Table of Contents
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Revision
A
B
C
3HAC039838-001 Revision: C
Description
This revision includes the following updates:
•
A new block, about general illustrations, added in section
the product manual on page
•
Added safety section, see
•
Added safety section, see
•
Added an illustration that shows the directions of the robot stress
forces and changed the value for the force in the Z plane, see
on foundation, robot on page
•
Added information about installing the signal lamp, see
procedure on page
of signal lamp, upper arm (option) on page
•
Added an assembly tool and a KM10 socket to the list of required
equipment and the instructions when replacing the upper and lower
link arms, see sections
and
Replacing the linkage - lower link arm on page
also added to the list of Special tools in the Reference chapter.
•
Added guide sleeves to hold the axes 2/3 sealing in place when refitting
the lower arm, see
•
Added guide pins to the step that describes refitting of the axis 1
gearbox to the base, see
Also made minor improvements in the working order in the step-by-
step instruction.
•
Improved and corrected the instruction for how to remove and refit
the upper arm, see
•
Improved and corrected the instruction for how to remove and refit
the tilthouse unit, see
•
Changed the instruction so that the weight of axis 3 is unloaded when
removing the axis 3 motor, instead of securing the upper arm with
roundslings, see
minor improvements also made.
•
Added information that the cable should be twisted one turn when
refitting it in the upper arm tube, see
upper end (incl. axis 6) on page
•
Clarified the importance of correct orientation of the turning disk when
removing and refitting it, see the refitting instruction in
turning disk on page
•
Improved and corrected the instruction for how to remove and refit
the axis 2 and axis 3 gearbox, see
on page
311.
This revision includes the following updates:
•
Minor corrections and editorial changes made throughout the manual.
•
Some general tightening torques have been changed/added, see up-
dated values in
•
Added
WARNING - Safety risks during handling of batteries on
page
49.
This revision includes the following updates:
•
The maximum allowed deviation in levelness of the base plate is
changed, see
Securing the base plate on page
•
Reference to Hilti standard added to the foundation recommendation
for the base plate and class designation for foundation is changed to
european standard C25/C30 (previously Swedish standard K25/K30),
see
Securing the base plate on page
•
All data about type of lubrication in gearboxes is moved from the
manual to a separate lubrication manual, see
in gearboxes on page
•
A new SMB unit and battery is introduced, with longer battery lifetime.
© Copyright 2013 ABB. All rights reserved.
Overview of this manual
12.
Balancing device on page
Signal lamp (optional) on page
55.
54, and clarified the installation steps in
Replacing linkage - upper link arm on page 221
Replacing the complete lower arm on page
Replacing the axis 1 gearbox on page
Replacing the upper arm on page
Replacing the tilthouse unit on page
Replacing motors, axes 2 and 3 on page
Replacing the cable harness,
163.
185.
Replacing the gearbox, axes 2- 3
Screw joints on page
347.
76.
127.
Continued
How to read
20.
34.
Loads
Pre-installation
Installation
87.
228. The tools are
251.
301.
209.
190.
284. Other
Replacing the
76.
Type and amount of oil
11
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