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3.3.6
Inspecting the oil level, axis 5-6 gearbox ......................................................
3.3.7
Inspecting the cable harness .....................................................................
3.3.8
Inspecting information labels .....................................................................
3.3.9
Inspecting the mechanical stop pin, axis 1 ...................................................
3.3.10 Inspecting, additional mechanical stops ......................................................
3.3.11 Inspecting dampers .................................................................................
3.4
Replacement activities .......................................................................................
3.4.1
Type of lubrication in gearboxes ................................................................
3.4.2
Changing the oil, axis 1 gearbox ................................................................
3.4.3
Changing the oil, axis-2 gearbox ................................................................
3.4.4
Changing the oil, axis-3 gearbox ................................................................
3.4.5
Changing the oil in axes 5 and axis 5 and 6 gearboxes, IRB 1520ID ..................
3.4.6
Replacing the battery pack ........................................................................
3.5
Cleaning activities .............................................................................................
3.5.1
Cleaning the IRB 1520 ..............................................................................
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 sealings ..............................................................
4.2.4
Cut the paint or surface on the robot before replacing parts ............................
4.2.5
The brake release buttons may be jammed after service work .........................
4.3
Complete manipulator ........................................................................................
4.3.1
Replacing the cable harness - lower end ......................................................
4.3.2
Replacing the cable harness - upper end .....................................................
4.3.3
Replacing the complete arm system ...........................................................
4.4
Upper and lower arm .........................................................................................
4.4.1
Replacing the complete upper arm, IRB 1520ID ............................................
4.4.2
Replacing the complete lower arm ..............................................................
4.4.3
Replacing the wrist unit, IRB 1600ID ...........................................................
4.4.4
Replacing the damper, axis 2 .....................................................................
4.4.5
Replacing the damper, axis 3 .....................................................................
4.4.6
Replacing the mechanical stop axis 3, IRB 1520ID .........................................
4.5
Frame and base ................................................................................................
4.5.1
Replacing the base ..................................................................................
4.5.2
Replacing the serial measurement unit ........................................................
4.5.3
Replacing the push button unit ..................................................................
4.6
Motors ............................................................................................................
4.6.1
Replacing motors on axis 1 and 2 ...............................................................
4.6.2
Replacing motors on axes 3 and 4 ..............................................................
4.6.3
Replacing motor on axis 5 .........................................................................
4.6.4
Replacing the axis 6 motor ........................................................................
4.7
Gearboxes .......................................................................................................
4.7.1
Replacing the axis 1 gearbox .....................................................................
4.7.2
Replacing the axis 2 gearbox .....................................................................
4.7.3
Replacing the axis 3 gearbox .....................................................................
4.7.4
Service work on axes 4, 5 and 6 gearboxes ..................................................
5
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
Calibrating with Calibration Pendulum method .......................................................
5.7
Calibrating with Wrist Optimization method ...........................................................
5.8
Checking the synchronization position ..................................................................
6
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Product manual - IRB 1520
3HAC043435-001 Revision: L
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