922.4 Restricting the working range ..............................................................................
922.4.1 Introduction ............................................................................................
932.4.2 Mechanically restricting the working range of axis 1 ......................................
952.4.3 Extended working range, axis 1 (option 561-1) .............................................
962.5 Robot in cold environments .................................................................................
962.5.1 Start of robot in cold environments .............................................................
972.6 Electrical connections ........................................................................................
972.6.1 Robot cabling and connection points ..........................................................
993 Maintenance
993.1 Introduction ......................................................................................................
1003.2 Maintenance schedule and expected component life ...............................................
1003.2.1 Specification of maintenance intervals ........................................................
1013.2.2 Maintenance schedule .............................................................................
1033.2.3 Expected component life .........................................................................
1043.3 Inspection activities ...........................................................................................
1043.3.1 Inspecting, oil level gearbox axis 1 ............................................................
1063.3.2 Inspecting, oil level gearbox axes 2 - 3 .......................................................
1093.3.3 Inspecting, oil level gearbox axis 6 ............................................................
1113.3.4 Inspecting, balancing device bearings and piston rod guide ring ......................
1143.3.5 Inspecting, cable harness ........................................................................
1173.3.6 Inspection, information labels ....................................................................
1193.3.7 Inspecting, mechanical stop pin, axis 1 .......................................................
1213.3.8 Inspecting, additional mechanical stops ......................................................
1233.3.9 Inspection, dampers ................................................................................
1253.3.10 Inspecting, signal lamp (option) .................................................................
1273.4 Replacement/changing activities ..........................................................................
1273.4.1 Type of lubrication in gearboxes ................................................................
1293.4.2 Changing oil, axis-1 gearbox .....................................................................
1323.4.3 Changing oil, gearbox axes 2 and 3 ...........................................................
1353.4.4 Changing oil, gearbox axis 6 .....................................................................
1373.4.5 Replacing the SMB battery ........................................................................
1423.5 Lubrication activities ..........................................................................................
1423.5.1 Lubricating balancing device bearings and piston rod ....................................
1453.6 Cleaning activities .............................................................................................
1453.6.1 Cleaning, robot ......................................................................................
1474 Repair
1474.1 Introduction ......................................................................................................
1484.2 General procedures ...........................................................................................
1484.2.1 Performing a leak-down test .....................................................................
1494.2.2 Mounting instructions for bearings .............................................................
1514.2.3 Mounting instructions for seals ..................................................................
1534.3 Complete robot .................................................................................................
1534.3.1 Replacing cable harness, lower end (axes 1-3) .............................................
1634.3.2 Replacing the cable harness, upper end (incl. axis 6) .....................................
1714.3.3 Replacing the SMB unit ............................................................................
1744.3.4 Replacing the brake release unit ................................................................
1784.3.5 Replacing the base, including axis 1 gearbox ..............................................
1854.4 Upper and lower arm .........................................................................................
1854.4.1 Replacing the turning disk ........................................................................
1904.4.2 Replacing the tilthouse unit .......................................................................
2094.4.3 Replacing the upper arm ..........................................................................
2214.4.4 Replacing linkage - upper link arm ..............................................................
2284.4.5 Replacing the linkage - lower link arm .........................................................
2354.4.6 Replacement of linkage - link .....................................................................
2444.4.7 Replacing the parallel rod .........................................................................
2514.4.8 Replacing the complete lower arm ..............................................................
2594.4.9 Replacement of parallel arm ......................................................................
6 3HAC039838-001 Revision: C
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