ABB IRB 6650S Series Product Manual page 244

4 Repair
4.3.3 Replacement of cable harness, axes 5-6
Continued
4
5
6
7
8
9
10
Continues on next page
244
Action
Place the cabling to motor, axis 6, correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
Fasten the cable bracket, wrist unit with three
attachment screws, two of them visible at the
rear attachment point and the third located on
the bottom of the cable bracket, in the center.
Reconnect the connectors to motor, axis 6 and
refit the motor cover.
Refit the cover, upper arm and the cover, wrist
unit.
Make sure the cabling is placed correctly when
refitting the covers, and does not get jammed.
If any cable straps have been removed, refit
them to the harness.
Refit the cable attachment, rear.
Reconnect connector R2.M5/6 gently at the
rear cable division point with two screws, M6.
Be careful not to bend the attachment plate
when fastening the screws!
© Copyright 2004-2018 ABB. All rights reserved.
Note/Illustration
xx0200000185
• In case of excess cable length:
put a loop of cable in this area
with cable straps (A). The
cables are longer in order to fit
different upper arm lengths.
Also shown in the figure Location of
cable harness ax 5-6 on page
xx0200000254
• B: Attachment screws, rear of
cable bracket.
• C: Attachment screw, bottom of
cable bracket.
xx0200000214
• A: Cover, wrist unit. Tightening
torque: 14 Nm.
Add Loctite to screw before
fastening. Screw 3HAB3409-25,
Washer 3HAC062379-001
• B: cover, upper arm tube
Shown in the figure Location of cable
harness ax 5-6 on page 241.
Shown in the figure Location of cable
harness ax 5-6 on page 241.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
241.