4 Repair
4.3.2. Replacement of cable unit, axis 6
3HAC026048-001 Revision: A98
© Copyright 2006-2008 ABB. All rights reserved.
6. Loosen the nuts (D) and remove the SMB-
unit from the bracket carefully.
Leaving the cable (A) between the battery
(B) and the SMB-unit (C) connected
avoids recalibration of the robot. But be
careful not to let the weight of the SMB-unit
strain the cable!
In order to remove the SMB-unit
completely, the connector R2.G must be
disconnected, which causes a necessary
recalibration of the robot!
xx0200000398
7. Disconnect the connector R2.FB4-6 from
the SMB-unit, connector R2.SMB3-6 (B).
xx0200000400
A. R2.SMB
B. R2.SMB3-6
C. R2.SMB1-4
8. Loosen the cable brackets by removing
their attachment screws:
• inside the base
• inside the frame
• inside the lower arm
• inside the upper arm.
Shown in the figure Location of cable unit,
axis 6 on page 96.
9. Loosen the cables from the cable guide in
the middle of the frame, by unscrewing the
holder and assembling the guide.
Shown in the figure Location of cable unit,
axis 6 on page 96.
10. Gently pull up the cable harness from
inside the base.
11. Disconnect the connectors at the upper
arm:
• at the UL lamp
• at motor, axis 6 (R3.MP6 and
R3.FB6)
• at customer connections (R2.CS,
R2.CP and R2.CAIR).
Action Note/Illustration
Continued
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