ABB IRB 6640 Product Manual page 209

Removal, cable harness - lower arm, frame and base
The procedure below details how to remove the cable harness from the lower arm, frame and
base.
3HAC026876-001 Revision: F
Action
1. Remove the rear cover plate from the robot by
removing its attachment screws.
2. Disconnect the earth cable beneath the rear
cover plate.
3. Disconnect connectors R1.MP and R1.SMB.
4. Remove the cable holder on the frame
securing the cable harness.
5. Pull the cable and connectors up through the
cable guide in the center of the frame.
6. Disconnect all connectors at motors 1 and 2.
7. Open the SMB cover carefully.
The cable between the battery and the SMB-
unit may stay connected, in order to avoid an
update of the revolution counter. Be careful not
to let the weight of the cover strain the cable!
In order to remove the cover completely, the
connector R1.G must be disconnected! This
causes a necessary updating of the revolution
counter!
8. Disconnect connectors R2.SMB, R1.SMB1-3,
R1.SMB4-6 from the SMB unit.
Disconnect X8, X9 and X10 from the brake
release unit.
4.3.1. Replacement of cable harness, axes 1-6
Note
Shown in the figure
harness on page
Position shown in the figure
cable harness on page
Shown in the figure
harness on page
xx0700000104
4 Repair
Continued
Location of cable
203.
Location of
203.
Location of cable
203.
Continues on next page
207