ABB IRB 2000 - Page 25

2
CONTENTS
Page
1 Axis 1
1.1
Exchange
of
motor
1:1
1.2
Cabling
axisl
1:3
1.3
Exchange
of
gearbox
1:4
1.4
Dismounting
of
intermediate
plate
1:6
2 Axis 2 ]
2.1
Exchange
of
motor
2:1
2.2
Lower
arm
cabling,
measurement
board
2:2
2.3
Exchange
of
gearbox
2:3
24
Exchange
of
lower
arm
2:5
2.5
Exchange
of
bearings
lower
arm
2:6
3 Axis 3
3.1
Exchange
of
motor
3:1
3.2 Cabling axis 3 3:2
3.3 Exchange of gearbox 33
3.4
Dismounting
of
parallel
arm
3:6
3.5 Exchange of parallel bracket or bearings 3:7
3.6 Dismounting upper arm, complete 3:8
4 Pushbutton unit for release of brakes
4.1 Pushbutton unit and exchange of it 4:1
4.2 Exchange of pushbutton unit 4:2
5 Axis 4
5.1 Exchange of motor 5:1
5.2 Cabling axis 4 5:1
5.3 Exchange of gear on motor shaft 5:3
5.4 Exchange of intermediate gear 54
5.5 Exchange of final gear 5:6
5.6 Dismounting of upper arm tubular 5:7
5.7 Upper arm tubular- exchange of seals and bearings 58
6 Wrist, axes 5 and 6
6.1 Dismounting of wrist 6:1
7 Motor units
7.1 Setting of play in motor gear 1-3 71
7.2 Exchange of brakes axes 1-6 74
7.3 Exchange of feed back units axes 1-6 76
8 Commutation
8.1 General 8:1
8.2 Setting procedure 8:2
9 Calibration
9.1 General 9:1
9.2 Calibration procedure 9:1
9.3 Coarse calibration using the robot 94
calibration marks
9.4 Alternative calibration position 9:4
9.5 Check of calibration positions 9:5
9.6 Calibration equipment 9:5
10 Special tool list and Service card 10:1
Mechanical repair IRB 2000