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4 Repair
4.4.3. Replacement of complete wrist unit, IRB 6640ID
Continued
Removal, wrist unit
The procedure below details how to remove the complete wrist unit from the robot.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit to the robot.
258
Action
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. Remove all equipment fitted to the turning disk.
3. Remove the integrated spotpack cabling.
4. Disconnect the connectors from motors, axes 5 and
6. Loosen the cabling from the wrist unit.
5. Support the weight of the wrist unit with lifting slings.
6.
CAUTION!
The complete wrist unit weighs 187 kg! All lifting
equipment used must be sized accordingly!
7. Slightly raise the wrist unit to unload the screw joint,
facilitating removal of the attachment screws.
8. Remove the attachment screws and washer from
the wrist unit.
9. Lift away the wrist unit and place it on a secure
surface. Be careful not to damage the cabling and
the motor connectors while running them through
the wrist during removal!
Action
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 the two guide pins in the upper arm tube, in two of
the attachment holes for the wrist unit.
Note
How to remove the DressPack
harness from the upper arm and
wrist unit is detailed in the Product
manual - DressPack/SpotPack.
Note
Art. no. is specified in
Required
equipment on page 257Required
equipment on page
257.
Continues on next page
3HAC026876-001 Revision: C
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