5 Installation and Commissioning 5.

5 Installation and Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11.1 MechanicalDismounting of ManipulatorConfiguration A/B
Procedure
This section describes the mechanical dismounting of the manipulator. The
procedure may be required for performing possible repair procedures in the future.
The manipulator is lifted by using a lifting device installed on the manipulator and
an overhead crane or similar lifting equipment.

1. Place the robot in position for dismounting procedure, as shown inFigure 47.
2. Turn the electrical disconnect switch ‘off’ and lock switch in ‘off’ position.
WARNING!Make sure that the mains switch is ‘off’ and locked in ‘off’ positionbefore continuing. Also make sure that possible other connected systems are ‘off’.

WARNING!Brakes must under no circumstances be released unless specificallynoted. Releasing the brakes can cause severe injury. Disable the axis brake release
function and mark brake release function to prevent releasing the brakesaccidentally.

3.
Build a scaffold, so that the dismounting of the manipulator can be performedin a secure way.
4. Place transport pallet on a side on the floor beneath the manipulator.
WARNING!Make sure that thepallet is secured so that it can notdrop.

5.
Install lifting device (fig.47/2) with 2 e.a. screws (or lifting hooks) on top of
manipulator base unit (fig.47/5) and 2 e.a. screws (fig.47/3) on bottom of base
unit.(The illustration shows a manipulator configuration A. For a configuration
B, the lower end (fig.47/3) of the lifting device needs to be turned).
Figure 47 Lifting device

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5 Installationand Commissioning

5.11 Mechanical Dismounting of Manipulator
6.
Attach lifting strap to lifting hook (fig.47/1) on lifting device (fig.47/2).
7. Tension the lifting strap. Check that strap is properly secured.
WARNING!Do not walk under the hanging load.
8.
Remove 4 e.a. M16 mounting screws (fig.47/4).
9.
Slowly lower the manipulator until it can be mounted to the transport pallet(fig.48/2).
Figure 48 Mounting manipulator to pallet

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2
10. Install 4 attachment screws (fig.48/1).
11.
Slowly lower manipulatorsuch that thepallet andmanipulatorstart to rotate,asshown in Figure 37.
12. Lower the manipulator until it is resting on the floor.
13. Remove lifting equipment.
14. Remove lifting device from manipulator.
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5 Installation and Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11.2 MechanicalDismounting of Manipulator Vertical Configuration A/B
Procedure
This section describes the mechanical dismounting of the manipulator. The
procedure may be required for performing possible repair procedures in the future.
The manipulator is lifted by using a lifting device installed on the manipulator and
an overhead crane or similar lifting equipment.

1. Place the robot in position for dismounting procedure, as shown inFigure 49.
2. Turn the electrical disconnect switch ‘off’ and lock switch in ‘off’ position.
WARNING!Make sure that the mains switch is ‘off’ and locked in ‘off’ positionbefore continuing. Also make sure that possible other connected systems are ‘off’.

WARNING!Brakes must under no circumstances be released unless specificallynoted. Releasing the brakes can cause severe injury. Disable the axis brake release
function and mark brake release function to prevent releasing the brakesaccidentally.

3.
Build a scaffold, so that the dismounting of the manipulator can be performedin a secure way.
4. Place transport pallet on the floor beneath the manipulator.
5.
Install lifting device (fig.49/1) on manipulator as shown in following
illustration. (The illustration shows a manipulator configuration A. For a
configuration B, the lifting device needs to be turned).
Fit guide pins (fig.49/2 and 4) of support block (fig.49/6) into guide holes on
lifting device (fig.49/1). Instal the lifting device on top of manipulator base unitwith 2 e.a. screws (fig.49/5). Tighten screws with 20Nm. Tighten screw
(fig.49/3) such that the support block supports the vertical arm without any
slack.

Manipulator weight: Approx. 600kg

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5 Installation and Commissioning
5.11 Mechanical Dismounting of Manipulator
92 3HNA015911-001 en Rev.10 Product manual, IRB 5500
Figure 49 Lifting device
6. Attach lifting strap (fig.49/7) to lifting hook (fig.49/8) on lifting device
(fig.49/9).
7. Tension the lifting strap. Check that strap is properly secured.
WARNING! Do not walk under the hanging load.
8. Remove 4 e.a. M16 mounting screws (fig.49/10).
9. Slowly lower the manipulator until the foot unit hits the transport pallet.
Carefully continue to lower the manipulator until it is horizontally and the foot
unit is resting completely in mounting position.
10. Install 4 attachment screws (fig.49/10).
11. Remove lifting equipment.
12. Remove lifting device from manipulator.
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5 Installation and Commissioning

5.12 Manipulator Configuration Conversion
5.12Manipulator Configuration Conversion
Description
This section describes a procedure for changing a manipulator configuration A intoa configuration B.

