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3HAC023082-001 Revision: E
Action
14. Refit the cable gland securing the cables to the
arm house.
Make sure not to twist the harness!
15. Reconnect all connectors at motor 3 and motor
4.
16. Secure the cable harness to the upper arm
house by refitting the velcro strap to the cable
bracket at the upper arm house.
17. Gently insert the cable harness from the rear
into the upper arm.
18. Connect the two connectors inside the upper
arm tube, R3.FB5 and R3.MP5 and secure the
cable bracket with the two attachment screws
to the tube.
19. Place the cabling to motor, axis 6, correctly on
the upper arm and gently pull the connectors
through the hole on top of wrist unit to motor,
axis 6.
4.3.1. Replacement of cable harness, axes 1-6
Note
xx0100000143
Shown in the figure
the upper arm on page
xx0200000185
In case of excess cable length: put a
loop of cable in this area with cable
straps (A). The cables are longer in
order to fit different upper arm lengths.
4 Repair
Continued
Cable brackets of
229.
Continues on next page
237
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