ABB IRB 6640 Product Manual page 214

4 Repair
4.3.1. Replacement of cable harness, axes 1-6
Continued
10. Fasten the cable bracket, wrist unit with its
212
Action
5. Refit the velcro strap at the guide plate axis 2. Shown in the figure
6. Gently insert the cable harness from the rear
into the upper arm.
7. Connect the two connectors inside the upper
arm tube, R2.FB5 and R3.MP5 and secure the
cable bracket with its two attacment screws to
the tube.
8.
NOTE!
The position of axis 6 must be +90° for a
correct installation of the cable harness.
9. Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of the wrist unit to
motor axis 6.
In case of excess of cable length:
• put the excess cable in a loop in the
area shown in the figure and secure
with cable straps. Cables are longer in
order to fit different upper arm lengths.
three attachment screws. Two screws are
visible at the rear attachment point of the
bracket and the third is located at the bottom of
the cable bracket, in the center.
11. Reconnect the connectors to motor, axis 6 and
refit the motor cover.
Note
Location of cable
harness on page 203.
Shown in the figure Cable brackets of
the upper arm on page 205.
xx0200000185
• A: Cable straps
xx0200000254
• B: Attachment screws, rear
attachment point of cable
bracket
• C: Attachment screw, bottom of
cable bracket
Continues on next page
3HAC026876-001 Revision: F