ABB IRB 140 type C Product Manual page 77

Removal, cable harness
The procedure below details how to remove the cable harness.
WARNING!
Please observe the following before commencing any repair work on the manipulator:
CAUTION!
The cable packs are sensitive to mechanical damage! They must be handled with care,
especially the connectors, in order to avoid damaging them!
3HAC027400-001 Revision: C
• Motors and gears are HOT after running the robot! Touching the motors and gears may
result in burns!
• Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
•
Take any necessary measures to ensure that the manipulator does not collapse as parts
are removed, e.g. secure the lower arm with fixtures if removing motor, axis 2.
Action
1. Remove the serial
measurement board.
2. Disconnect connectors in the
manipulator base.
4.2.1. Replacement of cable harness
Note/Illustration
Detailed in section Replacement of serial
measurement unit and battery pack on page
xx0300000090
Connectors:
• A: R1.MP1-3
• B: R1.CS
• C: Air hose
• D: R1.MP4-6
4 Repair
Continued
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