Product manual (part 1 of 2), procedures

Product manual (part 1 of 2), procedures
Product manual (part 1 of 2), procedures
Articulated robot
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004
Product manual (part 1 of 2), procedures
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004
Document ID: 3HAC 023637-001
Revision: -
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2005 ABB All right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
How to read the product manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1 Safety
11
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 General safety information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.1.1 Safety, service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.1.2 Limitation of Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.1.3 Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2.2 Safety risks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2.2.1 Safety risks during service work on robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2.2.2 Safety risks related to gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2.2.3 Safety risks related to tools/workpieces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2.2.4 Safety risks related to pneumatic/hydraulic systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.2.2.5 Safety risks during operational disturbances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2.2.6 Safety risks during installation and service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.2.2.7 Risks associated with live electric parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.2.3 Safety actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.2.3.1 Safety fence dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.2.3.2 Fire extinguishing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.2.3.3 Emergency release of the robot’s arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.2.3.4 Brake testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.2.3.5 Risk of disabling function "Reduced speed 250 mm/s" . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.2.3.6 Safe use of the Teach Pendant Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2.3.7 Work inside the manipulator’s working range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.3 Safety related instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3.1 Safety signals, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3.2 DANGER - Moving manipulators are potentially lethal! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.3.3 WARNING - The unit is sensitive to ESD! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.3.4 WARNING - Safety risks during work with gearbox oil. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2 Installation and commissioning
37
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2 Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2.1 Pre-installation procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2.2 Working range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.3 On-site installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.3.1 Lifting robot with roundsling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.3.2 Manually releasing the brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.3.3 Orienting and securing the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.3.4 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.3.5 Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.3.6 Fitting equipment on the robot (robot dimensions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
2.3.7 Installation of signal lamp (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
2.4 Restricting the working range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
2.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
2.4.2 Installation of additional mechanical stops on axis 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
2.4.3 Installation of additional mechanical stop on axis 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
2.4.4 Installation of additional mechanical stops on axis 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
2.4.5 Installation of position switch, axis 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
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Table of Contents
2.5 Electrical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
2.5.1 Connectors on robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
2.5.2 Robot cabling and connection points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
2.5.3 Customer connections on the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3 Maintenance
85
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.2 Maintenance schedule and expected component life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.2.1 Specification of maintenance intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.2.2 Maintenance schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
3.2.3 Expected component life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.3 Inspection activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.3.1 Inspection, damper axes 2, 3 and 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.4 Replacement activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.4.1 Oil in gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.4.2 Oil change, gearbox axes 5 and 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
3.4.3 Replacement of measurement system battery pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
3.5 Cleaning activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.5.1 Cleaning, complete robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4 Repair
99
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.2 General procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.2.1 Performing a leak-down test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.2.2 Mounting instructions for bearings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.2.3 Mounting instructions for seals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.3 Complete manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.3.1 Replacement of cable harness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.4 Upper and lower arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.4.1 Replacement of complete upper arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Replacement of complete lower arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.3 Replacement of wrist unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 Replacement of damper, axis 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.5 Replacement of damper, axis 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.6 Replacement of damper, axis 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
117
121
124
126
128
4.5 Frame and base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4.5.1 Replacement of base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4.5.2 Replacement of serial measurement unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
4.5.3 Replacement of push button unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.6 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.6.1 Replacement of motor, axis 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Replacement of motor, axis 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.3 Replacement of motor, axis 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.4 Replacement of motor, axis 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.5 Replacement of motor and timing belt, axis 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.6 Replacement of motor and timing belt, axis 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
144
148
152
156
161
4.7 Gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
4.7.1 Replacement of gearbox, axes 1-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
4.7.2 Service work on gearboxes, axes 3, 4, 5 and 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
4
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Table of Contents
5 Calibration information
171
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
5.2 Calibration methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.3 Calibration scales and correct axis position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
5.4 Calibration movement directions for all axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
5.5 Updating revolution counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.6 Checking the calibration position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
3HAC 023637-001 Revision: -
5
Overview
Overview
About this manual
This manual contains instructions for
•
mechanical and electrical installation of the robot
•
maintenance of the robot
•
mechanical and electrical repair of the robot.
