ABB IRB 6640 Product Manual page 268

4 Repair
4.4.2. Replacement of complete wrist unit
Continued
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
266
Action
7. Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly
located at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
8. Pick out the cabling from motor, axis 6 and
place it safely on the tube.
9. Fit the lifting tool to the wrist unit.
10.
CAUTION!
The complete wrist unit weighs 130 kg! All lifting
equipment used must be sized accordingly!
11. Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
12. Remove the wrist unit attachment screws and
washers.
13. Pull the wrist unit out, lift it away and place it on
a secure surface.
14. Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
Action
1.
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.
2. Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attachment
screws.
Note
Shown in the figure Location of wrist
unit on page 264.
xx0200000254
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Art. no. is specified in Required
equipment on page 265.
Shown in the figure Location of wrist
unit on page 264.
Shown in the figure Location of wrist
unit on page 264.
Note
Art. no. is specified in Required
equipment on page 265.
Shown in the figure Location of wrist
unit on page 264.
Continues on next page
3HAC026876-001 Revision: F