4 Repair
4.4.2. Replacement of complete wrist unit
3HAC026876-001 Revision: F
264
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ght
200
7-2010 ABB.
All rights reserved.
4.4.2. Replacement of complete wrist unit
Wrist unit for robot models IRB 6640ID
This section is valid for robot models IRB 6640. How to replace the wrist of the models IRB
6640ID is detailed in section
Replacement of complete wrist unit, IRB 6640ID on page 269
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
Upper arm
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID)
.
Upper arm inc. wrist unit, motors ax. 3- 6
.
xx0700000343
A
Wrist unit
B
Turning disk
C
Cover, wrist unit
D
Cover, upper arm tube
E
Connectors, upper arm tube, with cable bracket (R3.FB5, R3.MP5)
F
Cable bracket
G
Attachment piont for lifting tool, wrist unit
H
Wrist unit attachment screws and washers
I
Upper arm tube
Continues on next page
Содержание IRB 6640
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