Usage
This manual should be used during
•
installation, from lifting the robot to its work site and securing it to the foundation, to
making it ready for operation
•
maintenance work
•
repair work and calibration.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
maintenance personnel
•
repair personnel.
Prerequisites
The reader should...
6
•
be a trained maintenance/repair craftsman
•
have the required knowledge of mechanical and electrical installation/repair/
maintenance work.
3HAC 023637-001 Revision: -
Overview
Organization of chapters
The manual is organized in the following chapters:
Chapter
Contents
Safety, service
Safety information that must be read through before performing
any installation or service work on robot. Contains general safety
aspects as well as more specific information on how to avoid
personal injuries and damage to the product.
Installation and
commissioning
Required information about lifting and installation of the robot.
Maintenance
Step-by-step procedures that describe how to perform
maintenance of the robot. Based on a maintenance schedule
that may be used to plan periodical maintenance.
Repair
Step-by-step procedures that describe how to perform repair
activities of the robot. Based on available spare parts.
Calibration information
Procedures that do not require specific calibration equipment.
General information about calibration.
Decommissioning
Environmental information about the robot and its components.
Revisions
Revision
Description
-
First edition.
3HAC 023637-001 Revision: -
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Product documentation, M2004
Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
•
Safety information
•
Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
•
Repair (descriptions of all recommended repair procedures including spare parts)
•
Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
•
Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
•
Part list
•
Foldouts or exploded views
•
Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
8
•
RAPID Overview: An overview of the RAPID programming language.
•
RAPID reference manual part 1: Description of all RAPID instructions.
•
RAPID reference manual part 2: Description of all RAPID functions and data types.
•
Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
3HAC 023637-001 Revision: -
Product documentation, M2004
Application manuals
Specific applications (e.g. software or hardware options) are described in Application
manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful)
•
What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
•
How to use the application
•
Examples of how to use the application
Operator’s manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
•
Operator’s manual - IRC5 with FlexPendant
•
Operator’s manual - RobotStudio Online
•
Trouble shooting manual for the controller and robot
3HAC 023637-001 Revision: -
9
How to read the product manual
How to read the product manual
Reading the procedures
The procedures contain references to figures, tools, material etc. The references are read as
described below.
References to figures
The procedures often include references to components or attachment points located on the
robot/controller. The components or attachment points are marked with italic text in the
procedures and completed with a reference to the figure where the current component or
attachment point is shown.
The denomination in the procedure for the component or attachment point corresponds to the
denomination in the referenced figure.
The table below shows an example of a reference to a figure from a step in a procedure.
Step
Action
Note/Illustration
8.
Remove the rear attachment screws, gearbox.
Shown in the figure Location of
gearbox on page xx.
References to required equipment
The procedures often include references to equipment (spare parts, tools etc.) required for the
different actions in the procedure. The equipment is marked with italic text in the procedures
and completed with a reference to the section where the equipment is listed with further
information, i.e. article number, dimension.
The denomination in the procedure for the component or attachment point corresponds to the
denomination in the referenced list.
The table below shows an example of a reference to a list of required equipment, from a step
in a procedure.
Step
Action
Note/Illustration
3.
Fit a new sealing, axis 2 to the gearbox.
Art. no. is specified in Required
equipment on page xx.
Safety information
The manual includes a separate safety chapter that must be read through before proceeding
with any service or installation procedures. All procedures also include specific safety
information when dangerous steps are to be performed. Read more in chapter Safety on page
11.
10
3HAC 023637-001 Revision: -
1 Safety
1.1. Introduction
1 Safety
1.1. Introduction
Overview
The safety information in this manual is divided in two categories:
•
general safety aspects, important to attend to before performing any service work on
the robot. These are applicable for all service work and are found in section General
safety information on page 12.
•
specific safety information, pointed out in the procedure at the moment of the danger.
How to avoid and eliminate the danger is either detailed directly in the procedure, or
further detailed in separate instructions, found in section Safety related instructions on
page 30.
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11
1 Safety
1.2.1.1. Safety, service
1.2 General safety information
1.2.1. General information
1.2.1.1. Safety, service
Validity and responsibility
The information does not cover how to design, install and operate a complete system, nor
does it cover all peripheral equipment, which can influence the safety of the total system. To
protect personnel, the complete system must be designed and installed in accordance with the
safety requirements set forth in the standards and regulations of the country where the robot
is installed.
