4
Product manual - IRB 6700
3HAC044266-001 Revision: N
Action
If used, remove the bracket with the part
of the ball joint housing still fitted.
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the wrist slide better.
Remove the remaining attachment screws.
Pull out the wrist a bit, onto the guide pins.
This is done to be able to remove the cable
harness from the wrist in a safe way.
CAUTION
Make sure that the cabling does not get
damaged.
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4.5.2 Replacing the wrist
Note
xx1700000691
Guide pin, M12x150: 3HAC13056-2
Always use guide pins in pairs.
xx1300000748
xx1300000749
xx1300000750
Continues on next page
4 Repair
Continued
351