4 Repair
4.3.2. Replacement of cable harness, axes 4-6
123 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Removal, cabling axes 4-6
The procedure below details how to remove the cable harness from the axes 4-6.
Circuit Diagram See chapter Circuit
diagram in the Product
manual, reference infor-
mation.
Calibration Pendulum
Instruction
Calibration is detailed in a
separate calibration
manual, enclosed with
the calibration tools.
Art. no. is specified in
section Document
references on page 262.
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 cover ot the connection box for
motors 4-5-6.
3. Remove the rear cover plate. Shown in the figure Location of cable
harness, axes 4-6 on page 121
4. Remove the serial measurement unit. Detailed in section Removal, serial
measurement unit on page 181
5. Loosen the connectors R2.MP4-6, R2.FB4-
6, R2.BU4-6, R1.CP/CS. Also loosen the
earth connections.
Shown in the figure Location of cable
harness, axes 4-6 on page 121
6. Cut all the straps around the bundle.
7. Remove the cable bracket inside the base.
8. Remove the cable guides and the protection
plate in the midle of axis 1.
Shown in the figureLocation of cable
harness, view X-X on page 122
Continued
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