ABB IRB 6640 Product Manual page 232

4 Repair
4.3.4. Replacement of cable harness, Cleanroom
Continued
Removal cable harness - upper end
The procedure below details how to remove the upper end of the cable harness, Cleanroom.
230
Action
1. Remove the cover at the back of the upper arm tube
by removing its attachment screws.
2. Remove the cable harness from motor axis 5 and
motor axis 6, as well as from the wrist.
This procedure is the same as for the standard
cable harness of the robot.
3. Remove the cable clamp on the armhouse by
removing its attachment screws.
4. Disconnect all connectors at motor axis 3 and motor
axis 4.
5. Carefully pull out the cable harness from the upper
arm tube.
6. Disconnect all connectors at the connection plate
axis 3.
7. Open the the gripping clamp on the bracket for cable
clamp.
8. Remove the cable harness from the robot.
Note
Shown in the figure Location of
cable harness, Cleanroom on
page 224.
Detailed in section Removal,
cable harness - upper arm on
page 205.
Shown in the figure Location of
cable harness, Cleanroom on
page 224.
Shown in the figure Location of
cable harness, Cleanroom on
page 224.
xx0800000055
Parts:
• A: Connectors (at
connection plate axis 3)
xx0800000056
Parts:
• A: Gripping clamp
• B: Cable harness
• C: Bracket for cable clamp
Continues on next page
3HAC026876-001 Revision: F