ABB IRB 2000 - Page 18

Axis
No
1
rotates
the
robot
via
an
intermediate
plate.
The
intermediate
plate
transfers
the
rotary motion to the robot's lower part, where Axis No 2 provides the Lower Arm’s
reciprocating
motion.
The
Lower
Arm
forms
together
with
the
Parallel
Arm
and
the
Parallel
Bracket
a
parallelogram
against
the
Upper
Arm.
The
Parallel
Bracket
is
mounted
in bearings in the Parallel Arm and in the Upper Arm.
Axis No 3 provides elevation of the robot's upper arm.
Axis No 4, located in the Upper Arm, provides a rotary motion of the Upper Arm.
The
Wrist
is
bolted
to
the
Upper
Arm's
forward
end
and
contains
the
axes
Nos
5
and
6.
The latter axes form a cross.
Axis No 5 provides a tilting motion and Axis No 6 a turning motion. A connection is
arranged for various Customer tools at the wrist's forward end in the Turn Disc. The tool
(or Manipulator) can be provided with pneumatic control via an external air supply
(option). The signals to/from the the tool can be supplied via internal Customer connections
(option).
A
The Control Cabinet shall be switched off at all service work on the robot! Before
performing any work on the robot measurement system (measurement board,
cabling, resolver unit) the accumulator power supply must always be discon-
nected.
A Brake Release Unit will be connected in accordance with chapter 4, Pushbutton Unit, to
enable movements of the axes.
A
Special caution must be paid when the brakes are manually operated. Also, when
the robot is taken into operation, the safety directions as described in the
Programming Manual shall be followed.
Mechanical
repair
IRB
2000