ABB OmniCore IRB 6720 Product Manual page 244

5 Repair
5.4.1 Replacing the arm house cover including the axis-4 cassette sealing
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Action
Unscrew the attachment screws and re-
move the motor cover.
Remove the connector bracket.
Remove the connector screw.
Disconnect the motor cables.
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Product manual - IRB 6720
3HAC085697-001 Revision: C