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4.5
Upper and lower arms ........................................................................................
4.5.1
Replacing the upper arm ..........................................................................
4.5.2
Replacing the wrist .................................................................................
4.5.3
Replacing the turning disk ........................................................................
4.5.4
Replacing the lower arm ..........................................................................
4.6
Frame and base ................................................................................................
4.6.1
Replacing spherical roller bearing, link ear ...................................................
4.6.2
Replacing the balancing device .................................................................
4.6.3
Replacing the rear bearing of the balancing device ........................................
4.6.4
Replacing the stop pin .............................................................................
4.6.5
Unloading the balancing device .................................................................
4.6.6
Restoring the balancing device .................................................................
4.7
Motors ............................................................................................................
4.7.1
Replacing the axis-1 motor .......................................................................
4.7.2
Replacing the axis-2 motor .......................................................................
4.7.3
Replacing the axis-3 motor .......................................................................
4.7.4
Replacing the axis-4 motor .......................................................................
4.7.5
Replacing the axis-5 motor .......................................................................
4.7.6
Replacing the axis-6 motor .......................................................................
4.8
Gearboxes .......................................................................................................
4.8.1
Replacing the axis-1 gearbox ....................................................................
4.8.2
Replacing the axis-2 gearbox ....................................................................
4.8.3
Replacing the axis-3 gearbox ....................................................................
4.8.4
Replacing the axis-6 gearbox ....................................................................
5
Calibration information
5.1
Introduction .....................................................................................................
5.2
Calibration methods ...........................................................................................
5.3
Calibration scale and correct axis position .............................................................
5.4
Calibration movement directions for all axes ..........................................................
5.5
Updating revolution counters ...............................................................................
5.6
Checking the calibration position ..........................................................................
6
Decommissioning
6.1
Environmental information ..................................................................................
6.2
Scrapping of robot .............................................................................................
6.3
Decommissioning of balancing device ...................................................................
7
Reference information
7.1
Introduction ......................................................................................................
7.2
Applicable safety standards ................................................................................
7.3
Unit conversion .................................................................................................
7.4
Screw joints ....................................................................................................
7.5
Weight specifications .........................................................................................
7.6
Standard toolkit ................................................................................................
7.7
Special tools ....................................................................................................
7.8
Lifting accessories and lifting instructions ..............................................................
8
Spare parts
8.1
Spare part lists and illustrations ...........................................................................
9
Circuit diagrams
9.1
About circuit diagrams .......................................................................................
Index
3HAC044266-001 Revision: -
© Copyright 2013 ABB. All rights reserved.
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