4 Repair
4.3.5. Replacement of cable harness, axes 1-4 IRB 6640ID
3HAC026876-001 Revision: F238
© Copyright 2007-2010 ABB. All rights reserved.
Required equipment
Removal, cable harness, axes 1-4
The procedure below details how to remove the cable harness, axes 1-4.
Equipment, etc. Spare part no. Art. no. Note
Cable harness axes 1-4
IRB 6640ID - 200/2.55
See Spare parts
chapter.
Cable harness axes 1-4
IRB 6640ID - 170/2.75
See Spare parts
chapter.
Locking liquid Loctite 638
Used to secure the
attachment screws for the
attachment plate inside the
frame.
Standard toolkit - The content is defined in the
section Standard toolkit on
page 409.
Other tools and
procedures may be
required. See references
to these procedures in the
step-by-step instructions
below.
These procedures include
references to the tools
required.
Circuit Diagram See the chapter Circuit
diagram.
Action Note
1. In order to facilitate refitting of cable harness, 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
Axes 2 and 3 may be tilted
slightly to improve access.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and SMB.
3. Remove the rear cover plate from the robot by
removing its attachment screws.
Shown in the figure Location of
cable harness on page 237.
4. Disconnect the earth cable. Attachment point is shown in the
figure Location of cable harness
on page 237!
Continued
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