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Item
A
Amplifier Connection
B
ePMAI Board
C
ENC 2
7. Carefully disconnect the INT1, INT2, ENC1, and ENC2 cables from their connectors on
the ePMAI board, by disengaging the securing latches.
8. Using a 5 mm hex wrench, disconnect and remove the ground wire from the chassis.
Keep the screw for reassembly later.
Figure 7-12. Removing Ground Screw Wire on iCS-ECAT Amplifier Chassis with 5 mm Hex Wrench
9. Tag the chassis with the any fault diagnosis, faults or errors, and robot serial number
information.
Installing a New iCS-ECAT Chassis
Use the following procedure to install a new iCS-ECAT chassis.
CAUTION: PROPERTY DAMAGE RISK
Follow appropriate ESD procedures during the replacement phase.
1. Carefully remove the new chassis from its packaging, check it for any signs of damage,
and remove any foreign packing materials or debris from inside the chassis.
2. Carefully place the chassis next to the robot.
124
Description
eCobra 600 and 800 Robots with EtherCAT
Item
Description
D
ENC 1
E
INT2
F
INT1
24402-000 Rev B
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