Disassembly/Assembly
Guidelines
IRB 6400
Page 10 - 6
Cables Guidelines
9. DISCONNECT MOTOR (U83) CONNECTORS R3.FB4 & R3.MP4 AT
MOTOR.
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.
c. Detach any cable straps holding cables to robot.
11. REMOVE CABLE ACCESS COVERS:
a. Remove screw (U4) and cover (U5).
b. Remove screws (U6), cover (U7), and gasket (U9).
c. Remove screws (F7), washers (F8), and cover (F9). Cover is
sealed to motor (F10) and must be carefully pulled or pried off.
d. Remove screws holding cable pit on motor (F10) to loosen right-
angle channel so cable connectors can be pulled through later.
12. DISCONNECT MOTOR (F10) CONNECTORS:
a. Disconnect motor connectors R4.MP6, R4.FB6, and R4.PTC6 at
rear of motor (F10).
b. Pull cable and connectors through right angle channel.
c. Remove screws (U16) and (U17) to free cable mounting.
13. DISCONNECT ANY AIR CONNECTION & CUSTOMER CONNECTORS
(R3.CP) (R3.CS) ON RIGHT SIDE OF TUBE SHAFT (U19), USUALLY
MOUNTED ON OR BEHIND COVERS (U28) AND (U33).
14. REMOVE SCREWS (U15). REMOVE ANGLE BRACKET HOLDING
CABLE JUNCTION BOX.
15. DISCONNECT MOTOR (W52) CONNECTORS:
a. Pull upper cable junction box backwards and reach inside tube
shaft to disconnect axis 5 connectors R4.MP5 & R4.FB5 from
rear of motor (W52).
16. PULL UPPER END OF CABLE (U14) OUT THROUGH BACK OF TUBE
SHAFT (U19) AND AT SAME TIME FEED LOWER END OF CABLE
(U14) UP FROM LOWER ARM FRAME (L17).
17. LAY CABLE OUT FULL LENGTH IN A SAFE PLACE.
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