Complete Robot; Replacement Of Cable Harness, Axes 1-6 - ABB IRB 6640 Product Manual

4.3 Complete robot

4.3.1. Replacement of cable harness, axes 1-6

General
This section details how to replace the cable harness that runs undivided from axis 1 to axis 6.
Replacement or cable harness for Foundry Prime
For replacement of cable harness on robots with option Foundry Prime, see Replacement of
cable harness, axis 1-6 - Option Foundry Prime, 3HAC037959-005 (available on ABB
Library).
Location of cable harness
The cable harness of axes 1-6 is run throughout the robot as shown in the figure below.
xx0700000102
A
B
C
D
E
F
G
3HAC026876-001 Revision: F
Connectors at motor, axis 2 (R2.FB2, R2.MP2)
Connectors at motor, axis 1 (R2.FB1, R2.MP1)
Rear cover plate
Earth (attachment point is placed under the cover plate)
Cable harness
Cable holder
Velcro strap
4.3.1. Replacement of cable harness, axes 1-6
4 Repair
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