ABB IRB 6650S Series Product Manual page 261

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Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
CAUTION
The complete wrist unit weighs 130 kg! All lift-
ing equipment used must be sized accordingly!
Slightly raise the wrist unit to unload the screw
joint, facilitating removing the attachment
screws.
Remove the wrist unit attachment screws and
washers.
Pull the wrist unit out, lift it away and place it
on a secure surface.
Disconnect the motor axis 5 by disconnecting
the two connectors in the upper arm tube
(R3.FB5, R3.MP5).
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.
Fit two guide pins, M12 in the upper arm tube,
in two of the holes for the wrist unit attach-
ment screws.
Fit the lifting tool to the wrist unit.
CAUTION
The complete wrist unit weighs 130 kg! All
lifting equipment used must be sized accord-
ingly!
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.
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.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Note
Shown in the figure
unit on page 258.
Shown in the figure
unit on page 258.
Note
Art. no. is specified in
ment on page 259.
Shown in the figure
unit on page 258.
Art. no. is specified
unit on page 258.
Shown in the figure
unit on page 258.
Continues on next page
4 Repair
Continued
Location of wrist
Location of wrist
Required equip-
Location of wrist
Location of wrist
Location of wrist
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