Adept s600 Cobra - Manual (Page 60)

Chapter 5: Maintenance
5.7 Replacing the AIB or eAIB Chassis
CAUTION: Follow appropriate ESD procedures during
the removal/replacement phases.
Removing the AIB or eAIB Chassis
1. Switch off the SmartController.
2. Switch off the 24 VDC input supply to the chassis.
3. Switch off the 200/240 VAC input supply to the chassis.
4. Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector. For the
connector location, see Figure 2-3.
5. Disconnect the 200/240 VAC supply cable from the chassis AC Input connector.
6. Disconnect the XSYS cable from the chassis XSLV connector (AIB) or
Disconnect the eAIB XSYS cable or XSYS cable with eAIB XSLV Adapter from the
chassis XSYSTEM connector (eAIB).
7. Disconnect the 1394 cable from the chassis SmartServo connector.
8. Disconnect any other cables, which may be connected to the chassis, such as XIO, RS-
232, or any others.
9. Using a 5 mm hex wrench, carefully unscrew the chassis securing screw, which is
shown in the following figure. Note that the screw does not need to be completely
removed in order to remove the chassis, as this screw is captured on the chassis heat
sink.
Figure 5-2. Securing Screw on AIB/eAIB Chassis
10. While holding the chassis heat sink, carefully and slowly lower the chassis down (see
the following figure), so that enough access is available to remove the internal cables.
The chassis can be laid flat or placed to the right side of the robot for better access.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 60 of 128