Disassembly/Assembly
Guidelines
IRB 6400
Page 7 - 2
Axis 4 Guidelines
5. DISCONNECT LOWER HALF OF UPPER CABLE (U14):
NOTE: In extreme conditions when downtime
is critical, steps 5, 6, 7, 8, 10, & 11 may be
skipped. However, substantial backlash may
result due to the elimination of the backlash
adjustment.
a. Remove screws (S42) and cover (S43).
b. Disconnect connectors R2.MP4, R2.MP5-6, R2.CP, and R2.CS.
c. Remove screws (S12).
d. Pull measuring card unit (S10) out.
e. Disconnect R2.SMB3-6(X5) from signal measuring board.
f. Uncouple customer air hose by accessing clamp through mea-
suring card unit (S10) opening.
6. LOOSEN SMALL COVERS HOLDING CABLES TO COVER (S6). Care-
fully feed cables up and out through the three holes in cover (S6).
7. REMOVE CABLE TUBE HOLDER (U53):
a. Remove screws (U49) and washers (U50).
b. Remove cover (U51).
c. Remove screws (U52).
d. Remove cable tube holder (U53).
8. DETACH UPPER CABLE (U14) CLAMPS:
a. Detach upper cable (U14) clamp at inside front of lower arm
(L17). Leave clamp clamped to cable to maintain location.
b. Detach upper cable (U14) clamp from under housing (U61).
Leave clamp clamped to cable to maintain location.
9. DISCONNECT CABLES AT MOTOR (U83):
a. Disconnect connector R3.MP4.
b. Disconnect connector R3.FB4.
10. FEED LOWER PART OF CABLE (U14) UP AND OUT TO THE BACK
OF ROBOT. Cable should be free enough for cover (U54) and gasket
(U55) to be removed over it. If not, disconnect cable hangers and
anything else holding it.
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