ABB Robotics IRB 6790 Product Manual page 263

5
6
Removing the cable harness - wrist and upper arm
1
2
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Remove the cable gland cover.
Make sure the gasket is not damaged.
Tip
Make a note in which direction the cable
gland hole is facing, if the motor will be re-
moved too. The motor shall be refitted in
the same position.
Use caution and pull out the motor cables.
Action
Remove the cable protection by cutting the
cable ties and opening the zipper.
Remove the cover.
Note
Use caution not to damage the gasket, not
to loose the washers on the cover sealing
or not to loose the inserts fitted on the
cover.
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4.5.1 Replacing the upper arm
Note
xx1200001067
Note
A
B
xx1700001802
A Cable protection
B Cable ties
xx1200000045
Continues on next page
4 Repair
Continued
B
B
263