7 Repair
7.1 Introduction
130 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
Tools All repair activities on the control cabinet can be performed with normal hand tools.
Illustration References References to illustrations are placed in brackets ( ) indicating figure number and
position in the figure. Example: (15/3) means figure 15 position 3.
Calibration Calibration of the robot must be performed after replacing mechanical parts, when a
resolver error has occurred or when the power supply between a measuring board
and resolver has been interrupted etc.
Calibrating the robot means to place the robot arm and wrist in a specific position
and enter resolver data for this position into the control system. To place the arm
and wrist in this position, a calibration fixture must be available.
For description of the calibration function and procedure for entering calibration
data, see ‘Operator’s Manual - IRC5P’.
ESD Precautions Electronic devices are sensitive to static electricity. If handled incorrectly, the unit
may be permanently damaged. Following precautions should be taken at all times
when handling sensitive electronic units.
• ALWAYS keep electronic units protected in static shielded plastic bags when not
installed in the robot. These bags are made from a special conductive material
which will prevent build-up of static electricity.
• ALWAYS wear wrist strap when installing or removing electronic units in the
controller. The strap is grounded on the control cabinet. The wrist strap includes
a 1Mohm resistor and is of no danger with respect to electric shock hazards. The
wrist strap is located inside the controller on the cabinet front door on left hand
side of the computer unit.
• NEVER place electronic components on a conductive surface such as an iron
plated table or the control cabinet top etc.
• NEVER store or place sensitive electronic devices near strong electrostatic,
magnetic or radioactive fields.
See also information on ESD precautions in the ‘Safety Manual’.
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