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4 Repair
4.3.4. Replacement of cable harness, axes 1-4- IRB 6640ID
Continued
14. Disconnect connector R2.M5/6 at the cable division
15. Disconnect all connectors at motor 3 and motor 4.
16. Gently pull the cable harness out.
Refitting, cable harness, axes 1-4
The procedure below details how to refit the cable harness, axes 1-4.
224
Action
point.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. In order to facilitate refitting of cable harness,
move the robot to the specified position:
•
Axis 1: 0 degrees
•
Axis 2: 0 degrees
•
Axis 3: 0 degrees
•
Axis 4: 0 degrees
•
Axis 5: +90 degrees
•
Axis 6: no significance
3. Pull the cable and connectors down through the
cable guide in the center of the frame.
4. Reconnect connectors R1.MP and R1.SMB at the
rear cover plate.
5. Reconnect the earth cable.
6. Refit the rear cover plate to the robot with its
attachment screws.
7. Reconnect all connectors at motors 1 and 2.
Note
Shown in the figure
Location of
cable harness on page
Specified and shown in the figure
Location of cable harness on
page
220!
Note
Axes 2 and 3 may be tilted slightly
to improve access.
Make sure the cables are not
twisted with each other or with
eventual customer harnesses!
Make a note of the correct positions
of the connectors!
Make a note of the correct positions
of the connectors!
Attachment point is shown in the
figure
Location of cable harness on
page
220.
Attachment point is shown in the
figure
Location of cable harness on
page
220!
Shown in the figure
Location of
cable harness on page
220.
Specified and shown in the figure
Location of cable harness on page
220!
Continues on next page
3HAC026876-001 Revision: C
220!
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