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4 Repair
4.3.3. Replacement of cable harness, upper end
Continued
164
Action
5. Remove the cable holder in the wrist unit by
undoing the three attachment screws.
Two of the attachment screws (M6x16) are
visibly located at the rear of the cable
holder. The third screw (M4x12) is located
at the bottom of the cable holder, securing
the carrier.
6. Remove the back cover motor, axis 6 by
removing its attachment screws.
7. Pull out the cabling R2.MP6 and R2.FB6
from motor, axis 6 .
8. Disconnect all connectors at motor axis 6
R2.MP6 and R2.FB6.
9. Loosen the cable bracket in the upper arm
tube by undoing its two attachment screws
on top of the tube.
10. Disconnect the two connectors (R2.FB5
and R2.MP5) inside the tube.
11. Remove eventual cable straps from the
harness.
12. Remove the cover motor axis 4 by removing
its attachment screws.
13. Disconnect all connectors at motor axis 4
(R2.MP4, R2.FB4).
Note
xx0600003034
•
A : Cable holder
•
B : Attachment screws M6x16, 8.8
(2 pcs)
•
C : Attachment screw M4x12, 8-
A2F (securing the carrier)
Shown in the figure
Location of cable
harness, axes 4-6. on page 162
Shown in the figure
Location of cable
harness, axes 4-6. on page 162
xx0700000072
Parts:
•
A: Motor axis 5 with connectors
R4.FB5 and R4.MP5
•
B: Connectors R2.FB5 and
R2.MP5
•
C: Upper arm tube
Shown in the figure
Location of cable
harness, axes 4-6. on page 162
Continues on next page
3HAC028197-001 Revision: A
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