DescriptionRevision
The following updates have been made in this revision:
• A new block, about general illustrations, added in section How to read
the product manual on page 18.
• Figure and describing text edited for the stress forces. Also, the actual
values of the stress forces are updated. See Loads on foundation, robot
on page 59.
• The difference in weight between the different robot variants is minor,
therefor the weight specification for the robot is simplified. See Weight,
robot on page 58.
• Removed Foundry from table with protection classes. See Protection
classes, robot on page 60.
• Additional information about software adjustments when suspending
robot, new section Setting the system parameters for a suspended robot
on page 76.
• Note about fan cabling added in the cable list. See Robot cabling and
connection points on page 102.
• Note about ambient temperature deleted from the maintenance schedule.
See Maintenance schedule on page 111.
• Changed information about the robot position when removing motor.
See Removing motors on page 278.
• Additional instructions for how to adjust the play of axes 4, 5 and 6 mo-
tors. See Adjusting the play of axis 4, 5 and 6 motors on page 296.
• Additional step about removing/refitting axis 1 motor when replacing the
axis 1 gearbox. Also added information about guide pins. See Replacing
gearbox axis 1 on page 297. Also minor additions concerning the mating
of gearbox and motor, in all such instructions.
• New section about calibration movement directions for axes is added,
see Calibration movement directions for all axes on page 325.
• New section about how to perform a rough calibration of each robot axis
is added, see Updating revolution counters on page 326.
• New section about how to check the calibration position is added, see
Checking the calibration position on page 328.
• Spare part number for tubular shaft unit is corrected, see Spare parts,
upper arm -40/2.55 on page 352 and Spare parts, upper arm -20/2.50 on
page 352.
• Additional information about lifting accessories and how to attach them
to the upper arm of the robot, see Attaching the lifting accessories to
the upper arm on page 247.
• Additional information in the procedure for replacing the base with im-
proved lifting instruction etc., see Replacing the base on page 232.
• Changed type of oil in axes 1, 3 and 4 gearboxes. See Type of lubrication
in gearboxes on page 148.
E
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3HAC033453-001 Revision: H 13
© Copyright 2009-2013 ABB. All rights reserved.
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