ABB IRB 6600 - 175/2.55 User Manual page 467

Required equip-
ment
Equipment etc.
Wrist, 175/2.55
Wrist, 225/2.55, 175/2.8,
125/3.2 or 200/2.75
Guide pin M12 x 200
Lifting tool, wrist unit
Standard toolkit
Other tools and proce-
dures may be required.
See references to these
procedures in the step-
by-step instructions
below.
Refitting, wrist
The procedure below details how to refit the complete wrist unit.
unit
Please observe the following before commencing any repair work on the manipulator:
- Motors and gears are HOT after running the robot! Burns may result from touching the
motors or gears!
- Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
- Take any necessary measures to ensure that the manipulator does not collapse as parts are
removed, e.g. to secure the lower arm with fixtures if removing motor, axis 2.
Axis 5 must be oriented in the correct position (+90 °) to allow opening the motor 6 cover!
The complete wrist unit weighs 165 kg! All lifting equipment used must be dimensioned
accordingly!
Step
3HAC 16247-1
Spare part no. Art. no.
3HAC 16627-1
3HAC 16626-1
Action
1. Fit two guide pins, M12 in the upper arm
tube, in two of the wrist unit attachment
screw holes.
2. Fit the lifting tool to the wrist unit.
A
3 Repair activities, manipulator
3.2.4 Refitting of complete wrist unit
Note
Includes complete axis 6,
3HAC 9744-1/3HAC 16032-1
(Foundry).
Includes rotational motor incl.
gearbox, 3HAC 7941-29.
Includes complete axis 6,
3HAC 13890-1/2 (Foundry).
Includes rotational motor incl.
gearbox, 3HAC 7941-30.
3HAC 13056-3 Always use guide pins in
pairs!
3HAC 13605-1
The contents are defined in
section Standard toolkit on
page 18!
These procedures include ref-
erences to the tools required.
Note/Illustration
Art. no. specified in Required equip-
ment on page 51!
Shown in the figure Location of wrist
unit on page 50!
Art. no. specified Location of wrist unit
on page 50!
51