Removing the cable harness - upper arm and wristThese procedures describes how to remove the cable harness in the upper armand wrist.Preparations before removing the cable harnessNoteActionNoteThe specified position shown below is arecommended position.Depending on what tool is used, one ormore axes need to be jogged to anotherposition.1NoteIn order not to get the spiral in the carrierunwound or in the wrong position, keepaxis-5 as close as possible to +90°.Jog the robot to the specified position:• Axis 1: 0°• Axis 2: -60°• Axis 3: +60°• Axis 4: 0°• Axis 5: +90°• Axis 6: No significance.NoteAxis-5 must be oriented as close as pos-sible to +90° to be able to open the axis-6motor cover and to remove the axis-6 motorcables.2DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the robotworking area.3Continues on next page192 3HAC044266-001 Revision: -© Copyright 2013 ABB. All rights reserved.4 Repair4.4.1 Removing the cable harnessContinued
