Product manual

Motors and Gears Axes 4-6 Repairs
18 Product Manual IRB 6400R
4.4 Wrist
Refer to foldout 2:8
Dismounting:
1. Remove the cables to motor axis 6 as in 7.3 Cabling, axis 6.
2. Attach a hoist to the wrist, so that it cannot rotate. See Figure 3 To prevent the
wrist from rotating..
Figure 3 To prevent the wrist from rotating.
3. Unscrew screws <6>.
4. Pull out the wrist from the upper arm (if an arm extender is mounted, the cables
must be dismounted before pulling out the wrist) see chapter 4.5 Arm extender.
5. Dismount cables to motor axis 5
Mounting:
6. Mount cables to motor axis 5.
7. Lubricate screws <6> with Molycote 1000 and tighten with a torque of 120 Nm.
8. Mount cabling to axis 6.
9. Pressure test Foundry robots as described in Chapter 7.3, Cabling, axis 6.
10. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screw joint wrist/tube shaft, item 33: 120 Nm