ABB IRB 4400 - 45 Product Manual page 125

Equipment, etc.
Calibration Pendulum
Instruction
Removal, cabling axes 4-6
The procedure below details how to remove the cable harness from the axes 4-6.
3HAC022032-001 Revision: E
Circuit Diagram
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 cover ot the connection box for
motors 4-5-6.
3. Remove the rear cover plate.
4. Remove the serial measurement unit.
5. Loosen the connectors R2.MP4-6, R2.FB4-
6, R2.BU4-6, R1.CP/CS. Also loosen the
earth connections.
6. Cut all the straps around the bundle.
7. Remove the cable bracket inside the base.
8. Remove the cable guides and the protection
plate in the midle of axis 1.
4.3.2. Replacement of cable harness, axes 4-6
Spare part no. Art. no. Note
See chapter Circuit
diagram in the
manual, reference infor-
mation.
Calibration is detailed in a
separate calibration
manual, enclosed with
the calibration tools.
Art. no. is specified in
section Document
references on page 262.
Info/Illustration
Shown in the figure Location of cable
harness, axes 4-6 on page 121
Detailed in section Removal, serial
measurement unit on page 181
Shown in the figure Location of cable
harness, axes 4-6 on page 121
Shown in the figureLocation of cable
harness, view X-X on page 122
Continues on next page
4 Repair
Continued
Product
123