4 Repair
4.3.1. Replacement of cable harness
3HAC023637-001 Revision: B106
Removal, cable harness
The procedure below details how to remove the complete cable harness from the robot.
Action Note/Illustration
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Remove all the covers:
• Remove the covers of the upper arm
housing, frame and base.
• Push out the upper and lower VK-cover
from the inside.
• Remove the middle VK-cover from the
lower arm.
Caution! Be careful not to damage the cabling and
cable bracket inside the lower arm when removing
the middle VK-cover!
The figure to the right shows the space underneath
the cover. The gray areas are safe for insertion of
a tool that may be inserted with a maximum depth
of 20 mm!
All the covers are shown in the
figure Illustration, covers to remove
on page 105.
xx0400001247
3. The cable bracket inside the lower arm is attached
to the cable harness. Move the bracket to the new
cabling.
4. Disconnect all the connectors inside the upper arm
housing.
Shown in the figure Illustration,
cabling inside upper arm housing
on page 107.
5. Remove all cable ties, clamps and brackets inside
the upper arm housing.
Attachment points inside the upper
arm housing are shown in the
figure Illustration, cabling inside
upper arm housing on page 107.
6. Disconnect all the connectors inside the frame. Shown in the figure Illustration,
cabling inside frame on page 109.
7. Remove the fastening plate, all cable ties and
brackets from inside the frame. Remove the cable
clamp unit from the fastening plate.
Attachment points inside the frame
are shown in the figure Illustration,
cabling inside frame on page 109.
8. Disconnect all the connectors at the base and
remove the SMB unit from the base.
Note! Do not lose the centering piece fitted to the
push button unit!
Shown in the figure Illustration,
cabling inside base on page 110.
9. Remove all cable ties and brackets at the base. Shown in the figure Illustration,
cabling inside base on page 110.
10. Pull out the cabling from the upper arm housing
and pull it down through the lower arm.
11. Continue pulling down the cable harness through
the frame and pull it out at the rear of the base.
Continued
Continues on next page
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