ABB IRB 6640 Product Manual page 208

4 Repair
4.3.1. Replacement of cable harness, axes 1-6
Continued
206
Action
4.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
5. Remove the cover of motor, axis 6 and
disconnect all connectors beneath.
6. Loosen the cable bracket, wrist unit by undoing
the three attachment screws.
Two of the attachment screws are visibly
located at the rear of the bracket and the third
is located at the bottom of the cable bracket, in
the center.
7. Pick out the cabling from motor, axis 6.
8. Loosen the cable bracket, upper arm tube by
undoing the two screws on top of the tube.
9. Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
10. Remove eventual cable straps from the
harness.
11. Remove the cable attachment, rear.
12. Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
Pick out the cabling from the motors.
13. Gently pull the cable harness out from the
upper arm tube.
14. Tie the connectors into bundles, to avoid
damaging them during further removal.
15. Continue removing the cable harness as
detailed in following procedure.
Note
Shown in the figure Cable brackets of
the upper arm on page 205.
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 205.
Shown in the figure Location of cable
harness on page 203.
Shown in the figure Cable brackets of
the upper arm on page 205.
Continues on next page
3HAC026876-001 Revision: F