4 Repair
4.3.6. Replacement of cable harness, axes 5-6 - IRB 6640ID
2493HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
5. Place the cabling inside the wrist unit according
to the cable layout shown in the figure Cable
layout, wrist unit on page 248 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 245.
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.
xx0500001909
• 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 246.
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 245.
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 245 .
10. Update the revolution counters! Detailed in the section Updating
revolution counters on page 392.
11.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run
may cause injury or damage! on page 41.
Action Note
Continued
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