ABB IRB 6640 Product Manual page 251

3HAC026876-001 Revision: F
4.3.6. Replacement of cable harness, axes 5-6 - IRB 6640ID
Action
5. Place the cabling inside the wrist unit according
to the cable layout shown in the figure
layout, wrist unit on page 248
velcro straps.
Reconnect the connectors to the axis 5 and 6
motors.
6. Wind the cabling in a spiral with four free turns.
Secure the fifth turn with two clamps (A and B) to
the bracket.
NOTE!
The cable clamps should be positioned approxi-
mately 1 m from the connector R2.M5/6.
NOTE!
Adjust the clamps to make the bend of the fifth
turn equal with the others, creating a
symmetrical spiral.
7. Grease the cabling with cable grease.
8. Refit the cover to the upper arm tube and the
hood to the upper arm housing.
9. Reconnect the connector R2.M5/6 at the cable
harness division point.
10. Update the revolution counters!
11.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
may cause injury or damage! on page
Cable
and fasten it with
DANGER - First test run
41.
4 Repair
Note
Shown in the figure Location of cable
harness, axes 5-6 on page
xx0500001909
• A: Attachment point for the
power cable, R3.MP.
• B: Attachment point for the
signal cable, R3.FB.
Art. no. is specified in Required
equipment on page 246.
Shown in the figure Location of cable
harness, axes 5-6 on page
Shown in the figure Location of cable
harness, axes 5-6 on page 245
Detailed in the section Updating
revolution counters on page
Continued
245.
245.
.
392.
249