ABB IRB 6650S Series Product Manual page 222

4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
12
13
14
15
Removing the cable harness - frame and base
Use this procedure to remove the cable harness from the frame and base.
1
2
3
4
5
6
7
Continues on next page
222
Action
Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
Pick out the cabling from the motors.
Gently pull the cable harness out from the up-
per arm tube.
Tie the connectors into bundles, to avoid
damaging them during further removal.
Continue removing the cable harness in lower
arm, frame and base.
Action
Remove the rear cover plate from the robot by
removing its attachment screws.
Disconnect the earth cable beneath the rear
cover plate.
Disconnect connectors R1.MP and R1.SMB.
Pull the cable and connectors up through the
cable guide in the center of the frame.
Disconnect all connectors at motors 1 and 2.
Open the SMB cover carefully.
The cable between the battery and the SMB-
unit can stay connected, in order to avoid an
update of the revolution counter. Be careful
not to let the weight of the cover strain the
cable!
Note
In order to remove the cover completely, the
connector R1.G must be disconnected! This
causes a necessary updating of the revolution
counter!
Disconnect connectors R2.SMB, R1.SMB1-3,
R1.SMB4-6 from the SMB unit.
Disconnect X8, X9 and X10 from the brake re-
lease unit.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Note
Shown in the figure Location of cable
harness on page 219.
Shown in the figure Location of cable
harness on page 219.
xx0200000118
Product manual - IRB 6650S
3HAC020993-001 Revision: Z