4 Repair
4.3.1. Replacement of cable harness, axes 1-6
3HAC020993-001 Revision: G206
© Copyright 2004-2008 ABB. All rights reserved.
2.
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.
3. Remove the cover, wrist unit and the cover,
upper arm tube.
xx0200000214
A. cover, wrist unit
B. cover, upper arm tube
4.
NOTE!
Axis 5 must be oriented in the correct position
(+90º) to allow the motor 6 cover to open!
5. Remove the cover of motor, axis 6 and
disconnect all connectors beneath.
6. Loosen the cable bracket in 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 Cable brackets of
the upper arm on page 205.
xx0200000254
• B: Attachment screws, rear of
cable bracket, 2 pcs
• C: Attachment screw, bottom of
cable bracket, 1 pc
7. Pick out the cabling from motor, axis 6.
8. Loosen the cable bracket in the upper arm tube
by undoing the two screws on top of the tube.
Shown in the figure Cable brackets of
the upper arm on page 205.
9. Disconnect the two connectors (R3.FB5 and
R3.MP5) inside the tube.
Shown in the figure Location of cable
harness on page 204.
10. Remove eventual cable straps from the
harness.
11. Remove the cable attachment, rear. Shown in the figure Cable brackets of
the upper arm on page 205.
Action Note/Illustration
Continued
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