4 Repair
4.3.2. Replacement of cable harness, upper end
3HAC027151-001 Revision: B162
© Copyright 2006-2008 ABB. All rights reserved.
Refitting
The procedure below details how to refit the cable harness, axes 3-6.
8. Remove the back cover motor, axis 6 by
removing its attachment screws.
9. Pull out the cabling R2.MP6 and R2.FB6
from motor, axis 6 .
Shown in the figure Location of cable
harness, axes 3-6. on page 159
10. Disconnect all connectors at motor axis 6
R2.MP6 and R2.FB6.
Shown in the figure Location of cable
harness, axes 3-6. on page 159
11. Remove covers motors axes 3 and 4 by
removing its attachment screws.
12. Disconnect all connectors at motors axes 3
R2.MP3, R2.FB3 and 4 R2.MP4, R2.FB.4.
Shown in the figure Location of cable
harness, axes 3-6. on page 159
13. Remove the metal clamps, two on the lower
arm, one on gearbox axis 3 and one on the
armhouse.
0600003083
• A : Metal clamp, lower arm (2 pcs)
• B : Metal clamp, gearbox axis 3
• C : Metal clamp, armhouse
14. Gently pull out the cable harness of the
upper arm.
15. Tie the connectors into bundles, to avoid
damaging them during further removal.
Action Note
Action Note
1. Begin by refitting the cable harness lower
end, (axes 1-2).
Detailed in section Replacement of cable
harness, lower end (axes 1-2) on page
153.
2. Insert the cable harness gently from the rear
into the upper arm.
Arrange the cable harness as shown in
the figure Location of cable harness, axes
3-6. on page 159
3. Place the cabling to motor axis 6, correctly
on the upper arm and pull the connectors
carefully through the hole on top of the wrist
unit to motor, axis 6.
Shown in the figure Location of cable
harness, axes 3-6. on page 159
Continued
Continues on next page
To Next Page
Loading...