The users of ABB industrial robots are responsible for ensuring that the applicable safety laws
and regulations in the country concerned are observed and that the safety devices necessary
to protect people working with the robot system are designed and installed correctly.
Personnel working with robots must be familiar with the operation and handling of the
industrial robot, described in the applicable documents, e.g. User’s Guide and Product
Manual.
Connection of external safety devices
Apart from the built-in safety functions, the robot is also supplied with an interface for the
connection of external safety devices. Via this interface, an external safety function can
interact with other machines and peripheral equipment. This means that control signals can
act on safety signals received from the peripheral equipment as well as from the robot.
In the Product Manual - Installation and Commissioning, instructions are provided for
connecting safety devices between the robot and the peripheral equipment.
12
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1 Safety
1.2.1.2. Limitation of Liability
1.2.1.2. Limitation of Liability
General
Any information given in this manual regarding safety, must not be construed as a warranty
by ABB that the industrial robot will not cause injury or damage even if all safety instructions
are complied with.
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13
1 Safety
1.2.1.3. Related information
1.2.1.3. Related information
General
The list below specifies documents which contain useful information:
Documents
Type of information
Detailed in document
Section
Installation of safety devices
Product manual for the robot
Installation and
commissioning
Changing robot modes
Operators manual (RobotWare 5.0)
Operating modes
Restricting the working space Product manual for the robot
14
Installation and
commissioning
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1 Safety
1.2.2.1. Safety risks during service work on robot
1.2.2. Safety risks
1.2.2.1. Safety risks during service work on robot
Overview
This section includes information of general safety risks to be considered when performing
service work on the robot.
Complete robot
Safety risk
Description
Hot components!
Caution!
Motors and gears are HOT after running the robot!
Touching the motors and gears may result in burns!
Removed parts may result in
collapse of robot!
Warning!
Take any necessary measures to ensure that the robot
does not collapse as parts are removed, e.g. secure the
lower arm with fixtures if removing motor, axis 2.
Cabling
Safety risk
Description
Cable packs are sensitive to
mechanical damage!
Caution!
The cable packs are sensitive to mechanical damage!
They must be handled with care, especially the
connectors, in order to avoid damaging them!
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15
1 Safety
1.2.2.1. Safety risks during service work on robot
Gearboxes and motors
Safety risk
Description
Gears may be damaged if
excessive force is used!
Caution!
Whenever parting/mating motor and gearbox, the gears
may be damaged if excessive force is used!
Balancing device
Safety risk
Description
Dangerous balancing device!
Warning!
Do not under any circumstances, deal with the balancing
device in any other way than that detailed in the product
documentation! For example, attempting to open the
balancing device is potentially lethal!
16
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1 Safety
1.2.2.2. Safety risks related to gripper
1.2.2.2. Safety risks related to gripper
CAUTION!
Ensure that a gripper is prevented from dropping a workpiece, if such is used.
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17
1 Safety
1.2.2.3. Safety risks related to tools/workpieces
1.2.2.3. Safety risks related to tools/workpieces
Safe handling
It must be possible to safely turn off tools, such as milling cutters, etc. Make sure that guards
remain closed until the cutters stop rotating.
It should be possible to release parts by manual operation (valves).
Safe design
Grippers/end effectors must be designed so that they retain workpieces in the event of a power
failure or a disturbance of the controller.
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1 Safety
1.2.2.4. Safety risks related to pneumatic/hydraulic systems
1.2.2.4. Safety risks related to pneumatic/hydraulic systems
General
Special safety regulations apply to pneumatic and hydraulic systems.
Residual energy
•
Residual energy may be present in these systems so, after shutdown, particular care
must be taken.
•
The pressure in pneumatic and hydraulic systems must be released before starting to
repair them.
•
Gravity may cause any parts or objects held by these systems to drop.
•
Dump valves should be used in case of emergency.
•
Shot bolts should be used to prevent tools, etc., from falling due to gravity.
Safe design
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19
1 Safety
1.2.2.5. Safety risks during operational disturbances
1.2.2.5. Safety risks during operational disturbances
General
•
The industrial robot is a flexible tool which can be used in many different industrial
applications.
•
All work must be carried out professionally and in accordance with the applicable
safety regulations.
•
Care must be taken at all times.
