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4 Repair
4.3.2. Replacement of cable harness, axes 1-4
Continued
Refitting, cable harness, axes 1-4
The procedure below details how to refit the cable harness, axes 1-4.
244
Action
11. Remove the cable gland securing the cables inside
the lower arm.
12. Remove the cable gland securing the cables to the
arm house.
13. Remove the velcro strap from the harness at the
cable fixing bracket at the arm house.
14. Disconnect connector R2.M5/6 at the cable division
point.
15. Disconnect all connectors at motor 3 and motor 4.
16. Gently pull the cable harness out.
Action
1.
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.
2. In order to facilitate refitting of cable harness,
move the robot to the specified position:
•
Axis 1: 0 degrees
•
Axis 2: 0 degrees
•
Axis 3: 0 degrees
•
Axis 4: 0 degrees
•
Axis 5: +90 degrees
•
Axis 6: no significance
Note/Illustration
xx0100000143.wmf
Shown in the figure
Location of
cable harness on page
Shown in the figure
Location of
cable harness on page
Specified and shown in the figure
Location of cable harness on
page
240!
Note/Illustration
Axes 2 and 3 may be tilted slightly to
improve access.
Continues on next page
3HAC023082-001 Revision: E
240.
240!
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