ABB IRB 6700Inv Series Product Manual page 276

4 Repair
4.5.1 Replacing the upper arm
Continued
4
5
6
7
Retrieving access to the wrist cabling
Use this procedure to remove the wrist cover to retrieve access to the axis-5 and
axis-6 motor cables.
1
2
Continues on next page
276
Action
Jog the robot to the position:
• Axis-1: a position that allows best
possible access to fit the lifting ac-
cessories to the upper arm.
• Axis-2: -35
• Axis-3: -143 (so that the upper arm
is horizontal)
• Axis-4: 0°
• Axis-5: -90°
• Axis-6: 0°
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
Remove tools and other equipment fitted
to wrist and upper arm.
Prepare an area where to put the upper
arm, after removal. On pallets, as a sugges-
tion.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
If DressPack is installed:
• Remove the bracket with the com-
plete ball joint housing still fitted, as
shown in the figure.
This is done to be able to reach the two
hidden screws that secure the wrist cover.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
xx1700000450
Note
xx1400000355
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L