Disassembly/Assembly
Guidelines
IRB 6400
Page 7 - 8
Axis 4 Guidelines
6. DISCONNECT CONNECTOR (R2.SMB3-6 X5) ON MEASURE CARD
UNIT (S10):
a. Remove screws (S12).
b. Pull measuring card unit (S10) out.
c. Disconnect R2.SMB3-6 (X5) from serial measurement board.
7. UNCOUPLE CUSTOMER AIR HOSE by accessing clamp through
measuring card unit (S10) opening.
8. REMOVE SMALL COVERS HOLDING CABLES TO COVER (S6).
CAREFULLY FEED CABLES UP AND OUT THROUGH THE THREE
HOLES IN COVER (S6).
9. REMOVE CABLE TUBE BRACKET (U53):
a. Remove screws (U49) and washers (U50).
b. Remove cover (U51).
c. Remove screws (U52).
d. Remove cable tube holder (U53).
10. DETACH UPPER CABLE (U14) CLAMPS:
a. Detach upper cable (U14) clamps at lower arm (L17). Leave
clamp clamped to cable to maintain location.
b. Detach upper cable (U14) clamp at housing (U61). Leave clamp
clamped to cable to maintain location.
11. DISCONNECT CABLES AT MOTOR (U83):
a. Disconnect connector R3.MP4.
b. Disconnect connector R3.FB4.
12. 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.
13. REMOVE COVER (U54) AND GASKET (U55):
a. Remove screws (U36) with washers (U37).
b. Remove cover (U54) including seal ring (U40) and cork gasket
(U55).
14. LOOSEN MOTOR (U83) MOUNTING:
a. Loosen screws (U85):
b. Loosen motor in mounting.
COVER WEIGHS
APPROX. 20 LB.
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