ABB OmniCore IRB 6720 Product Manual

NoteActionPerson 1, working at the side hole:Remove the cable harness out from thewrist.TipThis step is best performed by two personsworking together:• Person 1: Put one hand inside theside hole and take a hold of thecable harness.• Person 2: Take a hold on the cableharness inside the wrist.• Together: Move the cable harnesspast the axis-5 motor and into thearm tube.8xx2300000035Person 2, working at the wrist:xx2300000036Person 1, working at the side hole:Remove the cable harness out of the armtube, at the back of the upper arm.TipThis step is best performed by two personsworking together:• Person 1: Put one hand inside theside hole and take a hold of thecable harness.• Person 2: Take a hold on the cableharness at the back of the robot.• Together: Move the cable harnessout of the arm tube.9xx2300000037Person 2, working at the back:NoteTo be able to remove the cable harnesswith the DressPack tube fitted, the tubeneeds to be pulled out a little, then beplaced on the lower left side in the arm tubeand the bracket of the cable harness thenneeds to be placed on the upper right handside.xx2300000038Continues on next page304 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.6.1 Removing the cable harnessContinued