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Cabling
7.3 Cabling, axis 6
Refer to foldout 2:8.
Dismounting:
1.
Run axis 5 to +90° position.
2.
Remove the covers for the cables to axis 6 on the upper arm tube and wrist.
3.
Dismount connectors R2.MP6, R2.FB6 from the robot harness. Loosen the
cable bracket and the sealing with screws <32>.
4.
Dismount the cover at the back of the motor.
5.
Dismount connectors R3.MP6, R3.FB6 under the cover at the rear of motor 6.
Loosen the cover by using the thread in the centre hole and a suitable tool.
Alternative:
Press the cover out from the inside with a screw driver through the cable pit.
Note! Be careful not to damage the cables or resolver.
6.
Loosen the carrier mounted on the motor with screws <41>.
Mounting:
7.
Mount in reverse order. (Keep axis 5 in 90° position.)
Note!
Foundry robots must be tested for leakage after cable replacement.
Test procedure for IRB6400 Foundry axis 6:
1.
Remove the plug on the back of the axis 6 motor.
2.
Install test device, 3HAC 0207-1 and 3HAC 4618-1, which consists of a gauge,
valve, and adapter connected to the compressed air supply.
3.
The chamber is pressurised to 0.2 bar and the valve is then closed.
Note!
Be careful not to over-pressurise the chamber.
4.
The pressure is then monitored on the gauge to ensure that the loss during a
period of 45 seconds does not exceed 0.1 bar.
This pressure loss is due to air leaking through the cables. It is important that
the cables in the upper arm box are connected and the box is closed properly,
i.e. the air pressure will be lost in the square shaped Burndy connectors in the
axis 1 cavity.
5.
If pressure is not maintained, the source of the leak must be located. This is
done by spraying a leak detecting fluid around the suspicious areas until the
leak has been located.
44
Repairs
Product Manual IRB 6400R
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