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4.2
Service Information System (SIS) .........................................................................
4.3
Maintenance schedule and expected component life ...............................................
4.3.1
Specification of maintenance intervals ........................................................
4.3.2
Maintenance schedule .............................................................................
4.3.3
Expected component life .........................................................................
4.4
Inspection activities ...........................................................................................
4.4.1
Inspecting the information labels ................................................................
4.4.2
Inspecting the robot cabling .....................................................................
4.4.3
Inspecting the ball screw spline unit ...........................................................
4.4.4
Inspecting mechanical stops .....................................................................
4.4.5
Inspecting timing belts ............................................................................
4.5
Replacement/changing activities ..........................................................................
4.6
Lubrication activities ..........................................................................................
4.6.1
Lubricating the ball screw spline unit ..........................................................
4.7
Cleaning activities .............................................................................................
4.7.1
Cleaning the IRB 930 ...............................................................................
4.8
Changing activities ............................................................................................
4.8.1
Type of lubrication in gearboxes ................................................................
4.8.2
Changing oil, axis-1 gearbox .....................................................................
4.8.3
Changing oil, axis-2 gearbox .....................................................................
5
5.1
Introduction ......................................................................................................
5.2
General procedures ...........................................................................................
5.2.1
Performing a leak-down test ......................................................................
5.2.2
Mounting instructions for bearings .............................................................
5.2.3
Mounting instructions for sealings ..............................................................
5.2.4
Cut the paint or surface on the robot before replacing parts ............................
5.3
Cable harness ..................................................................................................
5.3.1
Replacing the process hub ........................................................................
5.3.2
Replacing the SMB unit and battery unit ......................................................
5.3.3
Replacing the main harness ......................................................................
5.4
Base ...............................................................................................................
5.4.1
Replacing the base .................................................................................
5.5
Inner arm .........................................................................................................
5.5.1
Replacing the inner arm ...........................................................................
5.5.2
Replacing the axis-1 oil tank ......................................................................
5.6
Outer arm ........................................................................................................
5.6.1
Replacing the mechanical stopper ..............................................................
5.6.2
Replacing the pulley on the ball screw upper position ....................................
5.6.3
Replacing the pulley on the ball screw lower position .....................................
5.6.4
Replacing the ball screw ...........................................................................
5.6.5
Replacing the axis-3 timing belt .................................................................
5.6.6
Replacing the axis-4 timing belt .................................................................
5.6.7
Replacing the cable arm ...........................................................................
5.6.8
Replacing the outer arm ...........................................................................
5.7
Motors ............................................................................................................
5.7.1
Replacing the axis-1 motor sub-assembly ....................................................
5.7.2
Replacing the axis-2 motor sub-assembly ....................................................
5.7.3
Replacing the axis-3 motor sub-assembly ....................................................
5.7.4
Replacing the axis-4 motor sub-assembly ....................................................
5.8
Gearboxes .......................................................................................................
5.8.1
Replacing the axis-1 gear unit sub-assembly ................................................
5.8.2
Replacing the axis-2 gear unit sub-assembly ................................................
6
6.1
Introduction to calibration ...................................................................................
6.1.1
Introduction and calibration terminology ......................................................
6.1.2
Calibration methods .................................................................................
6
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Product manual - IRB 930
3HAC086009-001 Revision: A
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