ABB IRB 6650S Series Product Manual page 224

4 Repair
4.3.1 Replacing cable harness, axes 1-6
Continued
Removing the cable harness - lower arm
Use this procedure to remove the cable harness from the lower arm.
1
2
3
4
Refitting the cable harness - lower arm, frame and base
Use this procedure to refit the cable harness on the lower arm, frame and base of
the robot.
How to refit on the upper arm is described in section
upper arm on page
1
2
Continues on next page
224
Action
Remove the cable gland that secures the
cables to the arm house.
Remove the velcro strap from the harness at
the cable fixing bracket at the arm house.
Disconnect all connectors at the axis-3 and
axis-4 motors.
Gently pull the cable harness out.
229.
Action
Push the cable and connectors down through
the cable guide in the center of the frame.
• Make sure the cables are not twisted
with each other or with customer har-
nesses if any
• Make a note of the correct positions of
the connectors.
Reconnect connectors R1.MP and R1.SMB at
the base.
© Copyright 2004-2018 ABB. All rights reserved.
Note
xx0100000143
Shown in the figure Location of cable
harness on page 219.
Refitting the cable harness -
Note
Shown in the figure Location of cable
harness on page 219.
Tightening torque for R1.SMB: 10 Nm.
Shown in the figure Location of cable
harness on page 219.
Make a note of the correct positions of
the connectors!
Product manual - IRB 6650S
3HAC020993-001 Revision: Z