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4 Repair
4.3.2. Replacement of cable harness, axes 1-4
Continued
Removal, cable harness, axes 1-4
The procedure below details how to remove the cable harness, axes 1-4.
242
Action
1. In order to facilitate refitting of cable harness, run the
robot to the specified position:
•
Axis 1: 0 °
•
Axis 2: 0 °
•
Axis 3: 0 °
•
Axis 4: 0 °
•
Axis 5: +90 °
•
Axis 6: no significance
2.
DANGER!
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.
3. Remove the rear cover plate from the robot by
removing its attachment screws.
4. Disconnect the earth cable.
5. Disconnect connectors R1.MP and R1.SMB.
6. Pull the cable and connectors up through the cable
guide in the center of the frame.
7. Disconnect all connectors at motor 1 and motor 2.
8. Open the SMB cover carefully.
The cable between the battery and the SMB-unit may
stay connected, in order to avoid an update of the
revolution counter. Be careful not to let the weight of
the cover strain the cable!
In order to remove the cover completely, the
connector R1.G must be disconnected! This causes
a necessary updating of the revolution counter!
Note/Illustration
Axes 2 and 3 may be tilted
slightly to improve access.
Shown in the figure
Location of
cable harness on page
240.
Attachment point is shown in the
figure
Location of cable harness
on page
240!
Attachment points are shown in
the figure
Location of cable
harness on page
240.
Specified and shown in the figure
Location of cable harness on
page
240!
Continues on next page
3HAC023082-001 Revision: E
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