Table of Contents
Advertisement
4 Repair
4.3.1. Replacement of cable harness, axes 1-6
Continued
Removal, cable harness - lower arm, frame and base
The procedure below details how to remove the cable harness from the lower arm, frame and
base.
196
Action
4.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
5. Remove the cover of motor, axis 6 and
disconnect all connectors beneath.
6. Loosen the cable bracket, wrist unit by undoing
the three attachment screws.
Two of the attachment screws are visibly
located at the rear of the bracket and the third
is located at the bottom of the cable bracket, in
the center.
7. Pick out the cabling from motor, axis 6.
8. Loosen the cable bracket, upper arm tube by
undoing the two screws on top of the tube.
9. Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
10. Remove eventual cable straps from the
harness.
11. Remove the cable attachment, rear.
12. Remove the covers of motors axes 3 and 4 and
disconnect all connectors beneath.
Pick out the cabling from the motors.
13. Gently pull the cable harness out from the
upper arm tube.
14. Tie the connectors into bundles, to avoid
damaging them during further removal.
15. Continue removing the cable harness as
detailed in following procedure.
Action
1. Remove the rear cover plate from the robot by
removing its attachment screws.
2. Disconnect the earth cable beneath the rear
cover plate.
Note
Shown in the figure
Cable brackets of
the upper arm on page
195.
xx0200000254
•
B: Attachment screws, rear of
cable bracket (2 pcs)
•
C: Attachment screw, bottom of
cable bracket
Shown in the figure
Cable brackets of
the upper arm on page
195.
Shown in the figure
Location of cable
harness on page
193.
Shown in the figure
Cable brackets of
the upper arm on page
195.
Note
Shown in the figure
Location of cable
harness on page
193.
Position shown in the figure
cable harness on page
193.
Continues on next page
3HAC026876-001 Revision: C
Location of
Advertisement
Table of Contents
