4 Repair
4.3.3. Replacement of cable harness, axes 5-6
2513HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, cable harness, axes 5-6
The procedure below details how to refit the upper arm cable harness. The separate cable that
goes from the connection point inside of the upper arm tube to the motor, axis 5, is not
included in this procedure. The refitting of that cable is described further down in section
Refitting, cabling axis 5 motor on page 260.
5. Loosen the cable bracket on top of the wrist
unit by undoing the three attachment screws.
Two of the attachment screws are visibly
located at the rear attachment and the third is
located at the bottom of the cable bracket, in
the center.
Shown in the figure Location of cable
harness ax 5-6 on page 249!
xx0200000254
• B: Attachment screws, rear of
cable bracket, 2 pcs
• C: Attachment screw, bottom of
cable bracket, 1 pc
6. Pick out the cabling from motor, axis 6.
7. Loosen the cable bracket in the upper arm tube
by undoing the two screws on top of the tube.
Shown in the figure Location of cable
harness ax 5-6 on page 249!
8. Disconnect the two connectors (R3.FB5 and
R3.MP5) in the tube.
Shown in the figure Location of cable
harness ax 5-6 on page 249!
9. Remove eventual cable straps from the
harness.
10. Remove the cable attachment, rear. Shown in the figure Location of cable
harness ax 5-6 on page 249!
11. Disconnect connector R2.M5/6 at the cable
harness division point.
Shown in the figure Location of cable
harness ax 5-6 on page 249!
12. Gently pull the cable harness out.
Action Note/Illustration
Action Note/Illustration
1. Position the upper arm as follows:
• Axis 4: 0 degrees
• Axis 5: +90 degrees
• Axis 6: no significance
2. Gently insert the cable harness from the rear
into the upper arm.
3. Connect the two connectors inside the upper
arm tube, R3.FB5 and R3.MP5 and secure the
cable bracket with the two attachment screws
to the tube.
Shown in the figure Location of cable
harness ax 5-6 on page 249!
Continued
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