ABB IRB 6650S Series, Руководство по эксплуатации продукта

Страница: 260 / 450

Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Note Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure. 1
Remove all equipment fitted to the turning disk. 2
xx0200000185
Turn axis 4 to a position where the cover, upper
arm tube and wrist unit, faces upwards. Turn
axis 5 to +90°.
3
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
4
Shown in the figure Location of wrist
unit on page 258 .
Remove the cover, wrist unit . 5
Shown in the figure Location of wrist
unit on page 258 .
Remove the cover, upper arm tube. 6
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath. 7
Shown in the figure Location of wrist
unit on page 258 .
xx0200000254
Loosen the cable bracket, wrist unit on top of
the wrist by undoing the three attachment
screws.
Two of the
attachment screws are visibly loc-
ated at the rear of the bracket and the third
located at the bottom of the cable bracket, in
the center.
8
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Pick out the cabling from motor, axis 6 and
place it safely on the tube. 9
Art. no. is specified in Required
equipment on page 259 .
Fit the lifting accessory to the wrist unit. 10
Continues on next page
260 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