4.2.3
4.2.4
4.2.5
4.3
Complete robot .................................................................................................
4.3.1
4.3.2
4.3.3
4.4
Upper and lower arm .........................................................................................
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.5
Frame and base ................................................................................................
4.5.1
4.5.2
4.5.3
4.5.4
4.6
Motors ............................................................................................................
4.6.1
4.6.2
4.6.3
4.6.4
4.6.5
4.6.6
4.7
Gearboxes .......................................................................................................
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
5
5.1
5.1.1
5.1.2
Calibration methods .................................................................................
5.1.3
When to calibrate ...................................................................................
5.2
5.2.1
5.2.2
5.3
5.4
5.4.1
5.4.2
5.4.3
5.4.4
5.5
5.6
5.7
6
6.1
6.2
Scrapping of robot .............................................................................................
6.3
3HAC022033-001 Revision: V
© Copyright 2007 - 2018 ABB. All rights reserved.
Table of contents
229
231
232
233
233
242
245
250
250
254
259
264
273
283
283
287
293
298
298
306
310
313
313
318
324
331
338
343
350
350
362
370
377
382
389
395
395
395
396
399
400
400
402
403
408
408
410
412
413
419
420
421
423
423
425
426
7