ABB IRB 6620 Product Manual page 220

4 Repair
4.4.2 Replacement of wrist unit
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220
Action
CAUTION
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
Put some grease on the surface of the fit.
Check the cylindrical pin.
Fit the wrist with its 8 attachment screws and
washers.
Refit the cable harness, axes 5 and 6.
Standard
Fit the wrist cover.
Foundry Plus
Make sure the wrist cover gasket and the small
gasket fitted in the recess of the wrist cover are
undamaged. Replace if damaged.
Foundry Plus
Make sure the washers are fitted in the gasket
holes. Refit the wrist cover, Foundry Plus.
Recalibrate the robot.
© Copyright 2006-2018 ABB. All rights reserved.
Note
If the pin is damaged replace it.
M12x50 12.9 gleitmo (8 pcs)
Tightening torque: 120 Nm
Detailed in the section Replace-
ment of cable harness, upper end
on page 192.
Shown in the figure Location of
wrist unit on page 217.
xx1400002579
xx1400002580
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the cal-
ibration tools.
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 319.
General calibration information is
included in section Calibration on
page 305.
Product manual - IRB 6620
3HAC027151-001 Revision: T