ABB IRB 140 type C Product Manual page 81

Refitting, cable harness
The procedure below details how to refit 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! Burns may result from touching
the motors or gears!
• - 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. to secure the lower arm with fixtures if removing motor, axis 2.
Action
1. Refit in reverse order to what is
detailed above.
Detailed below are some
recommendations on how to
route the cables.
2. Cable distribution in the cable
holder in the manipulator base.
4.2.1. Replacement of cable harness
Note/Illustration
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Cables:
• A: Signal
• B: Signal
• C: Customer signal
• D: Power cable, axes 4-6
• E: Pressurized air supply
• F: Power cable, axes 1-3
4 Repair
Continued
Continues on next page
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