ABB IRB 1410 Product Manual page 6

Table of contents
3.3 Changing activities ............................................................................................
3.3.1 Type of lubrication in gearboxes ................................................................
3.3.2 Replacement of SMB battery .....................................................................
3.4 Inspection activities ...........................................................................................
3.4.1 Inspecting information labels .....................................................................
3.5 Lubrication activities ..........................................................................................
3.6 Cleaning activities .............................................................................................
3.6.1 Cleaning the IRB 1410 ..............................................................................
4 Repair
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 ..................................................................
4.2.4 Cut the paint or surface on the robot before replacing parts ............................
4.2.5 Checking for play in gearboxes and wrist .....................................................
4.3 Axis 1 ..............................................................................................................
4.3.1 Replacing the axis-1 motor ........................................................................
4.3.2 Replacing the axis-1 gearbox ....................................................................
4.3.3 Replacing the position indicator (Optional) ...................................................
4.3.4 Replacing the mechanical stop ..................................................................
4.4 Axis 2 ..............................................................................................................
4.4.1 Replacing the axis-2 motor ........................................................................
4.4.2 Replacing the axis-2 gearbox ....................................................................
4.4.3 Replacing the lower arm ...........................................................................
4.4.4 Replacing the bearings in the upper arm ......................................................
4.4.5 Replacing the balancing springs ................................................................
4.5 Axis 3 ..............................................................................................................
4.5.1 Replacing the axis-3 motor ........................................................................
4.5.2 Replacing the axis-3 gearbox ....................................................................
4.5.3 Replacing the parallel arm ........................................................................
4.5.4 Replacing the tie rod ................................................................................
4.5.5 Replacing the complete upper arm .............................................................
4.6 Axis 4 ..............................................................................................................
4.6.1 Replacing the axis-4 motor ........................................................................
4.6.2 Replacing the intermediate gear including sealing .........................................
4.6.3 Replacing the drive gear on the tubular shaft ................................................
4.6.4 Dismantling the tubular shaft and changing bearings .....................................
4.7 Cabling and serial measurement board .................................................................
4.7.1 Replacing the serial measurement board (SMB) ............................................
4.7.2 Replacing the axis-1, -2, and -3 cabling .......................................................
4.7.3 Replacing the axis-4, -5, and -6 cabling .......................................................
4.8 The wrist, axis 5, and axis 6 ................................................................................
4.8.1 Introduction ............................................................................................
4.8.2 Replacing the wrist ..................................................................................
4.8.3 Replacing the complete axis-5 and axis-6 drive mechanism ............................
4.8.4 Changing the axis-5 and axis-6 motor or driving belt ......................................
4.8.5 Measuring the play in axis-5 and axis-6 .......................................................
4.9 Motor units .......................................................................................................
4.9.1 Introduction ............................................................................................
5 Calibration information
5.1 When to calibrate .............................................................................................
5.2 Calibration methods ...........................................................................................
5.3 Synchronization marks and synchronization position for axes ...................................
5.4 Calibration movement directions for all axes ..........................................................
5.5 Updating revolution counters ...............................................................................
5.6 Checking the synchronization position ..................................................................
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Product manual - IRB 1410
3HAC026320-001 Revision: N