NoteAction
xx0200000185
Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of the wrist unit to
motor axis 6.
In case of excess of cable length:
• put the excess cable in a loop in the
area shown in the figure and secure with
cable straps. Cables are longer in order
to fit different upper arm lengths.
10
• A: Cable straps
xx0200000254
Fasten the cable bracket, wrist unit with its at-
tachment screws. Two screws are visible at
the rear attachment point of the bracket and
the third is located at the bottom of the cable
bracket, in the center.
Note
Do not use stainless attachment screws!
There is a potential risk of galvanic corrosion.
11
• B: Attachment screws, rear at-
tachment point of cable bracket
(2 pcs)
• C: Attachment screw, bottom of
cable bracket (1 pc)
Foundry robots:Reconnect the connectors to motor, axis 6 and
refit the motor cover.
12
It is recommended to use a new gasket
on cover.
xx0200000214
Refit the cover, upper arm tube and the cover,
wrist unit.
Make sure the cabling is placed correctly when
refitting the covers, and does not get jammed.
13
Parts:
• A: Cover, wrist unit. Tightening
torque: 14 Nm.
Add Loctite to screw before
fastening. Screw 3HAB3409-25,
Washer 3HAC062379-001
• B: Cover, upper arm tube
If any cable straps have been removed, refit
them to the harness.
14
Shown in the figure Cable brackets of
the upper arm on page 224.
Refit the cable attachment, rear.15
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
16
Continues on next page
Product manual - IRB 6640 Foundry Prime 235
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
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