1.
Invert the axis 1 stop devices. Not applicable for the manipulator vertical
configuration.
a.
Remove the axis 1 stop devices (fig.50/1,2) (configuration A) from the
base unit.
b.
Install the axis 1 stopdevices in inverted position,as shown in following
illustration (configuration B).
Figure 50 Axis 1 stop devices with base unit in center position, top view

Configuration A
Configuration B

Stop stud on Stop stud on
foot unit foot unit

Base unit in
center position
1
Base unit Foot unit


Base unit in
center position
1
2
Base unit Foot unit


2


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5 Installationand Commissioning

5.12 Manipulator Configuration Conversion
2. Invert the axis 2 stop device.
a. Remove 2 e.a. attachment screws and remove the axis 2 stop device(fig.51/1) from the axis 2 arm.
b. Remove guide pin, the calibration mark, from stop device and install itagain on the other side.
c. Turn the stop device and install it in inverted position, as shown in
following illustration.

Figure 51 Axis 2 stop device with axis 2 arm in center position, front view

Configuration A Configuration B

Axis 2arm
in center position
Calibration mark
Attachment
screw
1
Stop device on
axis 2 arm
Axis 2 arm
in center position
Base unit Stop stud on base unit Base unit Stop stud on baseunit

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5 Installation and Commissioning

5.12 Manipulator Configuration Conversion
3. Invert the axis 3 stop devices.
a. Remove the axis 3 stop devices (fig.52/1,2) (configuration A) from the
axis 3 arm (screws are located on rear side).
b. Release brakes for axis 3. For information on how to release the axisbrakes, see ’Releasing Axis Brakes’ on page 111.
c. Turn axis 3 arm 180°.
d. Turn stop devices (fig.52/1,2) and install them in inverted position, asshown in following illustration (configuration B).

Figure 52 Axis 3 stop devices with axis 3 arm in center position, front view

Configuration A Configuration B

1 2
Axis 2 arm
Stop stud on axis2 arm
1
Axis 3 arm
in center
position
Axis 2 arm
Stop stud on axis2 arm
2

Axis 3 arm
in center position

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5 Installationand Commissioning

5.12 Manipulator Configuration Conversion
4.
Reinstall RobotWare software, as described in the ‘Operator’s Manual, IRC5P’/
Installation and Commissioning / Install/Update Controller Software.
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6 Preventive Maintenance

6.1 Introduction
6
Preventive Maintenance

6.1Introduction
About this Chapter
This chapter provides instructions for performing scheduled preventivemaintenance on the manipulator.

The preventivemaintenance isbased on a maintenancechart with information about
required maintenance activities including intervals, and references to procedures forthe activities.

Note that the intervals described are recommended intervals. The intervals neededfor your installation may vary, depending on environmental conditions, number ofworking hours etc. The maintenance routines in this description must be seen inrelation to the plant’s own maintenance routines for the paint equipment.

Safety Information
Before any work described in this chapter is commenced, it is extremely important
that all information concerning safety is carefully studied.

There are general safety aspects that must be read through, as wellas more specificsafety information that describes danger and safety risks when performing the
procedures. Read the Safety Manual before performing any service work.


WARNING!No maintenance work must be performed on the robot before the safetyguidelines in the ‘Safety Manual’ have been read and understood. Work must only
be performed by skilled personnel with the proper training.

General Considerations
The prime objective ofany preventive maintenance program is to ensure maximumsystemavailability. Eachscheduled andproperly performed preventive maintenance
activity should assist in realizing this objective. Preventive maintenance that doesnot reduce system downtime is unnecessary and costly.

The robot and paint system is designed to be able to work under very demanding
conditions with a minimum of maintenance. Nevertheless, certain routine checks
and preventative maintenance must be carried out at given periodical intervals.

When performing routine maintenance or repair work, a number of precautionsmust be kept in mind to avoid introducing additional errors into the system.

