ABB IRB 6640 - 180/2.55 Product Manual page 234

4 Repair
4.3.5. Replacement of cable harness, axes 5-6 - IRB 6640ID
Continued
232
Action
4. Secure the cable clamp (C) inside the upper arm
tube.
5. Place the cabling inside the wrist unit according
to the cable layout shown in the figure
layout, wrist unit on page 231
velcro straps.
Reconnect the connectors to the axis 5 and 6
motors.
6. Wind the cabling in a spiral with four free turns.
Secure the fifth turn with two clamps (A and B) to
the bracket.
NOTE!
The cable clamps should be positioned approxi-
mately 1 m from the connector R2.M5/6.
NOTE!
Adjust the clamps to make the bend of the fifth
turn equal with the others, creating a
symmetrical spiral.
7. Grease the cabling with cable grease.
8. Refit the cover to the upper arm tube and the
hood to the upper arm housing.
9. Reconnect the connector R2.M5/6 at the cable
harness division point.
10. Update the revolution counters!
Note
xx0500001904
Shown in the figure
Cable harness, axes 5-6 on page
and fasten it with
xx0500001909
•
•
Art. no. is specified in
equipment on page
Shown in the figure
harness, axes 5-6 on page
Shown in the figure
harness, axes 5-6 on page 228
Detailed in section
revolution counters on page
3HAC026876-001 Revision: C
Location of cable
228.
A: Attachment point for the
power cable, R3.MP.
B: Attachment point for the
signal cable, R3.FB.
Required
228.
Location of cable
228.
Location of cable
.
Updating
378.
Continues on next page