Replacement Of Complete Wrist Unit - ABB IRB 6640 Product Manual

4 Repair

4.4.2. Replacement of complete wrist unit

4.4.2. Replacement of complete wrist unit
Wrist unit for robot models IRB 6640ID
This section is valid for robot models IRB 6640. How to replace the wrist of the models IRB
6640ID is detailed in section
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID)
Upper arm inc. wrist unit, motors ax. 3-
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Replacement of complete wrist unit, IRB 6640ID on page
Wrist unit
Turning disk
Cover, wrist unit
Cover, upper arm tube
Connectors, upper arm tube, with cable bracket (R3.FB5, R3.MP5)
Cable bracket
Attachment piont for lifting tool, wrist unit
Wrist unit attachment screws and washers
Upper arm tube
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6.
3HAC026876-001 Revision: F
269.
Upper arm
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