DescriptionRevision
This revision includes the following updates:
• A new block, about general illustrations, added in section How to read
the product manual on page 12.
• Added safety section, see Balancing device on page 20.
• Added safety section, see Signal lamp (optional) on page 34.
• Added an illustration that shows the directions of the robot stress
forces and changed the value for the force in the Z plane, see Loads
on foundation, robot on page 55.
• Added information about installing the signal lamp, see Pre-installation
procedure on page 54, and clarified the installation steps in Installation
of signal lamp, upper arm (option) on page 87.
• Added an assembly tool and a KM10 socket to the list of required
equipment and the instructions when replacing the upper and lower
link arms, see sections Replacing linkage - upper link arm on page 221
and Replacing the linkage - lower link arm on page 228. The tools are
also added to the list of Special tools in the Reference chapter.
• Added guide sleeves to hold the axes 2/3 sealing in place when refitting
the lower arm, see Replacing the complete lower arm on page 251.
• Added guide pins to the step that describes refitting of the axis 1
gearbox to the base, see Replacing the axis 1 gearbox on page 301.
Also made minor improvements in the working order in the step-by-
step instruction.
• Improved and corrected the instruction for how to remove and refit
the upper arm, see Replacing the upper arm on page 209.
• Improved and corrected the instruction for how to remove and refit
the tilthouse unit, see Replacing the tilthouse unit on page 190.
• Changed the instruction so that the weight of axis 3 is unloaded when
removing the axis 3 motor, instead of securing the upper arm with
roundslings, see Replacing motors, axes 2 and 3 on page 284. Other
minor improvements also made.
• Added information that the cable should be twisted one turn when
refitting it in the upper arm tube, see Replacing the cable harness,
upper end (incl. axis 6) on page 163.
• Clarified the importance of correct orientation of the turning disk when
removing and refitting it, see the refitting instruction in Replacing the
turning disk on page 185.
• Improved and corrected the instruction for how to remove and refit
the axis 2 and axis 3 gearbox, see Replacing the gearbox, axes 2- 3
on page 311.
A
This revision includes the following updates:
• Minor corrections and editorial changes made throughout the manual.
• Some general tightening torques have been changed/added, see up-
dated values in Screw joints on page 347.
• Added WARNING - Safety risks during handling of batteries on
page 49.
B
This revision includes the following updates:
• The maximum allowed deviation in levelness of the base plate is
changed, see Securing the base plate on page 76.
• Reference to Hilti standard added to the foundation recommendation
for the base plate and class designation for foundation is changed to
european standard C25/C30 (previously Swedish standard K25/K30),
see Securing the base plate on page 76.
• All data about type of lubrication in gearboxes is moved from the
manual to a separate lubrication manual, see Type and amount of oil
in gearboxes on page 127.
• A new SMB unit and battery is introduced, with longer battery lifetime.
C
3HAC039838-001 Revision: C 11
© Copyright 2013 ABB. All rights reserved.
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