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A
Absolute Accuracy, calibration 373
B
balancing device bearing, replacement 285
balancing device, replacement 276
brakes
testing function 27
C
cable harness axes 1-4, replacement 221
cabling
position switches 108
cabling between robot and controller 119
cabling, robot 119
cabling, robot axes 1-4 222
cabling, robot axes 5-6 230
calibrating
roughly 376
calibration
Absolute Accuracy type 372
alternative method 373
Levelmeter calibration 373
marks/scales 374
rough 376
standard type 372
when to calibrate 371
calibration manuals 373
calibration position 376
checking 380
jogging to, FlexPendant 381
jogging to, TPU 381
scales 374
calibration, Absolute Accuracy 373
CalibWare 372
conditions
operating robot 52
storing robot 52
connecting the robot and controller, cabling 119
Connection of external safety devices 16
D
direction of axes 375
E
ESD
damage elimination 38
sensitive equipment 38
wrist strap connection point 38
explanation, safety symbols 33
F
FlexPendant
jogging to calibration position 381
MoveAbsJ instruction 380
updating revolution counters 378
forces and torques, robot 52
fork lift 60
foundation 52
levelness 52
loads 52
3HAC022033-001 Revision: E
requirements 52
resonance frequency 52
G
gearbox axis 1, replacement 334
gearbox axis 3, replacement 349
gearbox axis 6, replacement 366
gearbox oil 177
I
installation
mechanical stop axis 1 102
mechanical stop axis 2 104
mechanical stop axis 3 106
installing
position switches 108
,
insulated wrist unit 248
401
IP classification 53
L
Levelmeter calibration 373
levelness on foundation 52
lifting equipment 393
lifting of robot
with lifting slings 68
lifting robot
with fork lift 60
with roundslings 70
lifting slings, robot 68
loads on foundation 52
M
mechanical stop
axis 1 102
axis 2 104
axis 3 106
motor axis 1, replacement 297
motor axis 2, replacement 303
motor axis 3, replacement 310
motor axis 4, replacement 317
motor axis 6, replacement 328
MoveAbsJ instruction
FlexPendant 380
TPU 380
N
negative directions, axes 375
O
oil change
safety risks 40
oil in gearboxes
labels on robot 180
oil, amount 177
oil, types 177
operating conditions, robot 52
P
position switches
cabling on robot 108
installing 108
position, robot 374
Index
439
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