ABB IRB 140 Product Manual page 6

Table of contents
3 Maintenance
3.1 Introduction ......................................................................................................
3.2 Maintenance schedules ......................................................................................
3.2.1 Specification of maintenance intervals ........................................................
3.2.2 Maintenance schedule .............................................................................
3.3 Inspection activities ...........................................................................................
3.3.1 Inspection, damper axes 2, 3 and 5 .............................................................
3.3.2 Inspection, robot cabling ..........................................................................
3.3.3 Inspection, timing belts ............................................................................
3.4 Cleaning activities .............................................................................................
3.4.1 Cleaning, robot ......................................................................................
3.5 Changing/ replacing activities ..............................................................................
3.5.1 Type of lubrication in gearboxes ................................................................
3.5.2 Changing the oil in axes 5 and 6 gearboxes .................................................
4 Repair
4.1 Introduction ......................................................................................................
4.2 General procedures ...........................................................................................
4.2.1 Mounting instructions for bearings .............................................................
4.2.2 Mounting instructions for seals ..................................................................
4.2.3 Replacing parts on Clean Room robots .......................................................
4.3 Complete robot .................................................................................................
4.3.1 Replacement of cable harness ...................................................................
4.3.2 Replacement of complete upper arm ..........................................................
4.3.3 Replacement of complete lower arm ...........................................................
4.3.4 Replacement of base ...............................................................................
4.4 Upper arm .......................................................................................................
4.4.1 Replacement of wrist unit .........................................................................
4.4.2 Replacing the damper, axis 3 .....................................................................
4.4.3 Replacement of damper, axis 5 ..................................................................
4.4.4 Replacement of cover, arm housing ............................................................
4.5 Lower arm .......................................................................................................
4.5.1 Replacement of lower arm cover and gasket ................................................
4.5.2 Replacing the damper, axis 2 .....................................................................
4.6 Frame and base ................................................................................................
4.6.1 Replacement of cover, console ..................................................................
4.6.2 Replacement of console ...........................................................................
4.6.3 Replacing the serial measurement unit and the battery pack ...........................
4.6.4 Replacement of control cable ....................................................................
4.7 Motors ............................................................................................................
4.7.1 Replacement of motor, axis 1 ...................................................................
4.7.2 Replacement of motor, axis 2 ....................................................................
4.7.3 Replacement of motor and timing belt, axis 3 ...............................................
4.7.4 Replacement of motor, axis 4 ....................................................................
4.7.5 Replacement of motor and timing belt, axes 5 or 6 ........................................
4.7.6 Adjustments and measurements ................................................................
4.7.6.1 Measuring the gear play, axis 5 ......................................................
4.7.6.2 Measuring the gear play, axis 6 ......................................................
4.8 Gearboxes .......................................................................................................
4.8.1 Replacement of gearbox, axes 1-2 and damper, axis 1 ...................................
4.8.2 Service work on gearbox, axis 4 .................................................................
4.8.3 Amount of oil .........................................................................................
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 ..........................................................
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3HAC027400-001 Revision: K
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