4 Repair
4.3.5. Replacement of cable harness, axes 5-6 - IRB 6640ID
3HAC026876-001 Revision: C232
© Copyright 2006-2008 ABB. All rights reserved.
4. Secure the cable clamp (C) inside the upper arm
tube.
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5. Place the cabling inside the wrist unit according
to the cable layout shown in the figure Cable
layout, wrist unit on page 231 and fasten it with
velcro straps.
Reconnect the connectors to the axis 5 and 6
motors.
Shown in the figure Location of cable
harness, axes 5-6 on page 228.
6. Wind the cabling in a spiral with four free turns.
Secure the fifth turn with two clamps (A and B) to
the bracket.
NOTE!
The cable clamps should be positioned approxi-
mately 1 m from the connector R2.M5/6.
NOTE!
Adjust the clamps to make the bend of the fifth
turn equal with the others, creating a
symmetrical spiral.
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• A: Attachment point for the
power cable, R3.MP.
• B: Attachment point for the
signal cable, R3.FB.
7. Grease the cabling with cable grease. Art. no. is specified in Required
equipment on page 228.
8. Refit the cover to the upper arm tube and the
hood to the upper arm housing.
Shown in the figure Location of cable
harness, axes 5-6 on page 228.
9. Reconnect the connector R2.M5/6 at the cable
harness division point.
Shown in the figure Location of cable
harness, axes 5-6 on page 228 .
10. Update the revolution counters! Detailed in section Updating
revolution counters on page 378.
Action Note
Continued
Continues on next page
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