ABB IRB 6660 Product Manual page 226

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
11
12
13
14
15
16
17
18
226
Action
Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
In case of excess of cable length:
• put the excess cable in a loop in the
area shown in the figure and secure
with with cable straps. Cables are
longer in order to fit different upper arm
lengths.
Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
and the third is located on the bottom of the
cable bracket, in the center.
Reconnect the connectors to the axis-6 motor
and refit the motor cover.
Refit the cover, upper arm tube.
Refit the cover, wrist unit.
Re-calibrate the robot!
Refit any equipment previously removed from
the turning disk.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2007-2018 ABB. All rights reserved.
Note
xx0200000185
Parts:
• A: Cable straps
Shown in the figure
unit on page
xx0200000254
• B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
• C: Attachment screw, bottom of
cable bracket
Shown in the figure
unit on page
Shown in the figure
unit on page
Tightening torque: 14 Nm±10%. Screw
3HAB3409-25 (with Loctite), Washer
3HAC062379-001.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 352.
General calibration information is in-
cluded in section
page 341.
First test run
28.
Location of wrist
221.
Location of wrist
221.
Location of wrist
221.
Calibrat-
Calibration on
Product manual - IRB 6660
3HAC028197-001 Revision: S