ABB IRB 6640 Product Manual page 238

4 Repair
4.3.4. Replacement of cable harness, Cleanroom
Continued
10.
236
Action
4. Reconnect all connectors on the connection plate
axis 3.
5. Reconnect all connectors at motor axis 3 and motor
axis 4.
6. Fit the metal clamp to the armhouse with its
attachment screws.
7. Carefully insert the cable harness from the rear, into
the upper arm tube.
8. Continue refitting the cable harness to motor axis 5
and motor axis 6 as well as to the wrist.
This procedure is the same as for the standard
cable harness of the robot.
9. Fit the cover at the back of the upper arm tube with
its attachment screws.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run may
cause injury or damage! on page
Note
xx0800000055
Parts:
•
Shown in the figure
cable harness, Cleanroom on
page 224.
xx0800000057
Parts:
•
Detailed in section
harness - upper arm on page
Shown in the figure
cable harness, Cleanroom on
page 224.
41.
3HAC026876-001 Revision: F
A: Connectors (at
connection plate axis 3)
Location of
A: Metal clamp
Refitting, cable
211.
Location of