ABB OmniCore IRB 6740 Product Manual page 284

5 Repair
5.6.1 Replacing the wrist
Continued
Removing the wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
1
2
3
4
Retrieving access to the wrist cabling
Use this procedure to remove the wrist cover.
1
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284
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Remove tools and other equipment fitted
to the wrist.
Jog the robot into position:
• Axis 1: no significance
• Axis 2: jog axis 2 and 3 to a position
where the upper arm is horizontal
• Axis 3: jog axis 2 and 3 to a position
where the upper arm is horizontal
• Axis 4: +90°
• Axis 5: +90°
• Axis 6: no significance
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
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xx2100002164
Note
Product manual - IRB 6740
3HAC085701-001 Revision: A