ABB Robotics IRB 1520 Product Manual page 6

Table of contents
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 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 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 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 Calibrating with Calibration Pendulum method .......................................................
5.7 Calibrating with Wrist Optimization method ...........................................................
5.8 Checking the synchronization position ..................................................................
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Product manual - IRB 1520
3HAC043435-001 Revision: L