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A
Absolute Accuracy, calibration 411
B
balancing device bearing, replacement 317
balancing device, replacement 322
brake release unit, replacement 313
brakes
testing function 29
C
cable harness axes 1-4, replacement 240
cable harness axes 1-6, replacement 228
cabling
position switches 111
cabling axis 5, replacement 259
cabling between robot and controller 122
cabling, robot 122
cabling, robot axes 1-4 241
cabling, robot axes 5-6 249
calibrating
roughly 415
calibration
Absolute Accuracy type 410
alternative method 411
Levelmeter calibration 411
marks/scales 412
rough 415
standard type 410
when to calibrate 409
calibration manuals 411
calibration position 415
checking 419
jogging to, FlexPendant 420
jogging to, TPU 420
scales 412
calibration, Absolute Accuracy 411
CalibWare 410
complete arm system, replacement 261
connecting the robot and controller, cabling 122
Connection of external safety devices 18
D
direction of axes 414
E
enlarged gear 427
ESD
damage elimination 40
sensitive equipment 40
wrist strap connection point 40
explanation, safety symbols 35
F
FlexPendant
jogging to calibration position 420
MoveAbsJ instruction 419
updating revolution counters 417
fork lift 61
foundation
loads 54
3HAC023082-001 Revision: E
requirements 54
G
gearbox axis 1, replacement 383
gearbox axis 2, replacement 391
gearbox axis 3, replacement 399
gearbox axis 6, replacement 405
I
identification 427
installation
mechanical stop axis 1 105
mechanical stop axis 2 107
mechanical stop axis 3 109
installing
position switches 111
L
Levelmeter calibration 411
lifting of robot
with lifting slings 68
lifting robot
with fork lift 61
lifting slings, robot 68
lifting upper arm
attachment points for lifting device 286
loads on foundation 54
lower arm shaft, replacement 299
lower arm, replacement 292
M
mechanical stop
axis 1 105
axis 2 107
axis 3 109
motion of axes 59
motor axis 1, replacement 337
motor axis 2, replacement 343
motor axis 3, replacement 350
motor axis 4, replacement 357
motor axis 5, replacement 364
motor axis 6, replacement 374
MoveAbsJ instruction
FlexPendant 419
TPU 419
N
negative directions, axes 414
O
oil change
safety risks 41
operating conditions, robot 54
P
position switches
cabling on robot 111
installing 111
position, robot 412
positive directions, axes 414
protection classes 55
Index
489
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