ABB IRB 6650S - 200/3.0 Product Manual page 230

4 Repair
4.3.3. Replacement of cable harness, axes 5-6
Continued
228
Action
4. Place the cabling to motor, axis 6, correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
5. Fasten the cable bracket, wrist unit with three
attachment screws, two of them visible at the
rear attachment point and the third located on
the bottom of the cable bracket, in the center.
6. Reconnect the connectors to motor, axis 6 and
refit the motor cover.
7. Refit the cover, upper arm and the cover, wrist
unit.
Make sure the cabling is placed correctly when
refitting the covers, and does not get jammed.
8. If any cable straps have been removed, refit
them to the harness.
9. Refit the cable attachment, rear.
10. Reconnect connector R2.M5/6 gently at the
rear cable division point with two screws, M6.
Be careful not to bend the attachment plate
when fastening the screws!
11. Update the revolution counter!
Note/Illustration
xx0200000185
• In case of excess cable length:
put a loop of cable in this area
with cable straps (A). The
cables are longer in order to fit
different upper arm lengths.
Also shown in the figure Location of
cable harness ax 5-6 on page
xx0200000254
• B: Attachment screws, rear of
cable bracket.
• C: Attachment screw, bottom of
cable bracket.
xx0200000214
• A: cover, wrist unit
• B: cover, upper arm tube
Shown in the figure Location of cable
harness ax 5-6 on page 225!
Shown in the figure Location of cable
harness ax 5-6 on page 225!
Detailed in section Updating revolution
counters on page 370.
3HAC020993-001 Revision: G
225!