Harness / Customer Harness - ABB IRB 6400R Product On-Line Manual

Repairs
7.2 Robot Harness / Customer Harness
Refer to foldout no. 2:1, 2:3, 2:5, 2:6 and 2:10
Dismounting:
This section also applies for dismounting a customer harness, but ignore points 2-
5 below.
We recommend that a team of at least two people undertake the job of changing
a harness.
When the robot is equipped with a welding harness, this must first be removed from
the base up to the harness clamp in the base, to facilitate removal of the robot harness
(se the section about changing welding harness).
1 Remove the 4 screws <2:5/100> in the cover <2:5/15> that protects the connectors
on the base.
2 Remove the connectors R1.MP and R1.SMB from the attaching plate.
2a Remove the connectors R1.SW1, R1.SW2/3, R1.CP/CS from the attaching plate
(applies only when a customer harness is fitted).
3 Unscrew the 3 screws on motors 1, 2, and 3 and remove the covers. Remove the
connectors from the motors.
4 Remove the brake release units <2:5/6> and the cover of the series measuring
board <2:6/17> and remove the connectors.
5 Unscrew the 4 screws from the cable glands to the serial measurement board and
the brake release board on the inside of the base and pull out the cables.
6 Remove the cable guide <2:5/42> located between the lower and parallel arms by
pressing the split part so it overlaps. Open it up and take out the cables (see Figure
16).
Figure 16 Cable harness guide, axes 2, 3.
7 Remove the hose clamp from the cover <2:5/10> on the base (see Figure 14)
Product Manual IRB 6400R
Cabling
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