ABB IRB 6650S Series, Руководство по эксплуатации продукта

Страница: 262 / 450

Note Action
Shown in the figure Location of wrist
unit on page 258 .
Secure the wrist unit with 10 of the 12 attach-
ment screws and washers .
7
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 431 before fit-
ting.
Remove the guide pins and secure the two
remaining attachment screws as detailed
above. 8
Remove the lifting tool from the wrist unit. 9
Note
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
10
xx0200000185
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.
11
Parts:
• A: Cable straps
Shown in the figure Location of wrist
unit on page 258 .
xx0200000254
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.
12
• B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
• C: Attachment screw, bottom of
cable bracket
Reconnect the connectors to the axis-6 motor
and refit the motor cover. 13
Shown in the figure Location of wrist
unit on page 258 .
Refit the cover, upper arm tube. 14
Shown in the figure Location of wrist
unit on page 258 .
Refit the cover, wrist unit. 15
Tightening torque: 14 Nm±10%. Screw
3HAB3409-25 (with Loctite), Washer
3HAC062379-001.
Continues on next page
262 Product manual - IRB 6650S
3HAC020993-001 Revision: Z
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of complete wrist unit
Continued