4 Repair
4.3.2. Replacement of cable harness, axes 5-6
2613HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
Removal, cable harness, axes 5-6
The procedure below details how to remove the upper arm cable harness.
Refitting, cable harness, axes 5-6
The procedure below details how to refit the upper cable harness.
Action Note
1. Position the upper arm as follows:
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
Turn off all electric power and hydraulic but not the air
pressure to the gearboxes, motors and SMB.
3. Remove the left hand side wrist cover by unscrewing its
attachment screws.
4.
NOTE!
Axis 5 must be oriented in the correct position (+90º) to
allow the motor 6 cover to open!
5. Disconnect all connectors at motor 5 and motor 6. Specified in the figure
Location of cable harness ax
5-6 on page 260.
6. Remove the plastic cover on the rear of the upper arm,
by removing the attachment screws.
7. Remove the spiral plate by unscrewing the screw at the
bottom of the spiral cup.
8. Remove eventual cable straps from the harness.
9. Disconnect connector R2.M5/6 at the cable harness
division.
Shown in the figure Location
of cable harness ax 5-6 on
page 260.
10. Remove the cable attachment inside the upper arm.
11. Gently pull the cable harness out.
Action Note
1. Position the upper arm as follows:
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
2. Gently insert the cable harness from the rear into the
upper arm.
3. Pull the small spiral plate past motor 5.
4. Route the cables outside the heat protection plate.
Continued
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