ABB IRB 6600 - 175/2.55 User Manual page 444

3 Repair activities, manipulator
3.1.1 Removal of cable harness
Removal, cable
The procedure below details how to remove the upper cable harness. The separate cable that
harness, axes 5-6
goes from the connection point inside of the upper arm tube to the motor, axis 5, is not
included in this procedure. The removal of that cable is described further down in section
Removal, cable harness, axis 5 on page 29.
Please observe the following before commencing any repair work on the manipulator:
- Motors and gears are HOT after running the robot! Burns may result from touching the
motors or gears!
- Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
- Take any necessary measures to ensure that the manipulator does not collapse as parts are
removed, e.g. to secure the lower arm with fixtures if removing motor, axis 2.
The cable harnesses are sensitive to mechanical damage! They must be handled with care,
especially the connectors, in order to avoid damaging them!
Axis 5 must be oriented in the correct position (+90 °) to allow opening the motor 6 cover!
Step
28
Action
1. Remove the cover, wrist unit and the cover,
upper arm tube.
2. Remove the cover of motor, axis 6 and dis-
connect all connectors beneath.
3. Loosen the cable bracket on top of the
wrist unit by unscrewing the three attach-
ment screws.
Two of the attachment screws are located
visible at the rear attachment and the third
is located at the bottom of the cable
bracket, in the center.
4. Pick out the cabling from motor, axis 6.
5. Loosen the cable bracket in the upper arm
tube by unscrewing the two screws on top
of the tube.
6. Disconnect the two connectors (R3.FB5
and R3.MP5) in the tube.
7. Remove eventual cable straps from the
harness.
A
Note/Illustration
A
B
xx0200000214
• A: cover, wrist unit
• B: cover, upper arm tube
Specified in the figure Location of cable
harness ax 5-6 on page 27!
Shown in the figure Location of cable
harness ax 5-6 on page 27!
C
B
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 27!
Shown in the figure Location of cable
harness ax 5-6 on page 27!
3HAC 16247-1