ABB IRB 1300 - Page 728

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728 Product manual - IRB 1300

3HAC070390-001 Revision: G

6 Calibration

6.4.3 Installation locations for the calibration tools

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Main Page

Table of Contents5
Overview of this Manual9
Product Documentation12
How to Read the Product Manual14
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes32
Brake Testing33
Safety During Troubleshooting34
Safety During Decommissioning35
Technical Data37
Dimensions41
Working Range44
The Unit Is Sensitive to ESD50
Installation and Commissioning51
Introduction to Installation and Commissioning51
Unpacking52
Pre-Installation Procedure52
Risk of Tipping/Stability53
Extra O-Rings55
Transportation Bracket56
On-Site Installation58
Lifting the Robot58
Lifting the Robot with Roundslings58
Lifting and Rotating a Suspended Mounted Manipulator64
Manually Releasing the Brakes65
Orienting and Securing the Robot67
Setting the System Parameters for an Inverted or a Tilted Robot71
Loads Fitted to the Robot, Stopping Time and Braking Distances74
Fitting Equipment on the Robot (Robot Dimensions)75
Installation of Signal Lamp (Option)83
Restricting the Working Range85
Adjusting the Working Range85
Mechanically Restricting the Working Range86
Making Robot Ready for Operation89
Additional Installation Procedure, Clean Room89
Electrical Connections90
Robot Cabling and Connection Points90
Customer Connections94
Start of Robot in Cold Environments97
Test Run after Installation, Maintenance, or Repair99
Maintenance101
Introduction101
Maintenance Schedule and Expected Component Life102
Specification of Maintenance Intervals102
Maintenance Schedule103
Expected Component Life105
Cleaning Activities106
Cleaning the IRB 1300106
Inspection Activities108
Inspecting the Information Labels108
Inspecting the Robot Cabling110
Inspecting Mechanical Stops111
Inspecting Timing Belts115
Lubrication Activities119
Lubricating the Cable Package119
Replacement Activities122
Replacing the Battery Pack122
Changing Activities129
Type of Lubrication in Gearboxes129
Changing Oil, Axis-1 Gearbox130
Changing Oil, Axis-2 Gearbox135
Repair141
Introduction141
General Procedures142
Mounting Instructions for Sealings142
Cut the Paint or Surface on the Robot before Replacing Parts145
The Brake Release Buttons May be Jammed after Service Work147
Cable Harness148
Replacing the Cable Package148
Replacing the SMB Unit193
Replacing the Brake Release Unit202
Swing and Base208
Replacing the Base208
Replacing the Swing237
Replacing the Axis-1 Mechanical Stops290
Replacing the Axis-2 Mechanical Stops292
Upper and Lower Arms294
Replacing the Lower Arm294
Replacing the Housing and Extender Unit359
Replacing the Tubular and Tilt Unit412
Replacing the Axis-3 Mechanical Stops486
Replacing the Axis-4 Mechanical Stops489
Motors491
Replacing the Axis-1 Motor491
Replacing the Axis-2 Motor507
Replacing the Axis-3 Motor523
Replacing the Axis-4 Motor534
Replacing the Axis-5 Motor545
Replacing the Axis-6 Motor562
Gearboxes578
Replacing the Axis-1 Gearbox578
Replacing the Axis-2 Gearbox585
Replacing the Axis-3 Gearbox638
Replacing the Axis-4 Gearbox676
Calibration713
Introduction to Calibration713
Introduction and Calibration Terminology713
Calibration Methods714
When to Calibrate716
Synchronization Marks and Axis Movement Directions717
Synchronization Marks and Synchronization Position for Axes717
Calibration Movement Directions for All Axes718
Updating Revolution Counters719
Updating Revolution Counters on Omnicore Robots719
Calibrating with Axis Calibration Method721
Description of Axis Calibration721
Calibration Tools for Axis Calibration724
Installation Locations for the Calibration Tools727
Axis Calibration - Running the Calibration Procedure730
Reference Calibration735
Verifying the Calibration737
Checking the Synchronization Position738
Troubleshooting739
Introduction to Troubleshooting739
Oil and Grease Stains on Motors and Gearboxes741
Mechanical Noise or Dissonance742
Manipulator Collapses on Power down744
Motor Temperature too High745
Decommissioning747
Introduction747
Environmental Information748
Scrapping of Robot750
Reference Information751
Introduction751
Applicable Standards752
Unit Conversion754
Screw Joints755
Weight Specifications758
Standard Toolkit759
Special Tools760
Lifting Accessories and Lifting Instructions761
Spare Parts763
Spare Part Lists and Illustrations763

ABB IRB 1300 - Page 728

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