ABB IRB 6640 - 180/2.55 Product Manual page 197

Cable brackets of the upper arm
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A
B
C
Removal, cable harness - upper arm
The procedure below details how to remove the cable harness from the upper arm of the robot.
3HAC026876-001 Revision: C
Cable bracket, wrist unit
Cable bracket, upper arm tube
Cable attachment, rear
Action
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
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 cover, wrist unit and the cover,
upper arm tube.
4.3.1. Replacement of cable harness, axes 1-6
Note
Axes 2 and 3 may be tilted slightly to
improve access.
xx0200000214
A. Cover, wrist unit
B. Cover, upper arm tube
4 Repair
Continued
Continues on next page
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