ABB IRB 4400 - 45 Product Manual page 120

4 Repair
4.3.1. Replacement of cable harness, axes 1-3
Continued
Equipment, etc.
Circuit diagram
Calibration Pendulum
Instruction
Removal, cabling axes 1-3
The procedure below details how to remove the cable harness from the axes 1-3.
118
Spare part no.
Action
1.
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Remove the rear cover plate.
3. Remove the serial measurement unit.
4. Loosen the connectors R1.MP1, R2.FB1-3, R2.BU,
R2.BU1-3. Also loosen the earth connections.
5. Cut all the ties around bundle.
6. Remove the cable bracket inside the base.
7. Remove the cable guides and the protection plate in
the middle of axis 1.
8. Remove the covers from the connections boxes for
the motors in axes 1-2-3.
9. Loosen all the connectors to the motors of axes 1-2-3. Shown in the figure
10. Remove the connection boxes from the motors 1-2-3.
11. Feed the cabling up through the middle of axis 1 and
remove the complete cabling.
Tip! Gather the loose cabling and connectors into a
package with tape in order to protect the connectors
and make the cabling easier to handle.
Art. no. Note
See chapter
diagram
manual, reference infor-
mation.
General calibration
information is included in
section Calibration
information on page
Info/Illustration
Shown in the figure
of cable harness, axes 1-3
on page 116.
Removal detailed in section
Removal, serial
measurement unit on page
181.
Shown in the figure
of cable harness, axes 1-3
on page 116.
Shown in the figure
of cable harness, view X-X
on page 117.
of cable harness, view X-X
on page 117.
Continues on next page
3HAC022032-001 Revision: E
Circuit
in the Product
235.
Location
Location
Location
Location