Table of contents
3.2.2
3.3
Inspection activities ...........................................................................................
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.3.9
3.4
Cleaning activities .............................................................................................
3.4.1
3.5
3.5.1
3.5.2
4
4.1
Introduction ......................................................................................................
4.2
General procedures ...........................................................................................
4.2.1
4.2.2
4.2.3
4.3
Complete robot .................................................................................................
4.3.1
4.3.2
4.3.3
4.3.4
Replacement of base ...............................................................................
4.4
Upper arm .......................................................................................................
4.4.1
4.4.2
4.4.3
4.4.4
4.5
Lower arm .......................................................................................................
4.5.1
4.5.2
4.6
Frame and base ................................................................................................
4.6.1
4.6.2
4.6.3
4.6.4
4.7
Motors ............................................................................................................
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
4.8
Gearboxes .......................................................................................................
4.8.1
4.8.2
5
5.1
When to calibrate .............................................................................................
5.2
Calibration methods ...........................................................................................
5.3
5.4
6
© Copyright 2004-2018 ABB. All rights reserved.
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Product manual - IRB 140
3HAC027400-001 Revision: V