ABB IRB 6620 Product Manual page 214

4 Repair
4.4.2 Replacement of wrist unit
Continued
3
4
5
6
7
8
9
10
Refitting
1
Continues on next page
214
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 all equipment fitted to the wrist unit.
Remove the cover, wrist unit in order to reach the
cable harness.
Note
Foundry Plus
Make sure not to lose the washers placed in the
holes of the Foundry Plus gasket.
xx1400002580
Remove the cable harness, axes 5 and 6.
CAUTION
The complete wrist unit weighs 96 kg! All lifting
equipment used must be sized accordingly!
Secure the wrist unit with a roundsling in an over-
head crane.
Unscrew the eight attachment screws securing the
wrist unit.
Remove the wrist unit from the upper arm by moving
it a little back and forth until it is lose.
Action
Secure the wrist unit with a roundsling in an over-
head crane and lift it to its mounting position.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Shown in the figure in Location of
wrist unit on page 212.
Shown in the figure Location of
wrist unit on page 212.
Detailed in section Replacement
of cable harness, upper end on
page 187.
Shown in the figure Location of
wrist unit on page 212.
Note! Do not damage the cylindric-
al pin in the process.
Note
Product manual - IRB 6620
3HAC027151-001 Revision: W