ABB Robotics IRB 6790 Product Manual page 284

4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-6 motor cables
1
2
3
4
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284
Action
Make sure that the cable harness is placed
in a way that it will not be damaged when
the cover is fitted.
Note
Axis 5 must be in position +90° (or as close
as possible) for a correct installation of the
cable harness in the wrist. If not, connect
the 24 VDC power supply, release the
brakes and move axis 5 manually to +90°.
Push the cable harness into the wrist re-
cess and up into the axis-6 motor.
Push the carrier carefully into position.
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Product manual - IRB 6790
3HAC063331-001 Revision: B