ABB IRB 6640 - 180/2.55 Product Manual page 201

Refitting, cable harness - lower arm, frame and base
The procedure below details how to refit the lower end of the cable harness to the robot.
How to refit the upper end is detailed in section
202.
3HAC026876-001 Revision: C
Action
11. Remove the cable gland securing the cables to
the arm house.
12. Remove the velcro strap from the harness at
the guide plate ax 2 at the lower arm.
13. Remove the cable harness from the cable
guide plate ax 2.
14. Disconnect all connectors at motors 3 and 4.
15. Gently pull the cable harness out.
Action
1.
NOTE!
On Foundry Prime robots:
Apply rust preventive around all dismantled
covers and attachment screws with a brush.
2. Pull the cable and connectors down through
the cable guide in the center of the frame.
4.3.1. Replacement of cable harness, axes 1-6
Note
xx0100000143
Shown in the figure
harness on page
Refitting, cable harness - upper arm on page
Note
See Required equipment on page
Shown in the figure
harness on page
Make sure the cables are not twisted
with each other or with eventual
customer harnesses!
Make a note of the correct positions of
the connectors!
4 Repair
Continued
Location of cable
193.
194.
Location of cable
193.
Continues on next page
199