ABB Robotics IRB 6790 Product Manual page 196

4 Repair
4.4.1 Removing the cable harness
Continued
4
5
6
7
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196
Action
Tip
Use tape and tie the axis-5 and axis-6
connectors and carrier into a bundle (if not
already done). This is done to facilitate the
removal and to avoid damaging the parts.
This will also make it easier to run the cable
harness through the inside of the upper
arm.
Remove the side cover on the arm tube.
Unscrew the screws and remove the seal-
ing washers, holding the metal clamp inside
the arm tube.
Remove the four nuts at the cable plate
between the wrist and the upper arm tube,
by reaching into the upper arm tube
through the arm tube side hole.
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Product manual - IRB 6790
3HAC063331-001 Revision: B