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4 Repair
4.4.2 Replacement of complete wrist unit
Continued
11
12
13
14
15
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
1
2
3
4
5
6
Continues on next page
244
Action
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
Remove the wrist unit attachment screws and
washers.
Pull the wrist unit out, lift it away and place it
on a secure surface.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
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.
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
Fit the lifting tool to the wrist unit.
CAUTION
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
Lift the wrist unit and guide it to the upper arm
tube with help of the guide pins.
Make sure the cabling from motor, axis 5 is
safely run into the arm tube and does not get
jammed.
Reconnect the motor axis 5 by connecting the
two connectors inside the upper arm tube
(R3.FB5, R3.MP5) and secure the cable
bracket with the two attachment screws to the
tube.
© Copyright 2004-2022 ABB. All rights reserved.
Note
Shown in the figure
Location of wrist
unit on page
241.
Shown in the figure
Location of wrist
unit on page
241.
Note
Art. no. is specified in
Required equip-
ment on page
242.
Shown in the figure
Location of wrist
unit on page
241.
Art. no. is specified
Location of wrist
unit on page
241.
Shown in the figure
Location of wrist
unit on page
241.
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
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