ABB IRB 120 Product Manual page 108

4 Repair
4.3.1. Removing the cable harness
Continued
Removing the cable harness in the base
Use this procedure to remove the cable harness in the base.
10. Remove the battery.
12. Remove the encoder connector on plate.
13. Remove the complete cable harness.
106
Action
1. Pull the cable harness out through the
swing housing.
2. Separate the lower and upper arms as well
as the swing housing from the base.
3. Cut the cable straps securing the cable
harness on the swing plate.
4. Unscrew the attachment screws securing
the cable harness to the cable holder.
5. Remove motor axis 1 with gearbox.
6. Remove the swing plate.
7. Disconnect connectors:
• R2.MP1
• R2.ME1.
8. Loosen the PE cable.
9. Remove the EIB board.
11. Remove the encoder plate.
Info
See section:
• Replacing the lower arm on page
129
xx0900000884
Parts:
• A: Swing plate
• B: Cable holder
• C: Attachment screws (2 pcs)
• D: Cable straps (4 pcs)
See section:
• Replacing motor axis 1 with
gearbox on page 133
See section:
• Replacing the Encoder Interface
board on page 116
See section:
• Replacing the battery pack on
page 89
3HAC035728-001 Revision: B