Disassembly/Assembly
Guidelines
IRB 6400
Page 10 - 9
Cables Guidelines
AXIS 6 MOTOR (F10) CABLE Removal
1. POSITION ROBOT TO BEST ACCESS WRIST (U10) CABLING.
2. TURN ELECTRICAL DISCONNECT SWITCH OFF AND LOCK IT IN
THE OFF POSITION.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
3. REMOVE SCREWS (U6), COVER (U7), AND GASKET (U9).
4. REMOVE SCREWS (U4) AND COVER (U5).
5. REMOVE SCREWS (F7), WASHERS (F8), AND COVER (F9). COVER
IS SEALED TO MOTOR (F10) AND MUST BE CAREFULLY PULLED
OFF WITH A GEAR PULLER. USE THREADED HOLE IN CENTER OF
COVER.
6. REMOVE SCREWS HOLDING ANGLE CHANNEL COVERING CABLE
PIT ON MOTOR (F10) SO CABLE CONNECTORS CAN MORE EASILY
BE PULLED THROUGH WHEN DISCONNECTED.
7. REMOVE SCREWS (U16) AND (U17) TO DISCONNECT CABLE CAR-
RIER FROM WRIST ASSEMBLY (U10).
8. REMOVE AXIS 6 CABLING:
a. Remove cover from cable junction box inside opening on left side
of tube (U19) and disconnect connectors R3.MP6 and R3.FB6. It
may be necessary to loosen junction box mounting screws (U15)
to be able to move junction box around a little.
b. Disconnect connectors R4.MP6, R4.FB6, and R4.PTC6 at rear of
motor (F10). Pull connectors at motor through loosened angle
channel.
c. Remove wrist cable and lay it out in a safe place.
E
E
REFERENCE DRAWINGS
Exploded Views:
Assemblies:
Hand Tools
REQUIRED TOOLS
3HAB 4163-2 (pg 13-22)
3HAA 0001-AAS (pg 14-A)
3HAB 4254-2 (pg 14-J)
3HAA 0001-AAH (pg 13-13)
“U” (pg 10-13, 12-4)
“F” (pg 10-15, 12-6)
3HAA 0001-ACA (pg 14-D)
3HAA 0001-GX (pg 13-18)
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