ABB IRB 140 Product Manual page 150

4 Repair
4.6.3 Replacing the serial measurement unit and the battery pack
Continued
Removal
The procedure below details how to remove the serial measurement unit and battery
pack.
1
2
Continues on next page
150
WARNING
Please observe the following before doing any repair work on the manipulator:
• Motors and gears are HOT after running the robot! Touching the motors and
gears may result in burns!
• 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, for example secure the lower arm with fixtures
if removing motor, axis 2.
DANGER
Follow these instruction to prevent the unit to be damaged from ESD:
• The unit is sensitive to electrostatic discharge. It will be destroyed if
subjected to electrostatic voltages.
• Before handling, make sure you are grounded through a special ESD wrist
bracelet or similar.
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!
Action
CAUTION
Always cut the paint with a knife and grind the
paint edge when disassembling parts of a Clean
Room robot! See Replacing parts on Clean Room
robots on page 100
Set the robot system to MOTORS OFF state.
© Copyright 2004-2013 ABB. All rights reserved.
Note
This will simplify calibration of the
robot after replacement since no
coarse calibration will be required.
3HAC027400-001 Revision: K