ABB IRB 120 - Page 6

872.6.2 Customer connections on the robot ............................................................
892.7 Start of robot in cold environments ......................................................................
913 Maintenance
913.1 Introduction ......................................................................................................
923.2 Maintenance schedule .......................................................................................
923.2.1 Specification of maintenance intervals ........................................................
933.2.2 Maintenance schedule .............................................................................
953.3 Inspection activities ...........................................................................................
953.3.1 Inspecting the robot cabling .....................................................................
963.3.2 Inspecting mechanical stops ....................................................................
993.3.3 Inspecting dampers .................................................................................
1013.3.4 Inspecting timing belts ............................................................................
1053.3.5 Inspecting plastic covers ..........................................................................
1073.4 Replacement/changing activities ..........................................................................
1073.4.1 Type of lubrication in gearboxes ................................................................
1093.4.2 Replacing the battery pack ........................................................................
1123.5 Cleaning activities .............................................................................................
1123.5.1 Cleaning the IRB 120 ...............................................................................
1154 Repair
1154.1 Introduction ......................................................................................................
1164.2 General procedures ...........................................................................................
1164.2.1 Mounting instructions for seals ..................................................................
1184.2.2 Replacing parts on the robot .....................................................................
1204.3 Cable harness ..................................................................................................
1204.3.1 Removing the cable harness .....................................................................
1344.3.2 Refitting the cable harness ........................................................................
1484.3.3 Replacing the Encoder Interface board ........................................................
1514.4 Plastic covers ...................................................................................................
1514.4.1 Replacing plastic covers ...........................................................................
1554.5 Upper arm .......................................................................................................
1554.5.1 Replacing the upper arm ..........................................................................
1644.6 Lower arm .......................................................................................................
1644.6.1 Replacing the lower arm ...........................................................................
1694.7 Motors and motors with gearboxes .......................................................................
1694.7.1 Replacing axis-1 motor with gearbox ..........................................................
1904.7.2 Replacing axis-2 motor with gearbox ..........................................................
2024.7.3 Replacing axis-3 motor with gearbox ..........................................................
2104.7.4 Replacing motor axis 4, with gearbox ..........................................................
2114.7.5 Replacing motor axis 5 .............................................................................
2174.7.6 Replacing motor axis 6 .............................................................................
2184.8 Gearboxes .......................................................................................................
2184.8.1 Replacing gearbox axis 1 ..........................................................................
2194.8.2 Replacing gearbox axis 2 ..........................................................................
2204.8.3 Replacing gearbox axis 3 ..........................................................................
2214.8.4 Replacing gearbox axis 4 ..........................................................................
2224.8.5 Replacing gearbox axis 5 ..........................................................................
2234.8.6 Replacing gearbox axis 6 ..........................................................................
2255 Calibration
2255.1 Introduction to calibration ...................................................................................
2255.1.1 Introduction and calibration terminology ......................................................
2265.1.2 Calibration methods .................................................................................
2275.1.3 When to calibrate ...................................................................................
2285.2 Synchronization marks and axis movement directions .............................................
2285.2.1 Synchronization marks and synchronization position for axes .........................
2305.2.2 Calibration movement directions for all axes ................................................
6 Product manual - IRB 120
3HAC035728-001 Revision: N
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