ABB IRB 6620 - Page 194

Removal
The procedure below details how to remove the cable harness.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
1
In order to facilitate refitting of the cable
harness, run the robot to the specified pos-
itions:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: 0°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: no significance
2
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the ro-
bot
• air pressure supply to the robot
Before entering the robot working area.
3
Detailed in the section Replacement of
cable harness, lower end (axes 1-2) on
page 185.
Before starting the removal of cable harness
axes 3-6, first remove cable harness axes
1-2.
4
xx0600003024
Remove the cover, wrist unit in order to
reach the cable harness at axes 5 and 6.
Note
Foundry Plus
Make sure not to lose the washers placed
in the holes of the foundry gasket.
xx1400002580
5
• A : Cover, wrist unit
Continues on next page
194 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.3.2 Replacement of cable harness, upper end
Continued