Chapter 6: Maintenance
11.
Carefully disconnect the INT1 (2), INT2 (3), ENC1 (4), and ENC2 (5) cables from their
connectors on the ePMAI board (6), by disengaging the securing latches. See the pre-
vious figure.
12. Using a 5 mm hex wrench, disconnect and remove the ground wire from the chassis.
Keep the screw for reassembly later. See the following figures.
Figure 6-11. Ground Screw Hole on eAIBChassis
13.
Tag the chassis with the appropriate fault diagnosis faults/errors and robot serial num-
ber information.
Installing a New eAIB Chassis
1.
Carefully remove the new chassis from its packaging, check it for any signs of damage,
and remove any foreign packing materials or debris from inside the chassis.
2.
Carefully place the chassis next to the robot.
3.
Using a 5 mm hex wrench, connect the ground wire to the chassis.
4.
Reconnect the cables you removed from their connectors on the ePMAI board, and
engage the securing latches.
5.
Connect the “white” amplifier cable to the amplifier connector located on the chassis
bracket.
6.
Carefully insert the chassis into the robot base in the groove at the bottom of the base.
Tilt the chassis up and into place against the robot, making sure that none of the cables
get trapped or pinched and that the chassis O-ring is not damaged during installation.
7.
Once the chassis is in place, use a 5 mm hex wrench to tighten the chassis securing
screw. See Figure 6-8.
8.
Connect the 200/240 VAC supply cable to the chassis AC input connector.
14402-000 Rev. F eCobra User's Guide 109
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