ABB IRB 4400/60 Product Manual page 146

4 Repair
4.3.1 Replacement of cable harness, axes 1-3
Continued
Equipment, etc.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
Circuit diagram
Calibration Pendulum In-
struction
Removal, cabling axes 1-3
The procedure below details how to remove the cable harness from the axes 1-3.
1
2
3
4
5
6
7
8
9
10
Continues on next page
146
Spare part no.
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply (do not turn off for Foundry
Prime robots!)
to the robot, before entering the robot working area.
Remove the rear cover plate.
Remove the serial measurement unit.
Loosen the connectors R1.MP1, R2.FB1-3, R2.BU,
R2.BU1-3. Also loosen the earth connections.
Cut all the ties around bundle.
Remove the cable bracket inside the base.
Remove the cable guides and the protection plate in the
middle of axis 1.
Remove the covers from the connections boxes for the
motors in axes 1-2-3.
Loosen all the connectors to the motors of axes 1-2-3.
Remove the connection boxes from the motors 1-2-3.
© Copyright 2004-2018 ABB. All rights reserved.
Art. no. Note
These procedures include
references to the tools re-
quired.
See chapter
gram on page
General calibration inform-
ation is included in section
Calibration on page
Info/Illustration
Shown in the figure
of cable harness, axes 1-3 on
page 144.
Removal detailed in section
Removal, serial measurement
unit on page
Shown in the figure
of cable harness, axes 1-3 on
page 144.
Shown in the figure
of cable harness, view X-X on
page 145.
Shown in the figure
of cable harness, view X-X on
page 145.
Product manual - IRB 4400
3HAC022032-001 Revision: Q
Circuit dia-
297.
263.
140.
Location
208.
Location
Location
Location