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Removing the cable harness - upper arm
Use this procedure to remove the cable harness from the upper arm of the robot.
1
2
3
4
5
6
7
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
In order to facilitate refitting of the cable har-
ness, run the robot to the specified position:
•
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 supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
Remove the cover, wrist unit and the cover,
upper arm tube.
Note
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
Remove the cover of motor, axis 6 and discon-
nect all connectors beneath.
Loosen the cable bracket, wrist unit by unscrew-
ing its attachment screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third is
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6.
© Copyright 2004-2022 ABB. All rights reserved.
4.3.1 Replacing cable harness, axes 1-6
Note
Axes 2 and 3 may be tilted slightly to
improve access.
xx0200000214
A Cover, wrist unit
B Cover, upper arm tube
Shown in the figure
the upper arm on page
xx0200000254
•
B: Attachment screws, rear of
cable bracket (2 pcs)
•
C: Attachment screw, bottom of
cable bracket
Continues on next page
4 Repair
Continued
Cable brackets of
200.
201
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