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Refitting, cable harness, axes 5-6
The procedure below details how to refit the upper arm cable harness. The separate cable that
goes from the connection point inside of the upper arm tube to the motor, axis 5, is not
included in this procedure. The refitting of that cable is described further down in section
Refitting, cabling axis 5 motor on page
3HAC023082-001 Revision: E
Action
5. Loosen the cable bracket on top of the wrist
unit by undoing the three attachment screws.
Two of the attachment screws are visibly
located at the rear attachment and the third is
located at the bottom of the cable bracket, in
the center.
6. Pick out the cabling from motor, axis 6.
7. Loosen the cable bracket in the upper arm tube
by undoing the two screws on top of the tube.
8. Disconnect the two connectors (R3.FB5 and
R3.MP5) in the tube.
9. Remove eventual cable straps from the
harness.
10. Remove the cable attachment, rear.
11. Disconnect connector R2.M5/6 at the cable
harness division point.
12. Gently pull the cable harness out.
Action
1. Position the upper arm as follows:
•
Axis 4: 0 degrees
•
Axis 5: +90 degrees
•
Axis 6: no significance
2. Gently insert the cable harness from the rear
into the upper arm.
3. 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.
4.3.3. Replacement of cable harness, axes 5-6
Note/Illustration
Shown in the figure
harness ax 5-6 on page
xx0200000254
•
B: Attachment screws, rear of
cable bracket, 2 pcs
•
C: Attachment screw, bottom of
cable bracket, 1 pc
Shown in the figure
harness ax 5-6 on page
Shown in the figure
harness ax 5-6 on page
Shown in the figure
harness ax 5-6 on page
Shown in the figure
harness ax 5-6 on page
260.
Note/Illustration
Shown in the figure
harness ax 5-6 on page
4 Repair
Continued
Location of cable
249!
Location of cable
249!
Location of cable
249!
Location of cable
249!
Location of cable
249!
Location of cable
249!
Continues on next page
251
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