ABB IRB 6640 Product Manual page 267

Required equipment
Equipment etc.
Wrist
Guide pins M12 x 200
Lifting tool, wrist unit
Standard toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Circuit diagram
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
3HAC026876-001 Revision: F
Spare part no.
See Spare parts
chapter.
Action
1. Remove all equipment fitted to the turning disk.
2. Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Turn
axis 5 to +90°.
3.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
4. Remove the cover, wrist unit.
5. Remove the cover, upper arm tube.
6. Remove the cover of motor, axis 6 and
disconnect all connectors beneath.
4.4.2. Replacement of complete wrist unit
Art. no. Note
3HAC13056-3 Always use guide pins in
pairs!
3HAC13605-1
- The content is defined in
the section
toolkit on page
These procedures include
references to the tools
required.
3HAC025744-001 See the chapter
diagram.
Note
xx0200000185
Shown in the figure
unit on page 264.
Shown in the figure
unit on page 264.
Continues on next page
4 Repair
Continued
Standard
409.
Circuit
Location of wrist
Location of wrist
265