4 Repair
4.3.1. Replacement of cable harness, axes 1-3
3HAC022032-001 Revision: E118
© Copyright 2004-2008 ABB. All rights reserved.
Removal, cabling axes 1-3
The procedure below details how to remove the cable harness from the axes 1-3.
Circuit diagram See chapter Circuit
diagram in the Product
manual, reference infor-
mation.
Calibration Pendulum
Instruction
General calibration
information is included in
section Calibration
information on page 235.
Equipment, etc. Spare part no. Art. no. Note
Action Info/Illustration
1.
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. Remove the rear cover plate. Shown in the figure Location
of cable harness, axes 1-3
on page 116.
3. Remove the serial measurement unit. Removal detailed in section
Removal, serial
measurement unit on page
181.
4. Loosen the connectors R1.MP1, R2.FB1-3, R2.BU,
R2.BU1-3. Also loosen the earth connections.
Shown in the figure Location
of cable harness, axes 1-3
on page 116.
5. Cut all the ties around bundle.
6. Remove the cable bracket inside the base.
7. Remove the cable guides and the protection plate in
the middle of axis 1.
Shown in the figure Location
of cable harness, view X-X
on page 117.
8. Remove the covers from the connections boxes for
the motors in axes 1-2-3.
9. Loosen all the connectors to the motors of axes 1-2-3. Shown in the figure Location
of cable harness, view X-X
on page 117.
10. Remove the connection boxes from the motors 1-2-3.
11. Feed the cabling up through the middle of axis 1 and
remove the complete cabling.
Tip! Gather the loose cabling and connectors into a
package with tape in order to protect the connectors
and make the cabling easier to handle.
Continued
Continues on next page
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