ABB IRB 140 type C Product Manual page 125

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:
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
• - 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.
Action
1. Connect the new battery pack to the serial
measurement unit and secure it with a cable tie.
2. Reconnect all connectors to the unit.
3. Place the serial measurement unit in position
inside the manipulator base and secure it with its
four attachment screws.
4. Make sure the gasket sealing the rear cable cover
has not been damaged.
Replace the gasket if required.
5. Making sure all cables are correctly located
behind the rear cable cover, refit it into position.
Make sure no cables or other equipment fitted
behind the cover get pinched by the cover.
4 Repair
Continued
Note
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 120!
Shown in the figure Location of
serial measurement unit and
battery pack on page 120!
Art. no. specified in section
Required equipment on page
120!
Shown in the figure Location of
serial measurement unit and
battery pack on page 120!
Continues on next page
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