DescriptionRevision
The following updates have been made in this revision:
• Corrected measurement that belong to figure xx0300000187, when fitting
tools for measuring the play of axis 5, see Measuring the play, axis 5 on
page 262.
• Deleted the spare part number for harnesses in Lower arm and frame
on page 350 and instead inserted a reference to the Electrical connections
on page 361.
• Corrected the spare part numbers for cable harnesses, see Electrical
connections on page 361.
• Added information about releasing the motor brakes in order to set the
weight of different axes onto lifting accessories, see Replacing the
complete upper arm on page 242, Replacing gearbox axis 3 on page 311
and Replacing gearbox axis 2 on page 303.
• Changed the instruction for how to replace the axes 2 and 3 gearboxes
without having to remove the cable harness, see Replacing gearbox
axis 3 on page 311 and Replacing gearbox axis 2 on page 303.
• Added safety information about preventing roundslings from sliding
when lifting the upper arm tube, see Replacing complete tubular shaft
unit on page 251.
• Added information about removing painting, if any, from assembly sur-
faces when replacing gearboxes and motors.
• Added tip to speed up the draining of axis 4 gearbox, see Changing the
oil, axis-4 gearbox on page 172.
• Added information about o-ring and made other minor approvements to
the instruction for replacing wrist unit, see Replacing wrist unit on
page 257.
• Added information about disconnecting the battery cable when removing
the cable harness, see Removing the complete cable harness on page 195.
• Added a funnel to equipment list, see Changing the oil, axis-3 gearbox
on page 166.
• Added Profibus to the section about connections to extra equipment,
see Customer connection on robot on page 104.
• Some general tightening torques have been changed/added, see updated
values in Screw joints on page 337.
• The method of changing the axis-1 gearbox oil in suspended robots is
improved, see the new section Changing the oil, axis-1 gearbox on
suspended robots on page 156.
• Added spare part number for type B gearbox (axis 3), see Upper arm
IRB 4600-60/2.05, -40/2.05-40/2.50, -20/2.55 on page 352.
• Added WARNING - Safety risks during handling of batteries on page 54.
F
The following updates have been made in this revision:
• Cable harness for Profibus is added to the spare part list, see Electrical
connections on page 361.
• Article number for guide sleeves is added.
• Information about the type and amount of oil has been removed from
the manual and can now be found in the Technical reference manu-
al - Lubrication in gearboxes, see References on page 10.
• Type C is added throughout the manual.
• Valid for other designs than type C: Information about oil plug sealing
washer on the axis-1 and axis-2 gearbox is changed. The spare part
number is added.
• A new SMB unit and battery is introduced, with longer battery lifetime.
G
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14 3HAC033453-001 Revision: H
© Copyright 2009-2013 ABB. All rights reserved.
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