ABB IRB 6400R Product On-Line Manual page 405

Cabling
8 Pull the harness up through the base from the front side of the robot.
9 Remove the cover <2:1/7> on the arm housing and unscrew the holders for cable
guide <2:1/251> and cable guide <2:1/252> from the tubular shaft.
10 Remove the 4 screws on top of motor 4 and remove the connectors. Unscrew the
screws for the clamping strap fixture below motor 4 (new clamping strap fixtures
are included with the harness).
11 Remove the cover <2:3/13> on the upper arm tube and remove the connectors to
motors 5 and 6.
12 Remove the harness fixtures underneath the arm housing and on the front side of
the upper part of the upper arm.
13 Pull the harness out of the tubular axle and down through the lower arm.
It should be remembered that connectors and wiring are sensitive parts of a har-
ness and must be treated with care.
Mounting
14 Start by pulling the harness up through the lower arm and pre-fit the attachment
plate for the fixture in the arm housing (there is insufficient space to do this when
the harness is in position).
15 The cables to motor 4 are then pulled through the arm housing and fitted before the
cables to motors 5 and 6 are pulled through the arm housing.
16 The harness is twisted ½ turn between the attachments in the under arm and upper
arm so that the cables have the same length when they are subjected to bending
(this twist must be retained).
17 Position the various harnesses correctly in the cover on the base (see Figure 17).
18 Position the screws for the hose clamps at the correct places (see Figure 14).
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Repairs
Product Manual IRB 6400R