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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.
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3HAC026876-001 Revision: F
4.3.5. Replacement of cable harness, axes 1-4 IRB 6640ID
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 axis 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)
Cable gland (armhouse)
Connectors at motor axis 4 (R2.FB4, R2.MP4)
Connectors at motor axis 3 (R2.FB3, R2.MP3)
Cable division point (R2.M5/6, R2.FB5/6)
4 Repair
Continues on next page
237
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