ABB IRB 6600 - 175/2.55 User Manual page 442

3 Repair activities, manipulator
3.1.1 Removal of cable harness
Step
26
Action
7. Open the SMB cover carefully.
The cable between the battery and the SMB-
unit may stay connected, in order to avoid
recalibration of the robot. Be careful not to let
the weight of the cover strain the cable!
In order to remove the cover completely, the
connector R1.G must be disconnected! This
causes a necessary recalibration of the
robot!
8. Disconnect connectors R2.SMB, R1.SMB1-
3, R1.SMB4-6. Disconnect X8, X9 and X10.
9. Unscrew the four screws securing the cable
gland.
10. Remove the adapter plate from the harness
by removing its two attachment screws and
the velcro strap.
11. Remove the bracket securing the cables
inside the lower arm by unscrewing the nuts
from the stud bolts securing the clamp to the
lower arm.
12. Remove the upper bracket securing the
cables to the arm house by unscrewing its
two attachment screws.
13. Disconnect connector R2.M5/6 at the rear
cable division point.
14. Disconnect all connectors at motor 3 and
motor 4.
15. Gently pull the cable harness out.
A
Note/Illustration
R 2.S MB
X8, X9, X10
R 1.S MB1-3
R 1.S MB4-6
R 1.G
R 2.G
xx0200000118.wmf
This releases the cable harness from
the frame.
Note! Different manipulator versions
are fitted with different plate versions.
Make sure the correct one is used to
avoid cable failure.
FB5
FB4
FB6
FB3
MP3
MP4
MP6
MP5
xx0100000142.wmf
MP5
MP6
MP3
MP
FB3
FB6
FB4
FB5
xx0100000143.wmf
Shown in the figure Location com-
plete cable harness on page 24!
Specified in the figure Location com-
plete cable harness on page 24!
3HAC 16247-1