ABB IRB 6640 Product Manual page 211

Refitting, cable harness - lower arm, frame and base
The procedure below details how to refit the lower end of the cable harness to the robot.
How to refit the upper end is detailed in section
211.
3HAC026876-001 Revision: F
Action
1. Pull the cable and connectors down through
the cable guide in the center of the frame.
2. Reconnect connectors R1.MP and R1.SMB at
the base.
3. Reconnect the earth cable.
4. Refit the rear cover plate to the robot with its
attachment screws.
5. Reconnect all connectors at motors 1 and 2.
6. Secure the cable gland with four attachment
screws from inside the SMB recess.
Refit the velcro strap. (Shown in the figure
Location of cable harness on page
4.3.1. Replacement of cable harness, axes 1-6
Refitting, cable harness - upper arm on page
Note
Shown in the figure
harness on page
Make sure the cables are not twisted
with each other or with eventual
customer harnesses!
Make a note of the correct positions of
the connectors!
Shown in the figure
harness on page
Make a note of the correct positions of
the connectors!
Position shown in the figure
cable harness on page
Shown in the figure
harness on page
203.)
xx0700000109
• A: Cable gland
• B: Attachment screws, inside
SMB recess
4 Repair
Continued
Location of cable
203.
Location of cable
203.
Location of
203.
Location of cable
203.
Continues on next page
209