4 Repair
4.4.3. Replacement of complete wrist unit, IRB 6600ID and IRB 6650ID
3HAC023082-001 Revision: E282
© Copyright 2004-2008 ABB. All rights reserved.
4.4.3. Replacement of complete wrist unit, IRB 6600ID and IRB 6650ID
Wrist unit for robot models IRB 6600ID and IRB 6650ID
This section is only valid for robot models IRB 6600ID and IRB 6650ID. How to replace the
wrist unit on the models IRB 6600 and IRB 6650 is detailed in section Replacement of
complete wrist unit, IRB 6600 and IRB 6650 on page 277.
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Exploded
views on page 477 in part 2 of the Product manual.
xx0500001567
Required equipment
A Wrist unit
B Attachment screws and washers, wrist unit
C Upper arm tube
Equipment Spare part no. Art. no. Note
Wrist, process 3HAC 024793-001
Guide pins M12 x 200 3HAC13056-3 Always use guide pins in
pairs!
Lifting slings -
Standard toolkit - The contents are defined
in section Standard toolkit
on page 436, in part 2 of
the Product manual.
Other tools and procedures
may be required. See
references to these
procedures in the step-by-
step instructions below.
These procedures
include references to the
tools required.
Circuit diagram - See chapter Circuit
diagram in the Product
manual, reference infor-
mation.
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