ABB IRB 930 - Page 6

804.2 Service Information System (SIS) .........................................................................
814.3 Maintenance schedule and expected component life ...............................................
814.3.1 Specification of maintenance intervals ........................................................
824.3.2 Maintenance schedule .............................................................................
844.3.3 Expected component life .........................................................................
854.4 Inspection activities ...........................................................................................
854.4.1 Inspecting the information labels ................................................................
864.4.2 Inspecting the robot cabling .....................................................................
874.4.3 Inspecting the ball screw spline unit ...........................................................
904.4.4 Inspecting mechanical stops .....................................................................
944.4.5 Inspecting timing belts ............................................................................
954.5 Replacement/changing activities ..........................................................................
964.6 Lubrication activities ..........................................................................................
964.6.1 Lubricating the ball screw spline unit ..........................................................
984.7 Cleaning activities .............................................................................................
984.7.1 Cleaning the IRB 930 ...............................................................................
1004.8 Changing activities ............................................................................................
1004.8.1 Type of lubrication in gearboxes ................................................................
1014.8.2 Changing oil, axis-1 gearbox .....................................................................
1064.8.3 Changing oil, axis-2 gearbox .....................................................................
1115 Repair
1115.1 Introduction ......................................................................................................
1125.2 General procedures ...........................................................................................
1125.2.1 Performing a leak-down test ......................................................................
1135.2.2 Mounting instructions for bearings .............................................................
1155.2.3 Mounting instructions for sealings ..............................................................
1185.2.4 Cut the paint or surface on the robot before replacing parts ............................
1195.3 Cable harness ..................................................................................................
1195.3.1 Replacing the process hub ........................................................................
1295.3.2 Replacing the SMB unit and battery unit ......................................................
1365.3.3 Replacing the main harness ......................................................................
1715.4 Base ...............................................................................................................
1715.4.1 Replacing the base .................................................................................
2165.5 Inner arm .........................................................................................................
2165.5.1 Replacing the inner arm ...........................................................................
2695.5.2 Replacing the axis-1 oil tank ......................................................................
2775.6 Outer arm ........................................................................................................
2775.6.1 Replacing the mechanical stopper ..............................................................
2835.6.2 Replacing the pulley on the ball screw upper position ....................................
2955.6.3 Replacing the pulley on the ball screw lower position .....................................
3085.6.4 Replacing the ball screw ...........................................................................
3245.6.5 Replacing the axis-3 timing belt .................................................................
3405.6.6 Replacing the axis-4 timing belt .................................................................
3585.6.7 Replacing the cable arm ...........................................................................
3835.6.8 Replacing the outer arm ...........................................................................
4255.7 Motors ............................................................................................................
4255.7.1 Replacing the axis-1 motor sub-assembly ....................................................
4385.7.2 Replacing the axis-2 motor sub-assembly ....................................................
4475.7.3 Replacing the axis-3 motor sub-assembly ....................................................
4625.7.4 Replacing the axis-4 motor sub-assembly ....................................................
4805.8 Gearboxes .......................................................................................................
4805.8.1 Replacing the axis-1 gear unit sub-assembly ................................................
5245.8.2 Replacing the axis-2 gear unit sub-assembly ................................................
5536 Calibration
5536.1 Introduction to calibration ...................................................................................
5536.1.1 Introduction and calibration terminology ......................................................
5546.1.2 Calibration methods .................................................................................
6 Product manual - IRB 930
3HAC086009-001 Revision: A
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