ABB IRB 6640 Product Manual page 273

3HAC026876-001 Revision: F
Action
3.
CAUTION!
The complete wrist unit weighs 187 kg! All lifting
equipment used must be sized accordingly!
4. Attach the lifting slings to the wrist unit and lift it to the
upper arm tube.
5. Insert the cabling and connectors through the wrist
unit and match the wrist against the upper arm tube
with guidance from the guide pins.
6. Secure the wrist unit with 10 of the 12 attachment
screws and washers.
7. Remove the guide pins and secure the two remaining
attachment screws as detailed above.
8. Reconnect the motor connectors to the motors, axes
5 and 6. Fasten the cabling as shown in the cable
layout in the figure Cable layout, wrist unit on page
248.
9. Recalibrate the robot.
10. Refit any equipment previously removed from the
turning disk.
11.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
cause injury or damage! on page
4.4.3. Replacement of complete wrist unit, IRB 6640ID
DANGER - First test run may
41.
4 Repair
Continued
Note
Shown in the figure Location of
wrist unit on page 269Location of
wrist unit on page 269.
12 pcs; M12 x 50, 12.9 quality
UNBRAKO. Tightening torque:
115 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in the section Screw
joints on page 405 before fitting.
Calibration is detailed in a
separate calibration manual
enclosed with the calibration
tools.
General calibration information
is included in the section
Calibration information.
271