ABB IRB 6650S - 200/3.0 Product Manual page 208

4 Repair
4.3.1. Replacement of cable harness, axes 1-6
Continued
206
Action
2.
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.
3. Remove the cover, wrist unit and the cover,
upper arm tube.
4.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
5. Remove the cover of motor, axis 6 and
disconnect all connectors beneath.
6. Loosen the cable bracket in the wrist unit by
undoing the three attachment screws.
Two of the attachment screws are visibly
located at the rear attachment and the third is
located at the bottom of the cable bracket, in
the center.
7. Pick out the cabling from motor, axis 6.
8. Loosen the cable bracket in the upper arm tube
by undoing the two screws on top of the tube.
9. Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
10. Remove eventual cable straps from the
harness.
11. Remove the cable attachment, rear.
Note/Illustration
xx0200000214
A. cover, wrist unit
B. cover, upper arm tube
Shown in the figure Cable brackets of
the upper arm on page 205.
xx0200000254
• B: Attachment screws, rear of
cable bracket, 2 pcs
• C: Attachment screw, bottom of
cable bracket, 1 pc
Shown in the figure Cable brackets of
the upper arm on page 205.
Shown in the figure Location of cable
harness on page 204.
Shown in the figure Cable brackets of
the upper arm on page 205.
Continues on next page
3HAC020993-001 Revision: G