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C4 Maintenance 15. Replacing the M/C Cable
Removal: M/C cable
1.
Turn OFF the Controller power.
2.
Disconnect the following connectors from the Controller.
Power cable connector
Signal cable connector
3.
Remove the connector sub plate.
For details, refer to C4 Maintenance: 3. Covers.
NOTE
Do not pull the sub plate forcibly.
Do not disconnect the M/C cable from the connector sub plate.
4.
Remove the connectors.
Connectors: X11, X12, X13, X14, X15, X16, XGND*, BR010, BR020, BR030, BR040, BR050, BR060
X010, X020, X030, X040, X050, X060, LED, GS01, GS02
* No XGND connecter for UL specification.
Each connector is numbered. Each connector has a different shape.
NOTE
Do not disconnect the battery connector (BT1*). Otherwise, you will need to calibrate.
Installation: M/C cable
1. Connect the connectors of the new M/C cable to these of the cable unit.
Connect the connectors with the same number.
2. Install the connector sub plate to the connector plate.
For details, refer to C4 Maintenance: 3. Covers.
3. Connect the following connectors to the Controller.
Power cable connector
Signal cable connector
4. Turn ON the Controller power.
5. Check operation to see if the Manipulator's position and posture are out of position.
Move the Manipulator to two or three points (poses) of the registered points.
6. If the battery connector (BT1*) was disconnected, perform the calibration.
For details, refer to C4 Maintenance: 16. Calibration.
7. If the Manipulator is out of position, calibrate all the joints and axes.
For details, refer to C4 Maintenance: 16. Calibration.
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C Series Maintenance Manual Rev.2
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