Table of Contents
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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 1010 ..............................................................................
4.4
Inspection activities ...........................................................................................
4.4.1
Inspecting the information labels ................................................................
4.4.2
Inspecting the robot cabling .....................................................................
4.4.3
Inspecting timing belts ............................................................................
4.4.4
Inspecting mechanical stops .....................................................................
4.5
Lubricating activities ..........................................................................................
4.5.1
Lubricating the cable package ...................................................................
4.6
Replacing/changing activities ..............................................................................
4.6.1
Replacing the battery pack ........................................................................
5
5.1
Introduction ......................................................................................................
5.2
General procedures ...........................................................................................
5.2.1
Mounting instructions for sealings ..............................................................
5.2.2
The brake release buttons may be jammed after service work .........................
5.3
Cable harness ..................................................................................................
5.3.1
Replacing the cable package .....................................................................
5.3.2
Replacing the SMB unit ...........................................................................
5.4
Base and arm system ........................................................................................
5.4.1
Replacing the base .................................................................................
5.4.2
Replacing the axis-1 assembly unit .............................................................
5.4.3
Replacing the axis 3-4 assembly unit .........................................................
5.4.4
Replacing the wrist unit ...........................................................................
5.5
Motors and drive units ........................................................................................
5.5.1
Replacing the axis-2 drive unit ...................................................................
5.5.2
Replacing the axis-3 motor ........................................................................
5.5.3
Replacing the axis-5 motor ........................................................................
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 ...............................................................................
6.3.1
Updating revolution counters on OmniCore robots ........................................
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
Calibrating with Wrist Optimization method ...........................................................
6.6
Verifying the calibration ......................................................................................
6.7
Checking the synchronization position ..................................................................
7
7.1
Introduction to troubleshooting ............................................................................
7.2
Oil and grease stains on motors and gearboxes ......................................................
7.3
Mechanical noise or dissonance ..........................................................................
6
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Product manual - IRB 1010
3HAC081964-001 Revision: B
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Table of Contents
Troubleshooting
