Installation and Commissioning

General DescriptionRepairsAxis 1 rotates the manipulator. Axis 2 provides the lower arm’s reciprocating motion.The lower arm, together with the parallel arm and the parallel bracket, forms a parallelogramrelative to the upper arm. The parallel bracket is mounted on bearings in the parallelarm and in the upper arm.Axis 3 raises the upper arm of the manipulator. Axis 4, located on the side of the upperarm, rotates the upper arm. The wrist is bolted to the tip of the upper arm and includesaxes 5 and 6. These axes form a cross and their motors are located at the rear of theupper arm.Axis 5 is used to tilt and axis 6 to turn. A connection is supplied for various customertools on the tip of the wrist in the turn disc. The tool (or manipulator) can be pneumaticallycontrolled by means of an external air supply (optional extra). The signals to/from the tool can be supplied via internal customer connections (optional extras).Note that the control cabinet must be switched off during all maintenance workon the manipulator. The accumulator power supply must always be disconnectedbefore performing any work on the manipulator measurement system (measurementboards, cabling, resolver unit).When any type of maintenance work is carried out, the calibration position of themanipulator must be checked before the robot is returned to the operational mode.Take special care when manually operating the brakes. Make sure also that thesafety instructions described in this manual are followed when starting to operatethe robot.4 Product Manual IRB 1400