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4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
8
9
10
11
12
13
14
15
Removing the cable harness - frame and base
Use this procedure to remove the cable harness from the frame and base.
1
2
3
4
5
6
Continues on next page
202
Action
Loosen the cable bracket, upper arm tube by
unscrewing the two screws on top of the tube.
Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
Remove cable straps from the harness, if any.
Remove the cable attachment, rear.
Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
Pick out the cabling from the motors.
Gently pull the cable harness out from the up-
per arm tube.
Tie the connectors into bundles, to avoid
damaging them during further removal.
Continue removing the cable harness in lower
arm, frame and base.
Action
Remove the rear cover plate from the robot by
removing its attachment screws.
Disconnect the earth cable beneath the rear
cover plate.
Disconnect connectors R1.MP and R1.SMB.
Pull the cable and connectors up through the
cable guide in the center of the frame.
Disconnect all connectors at motors 1 and 2.
Open the SMB cover carefully.
The cable between the battery and the SMB-
unit can stay connected, in order to avoid an
update of the revolution counter. Be careful
not to let the weight of the cover strain the
cable!
Note
In order to remove the cover completely, the
connector R1.G must be disconnected! This
causes a necessary updating of the revolution
counter!
© Copyright 2004-2022 ABB. All rights reserved.
Note
Shown in the figure
Cable brackets of
the upper arm on page
200.
Shown in the figure
Location of cable
harness on page
198.
Shown in the figure
Cable brackets of
the upper arm on page
200.
Note
Shown in the figure
Location of cable
harness on page
198.
Shown in the figure
Location of cable
harness on page
198.
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
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