ABB IRB 7600 Series Product Manual page 263

Removal, cable harness, axes 5-6
The procedure below details how to remove the upper arm cable harness.
1. Position the upper arm as follows:
2.
3. Remove the left hand side wrist cover by unscrewing its
4.
5. Disconnect all connectors at motor 5 and motor 6.
6. Remove the plastic cover on the rear of the upper arm,
7. Remove the spiral plate by unscrewing the screw at the
8. Remove eventual cable straps from the harness.
9. Disconnect connector R2.M5/6 at the cable harness
10. Remove the cable attachment inside the upper arm.
11. Gently pull the cable harness out.
Refitting, cable harness, axes 5-6
The procedure below details how to refit the upper cable harness.
1. Position the upper arm as follows:
2. Gently insert the cable harness from the rear into the
3. Pull the small spiral plate past motor 5.
4. Route the cables outside the heat protection plate.
3HAC022033-001 Revision: K
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Action
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
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.
attachment screws.
NOTE!
Axis 5 must be oriented in the correct position (+90º) to
allow the motor 6 cover to open!
by removing the attachment screws.
bottom of the spiral cup.
division.
Action
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
upper arm.
4.3.2. Replacement of cable harness, axes 5-6
Note
Specified in the figure
Location of cable harness ax
5-6 on page
Shown in the figure
of cable harness ax 5-6 on
page 260.
Note
4 Repair
Continued
260.
Location
Continues on next page
261