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This must be done quickly, before the insert warms up, or you will not be able to fit it
into the ball joint socket.
4. Ensure that the insert is centered in the ball joint socket, and bottomed-out, so that it
will form a seal as it expands.
5. Verify that the insert has warmed up in the correct position in the ball joint socket.
6.13 Replacing the iCS-ECAT Unit for an iX4-650H/800H Robot
Use the following procedure to replace the iCS-ECAT unit.
Record all faults or errors before beginning this procedure.
NOTE: This procedure is different for the iX4-650HS/800HS robot. Refer to Repla-
cing the iCS-ECAT Unit for an iX4-650HS/800HS Robot on page 138.
Removing the iCS-ECAT Chassis
1. Remove all power from the robot.
2. Take note of the switch positions on the interface panel. these will be used for a replace-
ment controller.
3. Disconnect the 24 VDC supply cable from the chassis 24 VDC input connector.
4. Disconnect the 200 to 240 VAC supply cable from the chassis AC Input connector.
5. Disconnect the XSYSTEM cable from the chassis XSYSTEM connector.
6. Disconnect any other cables that may be connected to the iCS-ECAT.
7. Using a 5 mm hex wrench, carefully unscrew the chassis-securing screw, which is
shown in the following figure. Note that the screw does not need to be completely
removed in order to remove the chassis, as this screw is captured on the chassis heat
sink.
22793-000 Rev. A
CAUTION: PROPERTY DAMAGE RISK
Follow appropriate ESD procedures during the removal and replacement
phases.
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Chapter 6: Maintenance
135
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