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Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
Secure the wrist unit with 10 of the 12 attach-
ment screws and washers.
Remove the guide pins and secure the two
remaining attachment screws as detailed
above.
Remove the lifting tool from the wrist unit.
Note
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
In case of excess of cable length:
•
put the excess cable in a loop in the
area shown in the figure and secure
with with cable straps. Cables are
longer in order to fit different upper arm
lengths.
Fasten the cable bracket at top of the wrist
unit with three attachment screws. Two of
them are visible at the rear attachment point
and the third is located on the bottom of the
cable bracket, in the center.
Reconnect the connectors to the axis-6 motor
and refit the motor cover.
Refit the cover, upper arm tube.
Refit the cover, wrist unit.
© Copyright 2004-2022 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Note
Shown in the figure
unit on page
241.
12 pcs: M12 x 50, 12.9 quality Gleitmo.
Tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion
Screw joints on page 411
ting.
xx0200000185
Parts:
•
A: Cable straps
Shown in the figure
unit on page
241.
xx0200000254
•
B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
•
C: Attachment screw, bottom of
cable bracket
Shown in the figure
unit on page
241.
Shown in the figure
unit on page
241.
Tightening torque: 14 Nm±10%. Screw
3HAB3409-25 (with Loctite), Washer
3HAC062379-001.
Continues on next page
4 Repair
Continued
Location of wrist
before fit-
Location of wrist
Location of wrist
Location of wrist
245
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