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Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
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2
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6
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9
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Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
Remove all equipment fitted to the turning disk.
Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Turn
axis 5 to +90°.
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 the cover, wrist unit.
Remove the cover, upper arm tube.
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6 and
place it safely on the tube.
Fit the lifting accessory to the wrist unit.
© Copyright 2004-2022 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Note
xx0200000185
Shown in the figure
unit on page
241.
Shown in the figure
unit on page
241.
Shown in the figure
unit on page
241.
xx0200000254
•
B: Attachment screws, rear of
cable bracket (2 pcs)
•
C: Attachment screw, bottom of
cable bracket
Art. no. is specified in
equipment on page
Continues on next page
4 Repair
Continued
Location of wrist
Location of wrist
Location of wrist
Required
242.
243
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