ABB IRB 6640 Foundry Prime Product Manual page 225

Removing the cable harness - upper arm
Use this procedure to remove the cable harness from the upper arm of the robot.
1
2
3
4
5
6
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Action
In order to facilitate refitting of the cable har-
ness, run the robot to the specified position:
• Axis 1: 0 °
• Axis 2: 0 °
• Axis 3: 0 °
• Axis 4: 0 °
• Axis 5: +90 °
• Axis 6: no significance
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
CAUTION
Always cut the paint with a knife and grind the
paint edge when disassembling parts. See
the paint or surface on the robot before repla-
cing parts on page 219.
Remove the cover, wrist unit and the cover,
upper arm tube.
Note
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
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4.3.1 Replacing cable harness, axes 1-6
Note
Axes 2 and 3 may be tilted slightly to
improve access.
Cut
xx0200000214
A Cover, wrist unit
B Cover, upper arm tube
Continues on next page
4 Repair
Continued
225