ABB IRB 7600 Series Product Manual page 257

12. Remove the cable gland securing the cables to the
13. Remove the velcro strap from the harness at the
14. Disconnect connector R2.M5/6 at the cable division
15. Disconnect all connectors at motor 3 and motor 4.
16. Gently pull the cable harness out.
Refitting, cable harness, axes 1-4
The procedure below details how to refit the cable harness, axes 1-4.
1.
2. In order to facilitate refitting of cable harness,
3HAC022033-001 Revision: K
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Action
arm house.
cable fixing bracket at the arm house.
point.
Action
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but not the
air pressure to the gearboxes, motors and SMB.
move the robot to the specified position:
• Axis 1: 0 degrees
• Axis 2: 0 degrees
• Axis 3: 0 degrees
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
4.3.1. Replacement of cable harness, axes 1-4
Note
xx0100000143.wmf
Shown in the figure
cable harness on page
Shown in the figure
cable harness on page
Specified and shown in the figure
Location of cable harness on
page 251!
Note
Axes 2 and 3 may be tilted slightly
to improve access.
4 Repair
Continued
Location of
251.
Location of
251!
Continues on next page
255