4 Repair
4.4.2. Replacement of complete wrist unit
3HAC026876-001 Revision: C
254
© Copyri
ght
200
6-2008 ABB.
All rights reserved.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
7. Loosen the cable bracket, wrist unit on top of the
wrist by undoing the three attachment screws.
Two of the attachment screws are visibly located
at the rear of the bracket and the third located at
the bottom of the cable bracket, in the center.
Shown in the figure
.
xx0200000254
•
B: Attachment screws, rear
of cable bracket (2 pcs)
•
C: Attachment screw, bottom
of cable bracket
8. Pick out the cabling from motor, axis 6 and place
it safely on the tube.
9. Loosen the cable bracket in the upper arm tube by
undoing the two screws on top of the tube.
Shown in the figure
.
10. Disconnect the motor axis 5 by disconnecting the
two connectors in the upper arm tube (R3.FB5,
R3.MP5).
Shown in the figure
.
11. Fit the lifting tool to the wrist unit.
Art. no. is specified in
.
12.
CAUTION!
The complete wrist unit weighs 130 kg! All lifting
equipment used must be sized accordingly!
13. Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment screws.
14. Remove the wrist unit attachment screws and
washers.
Shown in the figure
.
15. Pull the wrist unit out, lift it away and place it on a
secure surface.
Action
Note
Action
Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the
air pressure to motors and SMB.
2. Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attachment
screws.
Art. no. is specified in
.
.
Continued
Continues on next page
Содержание IRB 6640 - 130/3.2
Страница 2: ......
Страница 14: ...How to read the product manual 3HAC026876 001 Revision C 12 Copyright 2006 2008 ABB All rights reserved ...
Страница 439: ......
Страница 442: ......
Страница 443: ...ABB Robotics S 721 68 VÄSTERÅS SWEDEN Telephone 46 0 21 344000 Telefax 46 0 21 132592 3HAC026876 001 Revision C en ...