Omron i4H User Manual page 130

6 Maintenance
3
Carefully pull the iCS-ECAT away from the robot base a small amount to expose internal har-
ness connections. The assembly slides with guides in tracks.
Pulling the iCS-ECAT too far from the robot base can damage the internal harness.
Take note of the internal harness and cable routing. Similar routing must be used when reas-
sembling the components.
4
Disconnect the following items from the iCS-ECAT:
• Ground connection
• Encoder and I/O connections
• Motor power connection
• End-of-arm PCA connection
6-12
M5 X 16
Screws (6)
i4H Robots with EtherCAT User's Manual (I661)