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4.4
Replacement/changing activities ..........................................................................
4.4.1
Type of lubrication in gearboxes ................................................................
4.4.2
Changing oil, axis-1, axis-2 and axis-3 gearbox .............................................
4.4.3
Changing oil, axis-4 and axis-5 gear unit ......................................................
4.4.4
Changing oil, axis-4 and axis-5 gear unit pre-stage ........................................
4.4.5
Changing the SMB battery ........................................................................
4.5
Lubrication activities ..........................................................................................
4.5.1
Lubricating the telescopic shafts ................................................................
4.6
Cleaning activities .............................................................................................
4.6.1
Cleaning the IRB 390 ...............................................................................
5
5.1
Introduction ......................................................................................................
5.2
Definition of spare part levels ..............................................................................
5.3
General procedures ...........................................................................................
5.3.1
Performing a leak-down test ......................................................................
5.3.2
Mounting instructions for sealings ..............................................................
5.3.3
Screw joints ..........................................................................................
5.4
Base ...............................................................................................................
5.4.1
Replacing the base unit ............................................................................
5.4.2
Replacing the cassette sealing ..................................................................
5.4.3
Replacing the SMB unit ............................................................................
5.4.4
Replacing the cable harness .....................................................................
5.4.5
Replacing the brake release unit ................................................................
5.5
Upper and lower arms ........................................................................................
5.5.1
Replacing the lower arm ...........................................................................
5.5.2
Replacing the upper arm ..........................................................................
5.5.3
Replacing the telescopic shafts and universal joints ......................................
5.5.4
Replacing the delta unit ............................................................................
5.5.5
Replacing the tilt arm ...............................................................................
5.6
Motors and gears ..............................................................................................
5.6.1
Replacing the axis-1, axis 2 and axis-3 motor ...............................................
5.6.2
Replacing the axis-4 motor ........................................................................
5.6.3
Replacing the axis-5 motor ........................................................................
5.6.4
Replacing the axis-4 gear unit pre-stage ......................................................
5.6.5
Replacing the axis-5 gear unit pre-stage ......................................................
6
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 ...........................................................
6.4.3
Installation locations for the calibration tools ...............................................
6.4.4
Axis Calibration - Running the calibration procedure ......................................
6.4.5
Reference calibration ...............................................................................
6.5
Verifying the calibration ......................................................................................
6.6
Checking the synchronization position ..................................................................
7
7.1
Introduction to troubleshooting ............................................................................
7.2
Oil and grease stains on motors and gearboxes ......................................................
6
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Product manual - IRB 390
3HAC066566-001 Revision: B
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Table of Contents
Troubleshooting
