ABB OmniCore IRB 6740 Product Manual

Removing the wristUse these procedures to remove the wrist.Preparations before removing the wristNoteActionDecide which calibration routine to use,and take actions accordingly prior to begin-ning the repair procedure.1Remove tools and other equipment fittedto the wrist.2xx2100002164Jog the robot into position:• Axis 1: no significance• Axis 2: jog axis 2 and 3 to a positionwhere the upper arm is horizontal• Axis 3: jog axis 2 and 3 to a positionwhere the upper arm is horizontal• Axis 4: +90°• Axis 5: +90°• Axis 6: no significance3DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the safe-guarded space.4Retrieving access to the wrist cablingUse this procedure to remove the wrist cover.NoteActionDANGERMake sure that all supplies for electricalpower, hydraulic pressure, and air pressureare turned off.1Continues on next page284 Product manual - IRB 67403HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.5 Repair5.6.1 Replacing the wristContinued