NoteAction
Shown in the figure Cable brackets of
the upper arm on page 224.
xx0200000254
Loosen the cable bracket, wrist unit by unscrew-
ing its attachment screws.
Two of the attachment screws are visibly loc-
ated at the rear of the bracket and the third is
located at the bottom of the cable bracket, in
the center.
7
• B: Attachment screws, rear of
cable bracket (2 pcs)
• C: Attachment screw, bottom of
cable bracket
Pick out the cabling from motor, axis 6.8
Shown in the figure Cable brackets of
the upper arm on page 224.
Loosen the cable bracket, upper arm tube by
unscrewing the two screws on top of the tube.
9
Shown in the figure Location of cable
harness on page 222.
Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
10
Remove cable straps from the harness, if any.11
Shown in the figure Cable brackets of
the upper arm on page 224.
Remove the cable attachment, rear.12
Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
13
Pick out the cabling from the motors.
Gently pull the cable harness out from the up-
per arm tube.
14
Tie the connectors into bundles, to avoid
damaging them during further removal.
15
Continue removing the cable harness in lower
arm, frame and base.
16
Removing the cable harness - frame and base
Use this procedure to remove the cable harness from the frame and base.
NoteAction
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.
1
Shown in the figure Location of cable
harness on page 222.
Remove the rear cover plate from the robot by
removing its attachment screws.
2
Position shown in the figure Location
of cable harness on page 222.
Disconnect the earth cable beneath the rear
cover plate.
3
Shown in the figure Location of cable
harness on page 222.
Disconnect connectors R1.MP and R1.SMB.4
Continues on next page
226 Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
To Next Page
Loading...