.
Do not perform more than recommended preventive maintenance on equipmen

結果 (中文) 1:

5 安装和调试5.11 机械拆装的机械手5.11.1 MechanicalDismounting 的 ManipulatorConfiguration A / B程序本节介绍了机械手的机械拆装。的程序可能需要在将来进行可能的修复程序。机械手使用安装在机械臂上的升降装置解除和桥式起重机或类似的起重设备。1.地方机器人位置的卸载程序，如图所示的图 47。2.关闭电器断开开关 '关闭' 和锁开关在 '' 位置。警告!请确保电源开关是 '关闭' 和 '关闭' 贴现继续锁定。此外确认可能其他连接的系统是 '小康'。警告!刹车必须在任何情况下被释放，除非 specificallynoted。在松刹车会造成严重伤害。禁用轴制动释放功能和马克制动释放功能，以防止释放 brakesaccidentally。3。建立一个支架，从而可拆卸机械手 performedin 以安全的方式。4.地方运输托盘一边透过机械手在地板上。警告!请确保该 thepallet 安全的它可以 notdrop。5。顶部安装升降装置 (fig.47/2) 与 2 e.a.螺钉 (或起吊挂钩)机械手基本单元 (fig.47/5) 和基底部 2 e.a.螺钉 (fig.47/3)单位。(下图显示了一个机械手配置 A.配置B，下端 (fig.47/3) 的起重设备需要打开)。图 47 起重设备13254产品使用说明书，IRB 55003HNA015911-001 en Rev.105 架设调试5.11 机械拆装的机械手6。将起重带附加到吊钩 (fig.47/1) 起重设备 (fig.47/2) 上。7.张力起重带。检查那个带子都得到妥善保护。警告!根据悬点载荷不走。8。删除 4 e.a.M16 安装螺钉 (fig.47/4)。9。慢慢地降低机械手，直到它可以安装到运输 pallet(fig.48/2)。图 48 安装机械手的托盘上1210.安装 4 个附件螺丝 (fig.48/1)。11。慢慢地降低 manipulatorsuch，thepallet andmanipulatorstart，若要旋转，已经吊在图 37。12.降低机械手，直到它在地板上休息。13.删除起重设备。14.从机械手删除起重设备。3HNA015911-001 en Rev.10产品使用说明书，IRB 55005 安装和调试5.11 机械拆装的机械手5.11.2 MechanicalDismounting 的机械手垂直配置 A / B程序本节介绍了机械手的机械拆装。的程序可能需要在将来进行可能的修复程序。机械手使用安装在机械臂上的升降装置解除和桥式起重机或类似的起重设备。1.在拆卸过程中，如图所示的图 49 位置放置机器人。2.关闭电器断开开关 '关闭' 和锁开关在 '' 位置。警告!请确保电源开关是 '关闭' 和 '关闭' 贴现继续锁定。此外确认可能其他连接的系统是 '小康'。警告!刹车必须在任何情况下被释放，除非 specificallynoted。在松刹车会造成严重伤害。禁用轴制动释放功能和马克制动释放功能，以防止释放 brakesaccidentally。3。建立一个支架，从而可拆卸机械手 performedin 以安全的方式。4.运输托盘放在地板下方的机械手。5。安装在机械臂上升降装置 (fig.49/1)，如以下所示插图。(下图显示了一个机械手配置 A.为配置 B，升降装置需要打开)。健康的指南别针 (fig.49/2 和 4) 的导向孔上支持块 (fig.49/6)升降装置 (fig.49/1)。安装升降装置在机械手基地 unitwith 2 e.a.螺钉 (fig.49/5)。拧紧螺钉紧螺钉 20Nm。(fig.49/3) 这样支撑块的支持没有任何垂直的手臂可宽延时间。机械手重量: 约 600 公斤产品使用说明书，IRB 55003HNA015911-001 en Rev.105 安装和调试5.11 机械拆装的机械手92 3HNA015911-001 en Rev.10 产品手册，IRB 5500图 49 起重设备6.将起重带 (fig.49/7) 附在起重设备上起重钩 (fig.49/8)(fig.49/9)。7.张力起重带。检查那个带子都得到妥善保护。警告!根据悬点载荷不走。8.删除 4 e.a.M16 安装螺钉 (fig.49/10)。9.慢慢降低机械手，直到脚单位安运输托盘。认真地继续降低机械手直到它是水平和脚单位在安装位置完全休息。10.安装 4 个附件螺丝 (fig.49/10)。11.删除起重设备。12.从机械手删除起重设备。123456789105 安装和调试5.12 机械手配置转换5.12Manipulator 配置转换描述本节介绍用于更改机械手配置 A 通讯录配置 B.程序1。反转轴 1 止动装置。不适用于垂直机械手配置。一个。删除从第 1 轴止动装置 (fig.50/1,2) (配置 A)基本单位。b。以下所示，在倒置的位置，安装轴 1 stopdevices插图 (配置 B)。图 50 轴 1 止动装置与基本单元在中心位置，顶视图配置 A配置 B停止停止螺柱的螺柱上脚脚单元基本单位中心位置1基脚单元基本单位中心位置12基脚单元2产品使用说明书，IRB 55003HNA015911-001 en Rev.105 架设调试5.12 机械手配置转换2.反转轴 2 停装置。a.卸下 2 e.a.附件螺钉和轴 2 站 device(fig.51/1) 从轴 2 的胳膊。b.删除导针，校准马克，从站设备并安装一遍的另一边。c.停装置，转身将它安装在倒置的位置时，如中所示下面的插图。图 51 轴 2 停装置轴 2 臂在中心位置前, 视图配置 A 配置 B轴 2arm在中心位置校准马克附件螺杆1停止设备上2 轴臂2 轴臂在中心位置基于基本单元基本单元停止螺柱上 baseunit 单位停止螺柱3HNA015911-001 en Rev.10 产品手册，IRB 55005 安装和调试5.12 机械手配置转换3.反转 3 轴止动装置。a.删除轴 3 止动装置 (fig.52/1,2) (配置 A) 从3 轴臂 (螺钉位于背面)。b.释放刹车轴 3。有关如何释放 axisbrakes 的信息，请参阅第 111 页释放轴刹车。c.转臂轴 3 180 °。d.转止动装置 (fig.52/1,2) 并将它们安装在倒置的位置，已经吊在下面的插图 (配置 B)。图 52 轴 3 站设备轴 3 臂在中心位置前, 视图配置 A 配置 B1 22 轴臂Axis2 胳膊上停止螺柱13 轴臂在中心位置2 轴臂Axis2 胳膊上停止螺柱23 轴臂在中心位置产品手册，IRB 5500 3HNA015911-001 en Rev.105 架设调试5.12 机械手配置转换4。重新安装 RobotWare 软件，如 '运算符的手册，IRC5P' 所述 /安装和调试 / 安装/更新控制器软件。3HNA015911-001 en Rev.10产品使用说明书，IRB 55006 预防性维护6.1 简介6预防性维护6.1Introduction关于这一章这一章说明执行计划的 preventivemaintenance 上料机械手。Preventivemaintenance 基于 maintenancechart 与有关的信息所需的维护活动包括间隔和活动过程的参考信息。注意到，所述的间隔建议的时间间隔。您的安装可能会发生变化，时间间隔条件取决于环境条件，编号拆除小时等。在此说明维护例程必须油漆设备厂自己维护例程看到条水平线。安全信息这一章所述的任何工作展开前，它是极其重要与安全有关的所有信息都是仔细研究。有必须通过读取，以及更多的 specificsafety 信息描述危险和安全风险，在执行时的一般安全方面程序。在执行任何服务工作之前阅读安全手册 》。警告!必须在机器人上不执行任何维护工作之前在安全手册 safetyguidelines 已被阅读并理解。工作必须只执行由技术熟练的人员，经过适当的训练。一般注意事项首要目标机器的预防性维护程序是要确保 maximumsystemavailability。Eachscheduled andproperly 执行预防性维护活动应协助实现这一目标。预防性维修不减少系统停机时间是不必要的和昂贵。机器人和油漆系统设计必须能够在非常苛刻下工作用最少的维护的条件。然而，某些常规的检查和预防性维护必须在进行定期的时间间隔。当执行例行维护或修理工作，大量的 precautionsmust 牢记以避免系统中引入额外的错误。. 不要超过推荐的预防性维修，在设备上执行

