ABB IRB 6640 Foundry Prime Product Manual page 151

Location of cable harness, axes 1-4
The robot cable harness, axes 1-4, is located as shown in the figure below.
IRB 6640 Standard
xx0600003434
A
B
C
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Lower arm
SMB/BU unit (battery pack RMU 3HAC16831-1 is shown, note that there are
different battery versions)
Connectors at base
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3 Maintenance
3.3.8 Inspecting the cable harness
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