ABB IRB 6620 Product Manual page 182

4 Repair
4.3.1 Replacement of cable harness, lower end (axes 1-2)
Continued
Removal
The procedure below details how to remove the cable harness, axes 1-2.
1
2
3
4
Continues on next page
182
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine
to use, and take actions accord-
ingly prior to beginning the re-
pair procedure.
In order to facilitate refitting of
the cable harness, run the robot
to the specified positions:
• 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 sup-
ply to the robot
• air pressure supply to
the robot
Before entering the robot work-
ing area.
Remove the top cover, connec-
tion box from the robot by re-
moving its attachment screws.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Note
Shown in the figure Location of cable harness, axes
1-2 on page 180.
Product manual - IRB 6620
3HAC027151-001 Revision: W