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4 Repair
4.3.3 Replacement of cable harness, axes 5-6
Continued
5
6
7
8
9
10
11
12
Refitting, cable harness, axes 5-6
The procedure below details how to refit the upper arm cable harness. The separate
cable that goes from the connection point inside of the upper arm tube to the motor,
axis 5, is not included in this procedure. The refitting of that cable is described
further down in section
1
2
3
Continues on next page
226
Action
Loosen the cable bracket on top of the wrist
unit by undoing the three attachment screws.
Two of the attachment screws are visibly loc-
ated at the rear attachment and the third is
located at the bottom of the cable bracket, in
the center.
Pick out the cabling from motor, axis 6.
Loosen the cable bracket in the upper arm tube
by undoing the two screws on top of the tube.
Disconnect the two connectors (R3.FB5 and
R3.MP5) in the tube.
Remove eventual cable straps from the har-
ness.
Remove the cable attachment, rear.
Disconnect connector R2.M5/6 at the cable
harness division point.
Gently pull the cable harness out.
Refitting, cabling axis 5 motor on page
Action
Position the upper arm as follows:
•
Axis 4: 0 degrees
•
Axis 5: +90 degrees
•
Axis 6: no significance
Gently insert the cable harness from the rear
into the upper arm.
Connect the two connectors inside the upper
arm tube, R3.FB5 and R3.MP5 and secure the
cable bracket with the two attachment screws
to the tube.
© Copyright 2004-2022 ABB. All rights reserved.
Note/Illustration
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
xx0200000254
•
B: Attachment screws, rear of
cable bracket, 2 pcs
•
C: Attachment screw, bottom of
cable bracket, 1 pc
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
230.
Note/Illustration
Shown in the figure
Location of cable
harness ax 5-6 on page
224.
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
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