ABB IRB 6660 Product Manual page 224

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
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224
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Remove the cover, wrist unit.
Remove the cover, upper arm tube.
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6 and
place it safely on the tube.
Fit the lifting accessory to the wrist unit.
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
Remove the wrist unit attachment screws and
washers.
Pull the wrist unit out, lift it away and place it
on a secure surface.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
© Copyright 2007-2018 ABB. All rights reserved.
Note
Shown in the figure Location of wrist
unit on page 221.
Shown in the figure Location of wrist
unit on page 221.
Shown in the figure Location of wrist
unit on page 221.
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 222.
Shown in the figure Location of wrist
unit on page 221.
Shown in the figure Location of wrist
unit on page 221.
Product manual - IRB 6660
3HAC028197-001 Revision: S