ABB M2000 Product Manual page 126

4 Repair
4.5.3. Replacement of serial measurement unit and battery pack
CAUTION!
The cable packs are sensitive to mechanical damage! They must be handled with care,
especially the connectors, in order to avoid damaging them!
Step
Refitting
The procedure below details how to refit the serial measurement unit and battery pack.
WARNING!
Please observe the following before commencing any repair work on the manipulator:
DANGER!
Follow these instruction to prevent the unit to be damaged from ESD:
124
Action
1. Set the robot system to MOTORS OFF state.
2. Remove the rear cable cover from the base of
the robot by unscrewing its attachment screws.
3. Remove the serial measurement unit by
unscrewing its attachment screws .
The removal is simplified by pushing the unit to
the side and then pulling it backwards.
4. If only the battery is to be replaced, disconnect
the cables to the battery only!
Disconnect all connectors from the serial
measurement unit.
5. Lift the board out.
6. If the battery pack is to be replaced, proceed
below!
Cut the cable tie and disconnect the battery
connector to remove the battery pack.
Battery includes protection circuits. Replace it
only with the specified spare part in the refitting
instruction or with an ABB approved eqvivalent.
• - Motors and gears are HOT after running the robot! Burns may result from touching
the motors or gears!
• - Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
• - Take any necessary measures to ensure that the manipulator does not collapse as
parts are removed, e.g. to secure the lower arm with fixtures if removing motor, axis 2.
• The unit is sensitive to electrostatic discharge. It will be destroyed if subjected to
electrostatic voltages.
• Before handling, make sure you are connected to earth through a special ESD wrist
bracelet or similar.
Note
This will simplify calibration of the
robot after replacement since no
coarse calibration will be required.
Shown in the figure Location of
serial measurement unit and
battery pack on page 122!
Shown in the figure Location of
serial measurement unit and
battery pack on page 122!
Connectors
• R2.SMB
• R2.FB1-3
• R2.FB4-6
• R2.G
Shown in the figure Location of
serial measurement unit and
battery pack on page 122!
3HAC023297-001 Revision: A