ABB IRB 6700Inv Series Product Manual page 321

5
Attaching the lifting accessories to the wrist
1
2
3
Refitting the wrist
1
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
Action
If axis-5 is not already in position +90°,
connect the 24 VDC power supply, release
the brakes and move the axis manually into
that position.
Connect to R2.MP5-connector:
• + = pin 2
• - = pin 5
Action
CAUTION
The weight of the complete wrist is 140 kg
All lifting accessories used must be sized
accordingly.
Attach a roundsling to the wrist as shown
in the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure, to keep the
wrist balanced when it is removed. Placed
at a different position, there is a risk of
sudden change in the balance, which can
cause damage or injury.
Do not attach the roundsling around the
axis-5 gearbox!
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
Action
Lift the wrist and insert the guide pins into
the holes of the arm tube.
Tip
Leave a small opening between wrist and
arm tube. This will make it easier to run the
cable harness back into the wrist.
© Copyright 2017 - 2020 ABB. All rights reserved.
4.5.2 Replacing the wrist
Note
24 VDC power supply
Note
Roundsling, 1 m: Lifting capacity: 1,000 kg.
xx1300000673
Note
xx1300000770
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4 Repair
Continued
321