Removing the cable harness - upper arm and wrist
These procedures describes how to remove the cable harness in the upper arm
and wrist.
Preparations before removing the cable harness
NoteAction
Note
The specified position shown below is a
recommended position.
Depending on what tool is used, one or
more axes need to be jogged to another
position.
1
Note
In order not to get the spiral in the carrier
unwound or in the wrong position, keep
axis-5 as close as possible to +90°.
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
Axis-5 must be oriented as close as pos-
sible to +90° to be able to open the axis-6
motor cover and to remove the axis-6 motor
cables.
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
3
Continues on next page
192 3HAC044266-001 Revision: -
© Copyright 2013 ABB. All rights reserved.
4 Repair
4.4.1 Removing the cable harness
Continued
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