ABB IRB 140 type C Product Manual page 123

Equipment, etc.
Standard Toolkit, IRB 140
Other tools and
procedures may be
required. See references
to these procedures in the
step-by-step instructions
below.
Circuit Diagram
Removal
The procedure below details how to remove 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:
CAUTION!
This component is classified as Hazardous waste and must be disposed of accordingly!
If in doubt of the correct disposal procedure, please contact your local environmental
authority!
CAUTION!
The cable packs are sensitive to mechanical damage! They must be handled with care,
especially the connectors, in order to avoid damaging them!
3HAC027400-001 Revision: C
4.5.3. Replacement of serial measurement unit and battery pack
Spare part. no. Art. no.
• Motors and gears are HOT after running the robot! Touching the motors and gears may
result in burns!
•
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. 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 grounded through a special ESD wrist bracelet or
similar.
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.
Note
3HAC020812-001 The contents are defined
in section
toolkit on page
part 2 of the Product
manual.
These procedures
include references to the
tools required.
3HAC 6816-3 See chapter
diagram
manual, reference
information.
Note
This will simplify calibration of the
robot after replacement since no
coarse calibration will be required.
Shown in the figure
serial measurement unit and
battery pack on page
Continues on next page
4 Repair
Continued
Standard
182, in
Circuit
in the Product
Location of
120!
121