ABB IRB 2000 - Page 28

10.
11.
12.
Erase the scribed line on adapter plate <6> for feed back unit and replace the
sealings <46> and <47>.
Mount the adapter <6> and align it with tool no 6896 0011-MH before tightening of
the screws.
Make a new scribed line using the pointer 6896 0011-NS, see chapter 8, Setting
procedure, in accordance with erection instructions 6362 056-KM:
Release the brake of axis 1 and turn the brake disc to align its scribed line with
that of the motor.
Fit the scribe pointer to the motor spindle where the feedback unit will later be
fitted. The protruding tooth of the pointer is to be turned towards the adapter
plate and the flat surface of the spindle is aligned with the scriber hole. The
roundish part of the spindle will then be positioned against the movable part of
the scribe pointer.
Make a 0.2 mm wide scribed line on the adapter plate along the tooth of the
scribe pointer.
Remove the scribe pointer.
13. Remount the feed back unit in accordance with chapter 7, Exchange of feed back
units axes 1-6.
14. Connect the cabling.
15. Mount the bottom cover <1:1/30>.
16. Recommutate and recalibrate the robot according to chapter 8 and 9.
Tightening torque:
Screws
for
motor,
pos
5:
28
Nm
Mechanical repair IRB 2000