PR2 Power Board Remove/Replace
Overview
Removing and/or replacing a PR2 Power Board is a difficult operation. There are man wa s
to cause injur to the user and/or damage to the PR2. Read entire procedure before
starting.
General Safety Instructions
•Alwa s wear an ESD wrist strap when reaching into the robot.
•Do not drop an screws into the robot. An lost screws ma cause the robot to
malfunction. If ou drop an screws into the robot, do not turn on the robot until ou
have contacted Willow Garage Support.
•When removing screws, save screws b t pe. You will need screws that ou have
removed when replacing the components.
•Use extreme caution when removing an cables. All cables are ver difficult to repair or
replace if broken.
If you ave any questions about using t is document, contact Willow Garage Support
before proceeding.
Pre-Start C ecklist
Before starting to remove and replace a PR2 power board, make sure ou have completed
these steps:
•Review instructions for “Robot Overview, Torque Tools, Loctite” and “Setting Torque
Driver”.
•Remove “Top Rear”, “Bottom Rear” and “Rear Bellows” covers.
•Raise spine to approximatel 25 cm from bottom. Do not raise spine to maximum
height. Use instructions in “Manual Spine Movement” document if necessar . (25 cm
height is about 80% of maximum height of the spine).
•Turn robot off. Disable main power breaker.
•Unplug robot from wall.
Required Tools and Materials:
•PR2 Tool Kit and PR2 Accessor Kit
•Replacement PR2 Power Board
•Grounded (ESD-safe) work surface
