ABB IRB 6640 Foundry Prime Product Manual page 226

4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
7
8
9
10
11
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16
Removing the cable harness - frame and base
Use this procedure to remove the cable harness from the frame and base.
1
2
3
4
Continues on next page
226
Action
Loosen the cable bracket, wrist unit by unscrew-
ing its attachment screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third is
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6.
Loosen the cable bracket, upper arm tube by
unscrewing the two screws on top of the tube.
Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
Remove cable straps from the harness, if any.
Remove the cable attachment, rear.
Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
Pick out the cabling from the motors.
Gently pull the cable harness out from the up-
per arm tube.
Tie the connectors into bundles, to avoid
damaging them during further removal.
Continue removing the cable harness in lower
arm, frame and base.
Action
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 rear cover plate from the robot by
removing its attachment screws.
Disconnect the earth cable beneath the rear
cover plate.
Disconnect connectors R1.MP and R1.SMB.
© Copyright 2011-2018 ABB. All rights reserved.
Note
Shown in the figure Cable brackets of
the upper arm on page
xx0200000254
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Shown in the figure Cable brackets of
the upper arm on page
Shown in the figure Location of cable
harness on page 222.
Shown in the figure Cable brackets of
the upper arm on page
Note
Cut
Shown in the figure Location of cable
harness on page 222.
Position shown in the figure
of cable harness on page
Shown in the figure Location of cable
harness on page 222.
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
224.
224.
224.
Location
222.