ABB IRB 6640 Foundry Prime

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Removing the cable harness - upper arm

Use this procedure to remove the cable harness from the upper arm of the robot.

NoteAction

Axes 2 and 3 may be tilted slightly to

improve access.

In order to facilitate refitting of the cable har-

ness, run the robot to the specified position:

• Axis 1: 0 °

• Axis 2: 0 °

• Axis 3: 0 °

• Axis 4: 0 °

• Axis 5: +90 °

• Axis 6: no significance

DANGER

Turn off all:

• electric power supply to the robot

• hydraulic pressure supply to the robot

Before entering the robot working area.

CAUTION

Always cut the paint with a knife and grind the

paint edge when disassembling parts. See Cut

the paint or surface on the robot before repla-

cing parts on page 219.

xx0200000214

Remove the cover, wrist unit and the cover,

upper arm tube.

A Cover, wrist unit

B Cover, upper arm tube

Note

Axis 5 must be oriented in the correct position

(+90º) to allow the motor 6 cover to open!

Remove the cover of motor, axis 6 and discon-

nect all connectors beneath.

Continues on next page

Product manual - IRB 6640 Foundry Prime 225

3HAC040586-001 Revision: N

4 Repair

4.3.1 Replacing cable harness, axes 1-6

Continued

ABB IRB 6640 Foundry Prime - Page 225