4 Repair4.3.2. Replacement of cable harness, axes 1-43HAC020993-001 Revision: G216© Copyright 2004-2008 ABB. All rights reserved.4.3.2. Replacement of cable harness, axes 1-4GeneralThis section details how to replace the cable harness that runs from axis 1 to axis 4. If therobot is equipped with an undivided cable harness, it is instead replaced as detailed in sectionReplacement of cable harness, axes 1-6 on page 204.(The divided cable for axes 1-4 is not applicable for robot model IRB 6650S - 90/3.9.)Location of cable harnessThe cable harness for axes 1-4 is run throughout the base, frame and lower arm as shown inthe figure below.xx0300000589A Rear cover plateB Attachment point for earth lugC Connector R1.MPD Connector R1.SMBContinues on next page