結果 (中文) 3:

5安装和调试

5.11机械手的
5.10.1 mechanicaldismounting manipulatorconfiguration A/B
程序
本节描述机械拆装拆装的机械手。在未来可能需要进行修复程序的过程。通过使用一个安装在机械臂上的提升装置，将机械臂举升桥式起重机或类似的起重设备。1。将机器人的位置的拆卸程序，如图47所示。2。关断开断开关断开的电气断开开关。警告！确保电源开关“断开”和“关”positionbefore继续锁定。也要确保其他连接系统是“关闭”的。的警告！制动器必须在任何情况下被释放，除非specificallynoted。松开刹车可引起严重伤害。禁用轴制动释放
功能和马克制动释放功能，防止释放brakesaccidentally。3。
搭建脚手架，以便拆卸机械手可以在一个安全的方式。4。将运输托盘放在机械臂底板上的一个侧面。警告！确保托板固定从而降。5。
安装升降装置（fig.47 / 2）2 E螺钉（或吊钩）上
机械手的基本单元（fig.47 / 5）和2（fig.47 E.A.螺钉/ 3）对基础
单元底部。（上图显示机械手配置A.配置
B，下端（fig.47 / 3）的升降装置需要打开）。
图47升降装置

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5安装调试

5.11机械拆装机械手
6。
高度升降带吊钩（fig.47 / 1）在升降装置（fig.47 / 2）。7。拉紧带。检查皮带是否正确。