ABB IRB 140 Product Manual page 152

4 Repair
4.6.3 Replacing the serial measurement unit and the battery pack
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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
Clean Room robots: clean the joints that have been
opened. See Replacing parts on Clean Room robots
on page 100
Connect the new battery pack to the serial measure-
ment unit and secure it with a cable tie.
Reconnect all connectors to the unit.
Place the serial measurement unit in position inside
the manipulator base and secure it with its four at-
tachment screws.
Make sure the gasket sealing the rear cable cover
has not been damaged.
Replace the gasket if required.
Making sure all cables are correctly located behind
the rear cable cover, refit it into position.
Make sure no cables or other equipment fitted be-
hind the cover get pinched by the cover.
Secure the rear cable cover to the base of the robot
with its attachment screws.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Connectors
• R2.SMB
• R2.FB1-3
• R2.FB4-6
• R2.G
Shown in the figure Location of
serial measurement unit and bat-
tery pack on page 148!
Shown in the figure Location of
serial measurement unit and bat-
tery pack on page 148!
Art. no. specified in section
quired equipment on page
Shown in the figure Location of
serial measurement unit and bat-
tery pack on page 148!
Shown in the figure Location of
serial measurement unit and bat-
tery pack on page 148!
3HAC027400-001 Revision: K
Re-
149!