4 Repair
4.3.5. Replacement of cable harness, axes 1-4 IRB 6640ID
2373HAC026876-001 Revision: F
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4.3.5. Replacement of cable harness, axes 1-4 IRB 6640ID
Location of cable harness
The cable harness for axes 1-4 is run throughout the base, frame and lower arm as shown in
the figure below.
xx0700000470
A Connectors at motor axis 2 (R2.FB2, R2.MP2)
B Connectors at motor axis 1(R2.FB1, R2.MP1)
C Rear cover plate
D Earth (attachment point is placed under the cover plate)
E Cable harness
F Cable holder
G Velcro strap
H Guide plate axis 2
J Cable guide
K Connector R1.MP
L Connector R1.SMB
M Cable protector (placed inside the lower arm)
N Position for SMB and brake release units
O Cable harness (cut away view)
P Velcro strap (inside lower arm)
R Cable gland (armhouse)
S Connectors at motor axis 4 (R2.FB4, R2.MP4)
T Connectors at motor axis 3 (R2.FB3, R2.MP3)
U Cable division point (R2.M5/6, R2.FB5/6)
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