Table of Contents
4.3 Complete robot
4.3.1. Replacement of cable harness, axes 1-6
General
This section details how to replace the cable harness that runs undivided from axis 1 to axis 6.
Location of cable harness
The cable harness of axes 1-6 is run throughout the robot as shown in the figure below.
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A
B
C
D
E
F
G
H
J
K
L
M
N
O
P
3HAC026876-001 Revision: C
Connectors at motor, axis 2 (R2.FB2, R2.MP2)
Connectors at motor, axis 1 (R2.FB1, R2.MP1)
Rear cover plate
Earth (attachment point is placed under the cover plate)
Cable harness
Cable holder
Velcro strap
Guide plate ax 2
Cable guide
Connector R1.MP
Connector R1.SMB
Cable protector (placed inside the lower arm)
Position for SMB and brake release units
Cable harness (cut away view)
Velcro strap (inside lower arm on metal clamp)
4.3.1. Replacement of cable harness, axes 1-6
4 Repair
Continues on next page
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