ABB IRB 140 Product Manual page 103

Removal, cable harness
The procedure below details how to remove the cable harness.
1
2
3
3HAC027400-001 Revision: K
WARNING
Please observe the following before doing any repair work on the manipulator:
• Motors and gears are HOT after running the robot! Touching the motors and
gears may result in burns!
• Turn off all electric power, hydraulic, and pneumatic pressure supplies to
the robot!
• Take any necessary measures to ensure that the manipulator does not
collapse as parts are removed, for example secure the lower arm with fixtures
if removing motor, axis 2.
CAUTION
The cable packs are sensitive to mechanical damage! They must be handled
with care, especially the connectors, in order to avoid damaging them!
Action
CAUTION
Always cut the paint with a knife
and grind the paint edge when
disassembling parts of a Clean
Room robot! See Replacing parts
on Clean Room robots on page 100
Remove the serial measurement
board.
Disconnect connectors in the ma-
nipulator base.
© Copyright 2004-2013 ABB. All rights reserved.
4.3.1 Replacement of cable harness
Note/Illustration
Detailed in section Replacing the serial measure-
ment unit and the battery pack on page
xx0300000090
Connectors:
• A: R1.MP1-3
• B: R1.CS
• C: Air hose
• D: R1.MP4-6
Continues on next page
4 Repair
Continued
148.
103