ABB IRB 6640 - 180/2.55 Product Manual page 205

3HAC026876-001 Revision: C
Action
2. Refit the cable gland securing the cables in the
armhouse.
NOTE!
The cable harness is delivered pretwisted.
Make sure not to affect this by twisting the
cable harness further in any direction.
3. Reconnect all connectors at motors 3 and 4.
4. Secure the cable harness to the guide plate
axis 2.
5. Refit the velcro strap at the guide plate axis 2. Shown in the figure
6. Gently insert the cable harness from the rear
into the upper arm.
7. Connect the two connectors inside the upper
arm tube, R2.FB5 and R3.MP5 and secure the
cable bracket with its two attacment screws to
the tube.
8. Place the cabling to motor axis 6 correctly on
the upper arm and gently pull the connectors
through the hole on top of the wrist unit to
motor axis 6.
In case of excess of cable length:
• put the excess cable in a loop in the
area shown in the figure and secure
with cable straps. Cables are longer in
order to fit different upper arm lengths.
4.3.1. Replacement of cable harness, axes 1-6
Note
Shown in the figure
harness on page
xx0100000143
Shown in the figure
harness on page
harness on page
Shown in the figure
the upper arm on page
xx0200000185
• A: Cable straps
4 Repair
Continued
Location of cable
193.
Location of cable
193.
Location of cable
193.
Cable brackets of
195.
Continues on next page
203