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3.6.4
Setting the SIS parameters .......................................................................
3.6.5
Reading the SIS output logs ......................................................................
3.6.6
Exporting the SIS data .............................................................................
4
4.1
Introduction ......................................................................................................
4.2
General procedures ...........................................................................................
4.2.1
Performing a leak-down test .....................................................................
4.2.2
Mounting instructions for bearings .............................................................
4.2.3
Mounting instructions for seals ..................................................................
4.3
Complete robot .................................................................................................
4.3.1
Replacement of cable harness, axes 1-4 .....................................................
4.3.2
Replacement of cable harness, axes 5-6 ......................................................
4.3.3
Replacement of complete arm system .........................................................
4.4
Upper and lower arm .........................................................................................
4.4.1
Replacing turning disk ..............................................................................
4.4.2
Replacement of complete wrist unit ............................................................
4.4.3
Replacement of complete upper arm ...........................................................
4.4.4
Replacement of complete lower arm ...........................................................
4.4.5
Replacement of lower arm shaft .................................................................
4.5
Frame and base ................................................................................................
4.5.1
Replacing the SMB unit ............................................................................
4.5.2
Replacement of brake release unit .............................................................
4.5.3
Replacing the balancing device ..................................................................
4.5.4
Replacement of spherical roller bearing, balancing device ..............................
4.5.5
Unloading the balancing device using hydraulic press tool ..............................
4.5.6
Restoring the balancing device using a hydraulic press tool ............................
4.6
Motors ............................................................................................................
4.6.1
Replacement of motor, axis 1 ....................................................................
4.6.2
Replacement of motor axis 2 .....................................................................
4.6.3
Replacement of motor, axis 3 ....................................................................
4.6.4
Replacement of motor, axis 4 ....................................................................
4.6.5
Replacement of motor, axis 5 ....................................................................
4.6.6
Replacement of motor, axis 6 ....................................................................
4.7
Gearboxes .......................................................................................................
4.7.1
Replacing the axis 1 gearbox .....................................................................
4.7.2
Replacement of gearbox, axis 2 .................................................................
4.7.3
Replacement of gearbox, axis 3 .................................................................
4.7.4
Replacement of gearbox, axis 4 .................................................................
4.7.5
Replacement of gearbox, axis 5 .................................................................
4.7.6
Replacement of gearbox, axis 6 .................................................................
5
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
6.1
Environmental information ..................................................................................
6.2
Decommissioning of balancing device ...................................................................
7
7.1
Introduction ......................................................................................................
7.2
Applicable safety standards ................................................................................
7.3
Unit conversion .................................................................................................
3HAC022033-001 Revision: M
© Copyright 2007-2013 ABB. All rights reserved.
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