ABB IRB 6650S Series, Руководство по эксплуатации продукта

Страница: 261 / 450

Note Action
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
11
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws. 12
Shown in the figure Location of wrist
unit on page 258 .
Remove the wrist unit attachment screws and
washers .
13
Pull the wrist unit out, lift it away and place it
on a secure surface. 14
Shown in the figure Location of wrist
unit on page 258 .
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
15
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
Note Action
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.
1
Art. no. is specified in Required equip-
ment on page 259 .
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
2
Shown in the figure Location of wrist
unit on page 258 .
Art. no. is specified Location of wrist
unit on page 258 .
Fit the lifting tool to the wrist unit. 3
CAUTION
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
4
Lift the wrist unit and guide it to the upper arm
tube with help of the guide pins.
Make sure the cabling from motor, axis 5 is
safely run into the arm tube and does not get
jammed. 5
Shown in the figure Location of wrist
unit on page 258 .
Reconnect the motor axis 5 by connecting the
two
connectors inside the upper arm tube
(R3.FB5, R3.MP5) and secure the cable
bracket with the two attachment screws to the
tube.
6
Continues on next page
Product manual - IRB 6650S 261
3HAC020993-001 Revision: Z
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.2 Replacement of complete wrist unit
Continued