4 Repair
4.3.2. Replacement of cable harness, axes 1-4
3HAC023082-001 Revision: E244
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, cable harness, axes 1-4
The procedure below details how to refit the cable harness, axes 1-4.
11. Remove the cable gland securing the cables inside
the lower arm.
12. Remove the cable gland securing the cables to the
arm house.
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13. Remove the velcro strap from the harness at the
cable fixing bracket at the arm house.
Shown in the figure Location of
cable harness on page 240.
14. Disconnect connector R2.M5/6 at the cable division
point.
Shown in the figure Location of
cable harness on page 240!
15. Disconnect all connectors at motor 3 and motor 4. Specified and shown in the figure
Location of cable harness on
page 240!
16. Gently pull the cable harness out.
Action Note/Illustration
Action Note/Illustration
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
Axes 2 and 3 may be tilted slightly to
improve access.
Continued
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