ABB Robotics IRB 1100 Product Manual page 6

Table of contents
4.2 Maintenance schedule and expected component life ...............................................
4.2.1 Specification of maintenance intervals ........................................................
4.2.2 Maintenance schedule .............................................................................
4.2.3 Expected component life .........................................................................
4.3 Cleaning activities .............................................................................................
4.3.1 Cleaning the IRB 1100 ..............................................................................
4.4 Inspection activities ...........................................................................................
4.4.1 Inspecting the information labels ................................................................
4.4.2 Inspecting the robot for oil seepage ............................................................
4.4.3 Inspecting the robot cabling .....................................................................
4.4.4 Inspecting timing belts ............................................................................
4.5 Lubricating activities ..........................................................................................
4.5.1 Lubricating the cable package ...................................................................
4.6 Replacing/changing activities ..............................................................................
4.6.1 Replacing the battery pack ........................................................................
5 Repair
5.1 Introduction ......................................................................................................
5.2 General procedures ...........................................................................................
5.2.1 Performing a leak-down test ......................................................................
5.2.2 Mounting instructions for sealings ..............................................................
5.2.3 Cut the paint or surface on the robot before replacing parts ............................
5.3 Cable harness ..................................................................................................
5.3.1 Replacing the upper cable package ...........................................................
5.3.2 Replacing the lower cable package ............................................................
5.3.3 Replacing the SMB unit ...........................................................................
5.4 Swing and base ................................................................................................
5.4.1 Replacing the base .................................................................................
5.4.2 Replacing the swing ................................................................................
5.5 Lower arm .......................................................................................................
5.5.1 Replacing the lower arm ...........................................................................
5.6 Housing, extender unit and wrist ..........................................................................
5.6.1 Replacing the housing ..............................................................................
5.6.2 Replacing the extender unit and wrist .........................................................
5.7 Motors ............................................................................................................
5.7.1 Replacing the axis-1 motor .......................................................................
5.7.2 Replacing the axis-2 motor ........................................................................
5.7.3 Replacing the axis-3 motor ........................................................................
5.7.4 Replacing the axis-4 motor ........................................................................
5.7.5 Replacing the axis-5 motor ........................................................................
5.7.6 Replacing the axis-6 motor ........................................................................
5.8 Gearboxes .......................................................................................................
5.8.1 Replacing the axis-1 gearbox ....................................................................
5.8.2 Replacing the axis-2 gearbox ....................................................................
5.8.3 Replacing the axis-3 gearbox ....................................................................
5.8.4 Replacing the axis-4 gearbox ....................................................................
6 Calibration
6.1 Introduction to calibration ...................................................................................
6.1.1 Introduction and calibration terminology ......................................................
6.1.2 Calibration methods .................................................................................
6.1.3 When to calibrate ...................................................................................
6.2 Synchronization marks and axis movement directions .............................................
6.2.1 Synchronization marks and synchronization position for axes .........................
6.2.2 Calibration movement directions for all axes ................................................
6.3 Updating revolution counters ...............................................................................
6.4 Calibrating with Axis Calibration method ...............................................................
6.4.1 Description of Axis Calibration ..................................................................
6.4.2 Calibration tools for Axis Calibration ...........................................................
6
© Copyright 20192020 ABB. All rights reserved.
82
82
83
84
85
85
87
87
89
90
91
95
95
97
97
103
103
104
104
105
108
109
110
152
186
194
194
235
279
279
310
310
352
390
390
405
417
428
439
449
459
459
501
518
533
559
559
559
560
562
563
563
564
565
569
569
572
Product manual - IRB 1100
3HAC064992-001 Revision: C