ABB IRB 6640 Product Manual page 217

Refitting, cabling axis 5 motor
The procedure below details how to refit the cabling to the motor of axis 5.
3HAC026876-001 Revision: F
Action
2. Remove the complete wrist unit.
3. Remove the cover of motor, axis 5.
4. Disconnect all connectors at motor, axis 5.
5. Remove the cable gland cover at the cable
exit by unscrewing its two attachment screws.
6. Remove the cable, axis 5.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
2. Reconnect all connectors at motor, axis 5.
3. Refit the cable gland cover at the cable exit
with its two attachment screws.
4. Refit the cover of motor, axis 5.
5. Refit the complete wrist unit.
6. Recalibrate the robot.
7.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
test run may cause injury or damage! on page
41.
4.3.2. Replacement of cabling, axis 5 motor
Note
Detailed in section:
• IRB
on page
• IRB 6640ID:
unit on page
Note
Detailed in section:
• IRB
on page
• IRB 6640ID:
on page
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section
information.
DANGER - First
4 Repair
Continued
6640:Removal, wrist unit
265.
Removal, wrist
270.
6640:Refitting, wrist unit
266.
Refitting, wrist unit
270.
Calibration
215