ABB IRB 6620 Product Manual page 197

Refitting
The procedure below details how to refit the cable harness.
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Product manual - IRB 6620
3HAC027151-001 Revision: T
Action
Begin by refitting the cable harness lower
end (axes 1-2).
Insert the cable harness gently from the rear
into the upper arm.
Place the cabling to motor axis 6 correctly
on the upper arm and pull the connectors
carefully through the hole on top of the wrist
unit to motor, axis 6.
Reconnect all connectors at motor axes 3
(R2.MP3, R2.FB3) and 4 (R2.MP4, R2.FB4).
Refit covers motor axes 3 and 4. Make sure
to turn the revolution indicator with the
green side towards axis 4 center.
Refit the cable holder wrist unit with the
three attachment screws.
Two of the attachment screws (M6x16) are
visibly located at the rear of the cable hold-
er. The third screw (M4x10) is located at the
bottom of the cable holder, securing the
carrier.
Reconnect the motor cables axis 6 R2.MP6
and R2.FB6.
Refit cover motor, axis 6.
© Copyright 2006-2018 ABB. All rights reserved.
4.3.2 Replacement of cable harness, upper end
Note
Detailed in the section
cable harness, lower end (axes 1-2) on
page 185.
Arrange the cable harness as shown in
the figure Location of cable harness on
page 192
Shown in the figure
harness on page 192
We recommend changing the gasket on
the cover for Foundry Plus robots.
xx1500002404
xx0600003034
• A : Cable holder
• B : Attachment screws M6x16,
quality 8.8 (2 pcs)
• C . Attachment screws M4x10,
quality 8-A2F (securing the carrier)
Shown in the figure
harness on page 192
4 Repair
Continued
Replacement of
Location of cable
Location of cable
Continues on next page
197