Removing The Cable Harness - Upper Arm And Wrist; Preparations Before Removing The Cable Harness - ABB IRB 6700 Product Manual

4 Repair
4.4.1 Removing the cable harness
Continued

Removing the cable harness - upper arm and wrist

These procedures describes how to remove the cable harness in the upper arm
and wrist.

Preparations before removing the cable harness

1
2
3
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Action
Note
The specified position shown below is a
recommended position.
Depending on what tool is used, one or
more axes need to be jogged to another
position.
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
Axis-5 must be oriented as close as pos-
sible to +90° to be able to open the axis-6
motor cover and to remove the axis-6 motor
cables.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
© Copyright 2013 ABB. All rights reserved.
Note
Note
In order not to get the spiral in the carrier
unwound or in the wrong position, keep
axis-5 as close as possible to +90°.
3HAC044266-001 Revision: -