ABB IRB 6620 Product Manual page 194

4 Repair
4.3.2 Replacement of cable harness, upper end
Continued
Removal
The procedure below details how to remove the cable harness.
1
2
3
4
5
Continues on next page
194
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
In order to facilitate refitting of the cable
harness, run the robot to the specified pos-
itions:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: 0°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: no significance
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the ro-
bot
• air pressure supply to the robot
Before entering the robot working area.
Before starting the removal of cable harness
axes 3-6, first remove cable harness axes
1-2.
Remove the cover, wrist unit in order to
reach the cable harness at axes 5 and 6.
Note
Foundry Plus
Make sure not to lose the washers placed
in the holes of the foundry gasket.
xx1400002580
© Copyright 2006-2018 ABB. All rights reserved.
Note
Detailed in the section Replacement of
cable harness, lower end (axes 1-2) on
page 185.
xx0600003024
• A : Cover, wrist unit
Product manual - IRB 6620
3HAC027151-001 Revision: T