•
Remedial action must only be carried out by qualified personnel who are familiar with
the entire installation as well as the special risks associated with its different parts.
Qualified personnel
Extraordinary risks
If the working process is interrupted, extra care must be taken due to risks other than those
associated with regular operation. Such an interruption may have to be rectified manually.
20
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1 Safety
1.2.2.6. Safety risks during installation and service
1.2.2.6. Safety risks during installation and service
General risks during installation and service
•
The instructions in the Product Manual - Installation and Commissioning must always
be followed.
•
Emergency stop buttons must be positioned in easily accessible places so that the robot
can be stopped quickly.
•
Those in charge of operations must make sure that safety instructions are available for
the installation in question.
•
Those who install the robot must have the appropriate training for the robot system in
question and in any safety matters associated with it.
Nation/region specific regulations
To prevent injuries and damage during the installation of the robot system, the regulations
applicable in the country concerned and the instructions of ABB Robotics must be complied
with.
Non-voltage related risks
•
Safety zones, which have to be crossed before admittance, must be set up in front of
the robot's working space. Light beams or sensitive mats are suitable devices.
•
Turntables or the like should be used to keep the operator out of the robot's working
space.
•
The axes are affected by the force of gravity when the brakes are released. In addition
to the risk of being hit by moving robot parts, you run the risk of being crushed by the
parallel arm.
•
Energy, stored in the robot for the purpose of counterbalancing certain axes, may be
released if the robot, or parts thereof, are dismantled.
•
When dismantling/assembling mechanical units, watch out for falling objects.
•
Be aware of stored heat energy in the controller.
•
Never use the robot as a ladder, i.e. do not climb on the robot motors or other part
during service work. There is a serious risk of slipping because of the high temperature
of the motors or oil spills that can occur on the robot.
To be observed by the supplier of the complete system
•
The supplier of the complete system must ensure that all circuits used in the safety
function are interlocked in accordance with the applicable standards for that function.
•
The supplier of the complete system must ensure that all circuits used in the
emergency stop function are interlocked in a safe manner, in accordance with the
applicable standards for the emergency stop function.
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21
1 Safety
1.2.2.7. Risks associated with live electric parts
1.2.2.7. Risks associated with live electric parts
Voltage related risks, general
•
Although troubleshooting may, on occasion, have to be carried out while the power
supply is turned on, the robot must be turned off (by setting the mains switch to OFF)
when repairing faults, disconnecting electric leads and disconnecting or connecting
units.
•
The mains supply to the robot must be connected in such a way that it can be turned
off outside the robot's working space.
Voltage related risks, controller
A danger of high voltage is associated with the following parts:
•
Be aware of stored electrical energy (DC link) in the controller.
•
Units inside the controller, e.g. I/O modules, can be supplied with power from an
external source.
•
The mains supply/mains switch
•
The power unit
•
The power supply unit for the computer system (230 VAC)
•
The rectifier unit (400-480 VAC and 700 VDC. Note: Capacitors!)
•
The drive unit (700 VDC)
•
The service outlets (115/230 VAC)
•
The power supply unit for tools, or special power supply units for the machining
process
•
The external voltage connected to the control cabinet remains live even when the robot
is disconnected from the mains.
•
Additional connections
Voltage related risks, robot
A danger of high voltage is associated with the robot in:
•
The power supply for the motors (up to 800 VDC)
•
The user connections for tools or other parts of the installation (max. 230 VAC, see
Installation and Commissioning Manual)
Voltage related risks, tools, material handling devices, etc
Tools, material handling devices, etc., may be live even if the robot system is in the OFF
position. Power supply cables which are in motion during the working process may be
damaged.
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1 Safety
1.2.3.1. Safety fence dimensions
1.2.3. Safety actions
1.2.3.1. Safety fence dimensions
General
Install a safety cell around the robot to ensure safe robot installation and operation.
Dimensioning
Dimension the fence or enclosure to enable it to withstand the force created if the load being
handled by the robot is dropped or released at maximum speed. Determine the maximum
speed from the maximum velocities of the robot axes and from the position at which the robot
is working in the work cell (see Product Specification - Description, Robot Motion).
Also consider the maximum possible impact caused by a breaking or malfunctioning rotating
tool or other device fitted to the manipulator.
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23
1 Safety
1.2.3.2. Fire extinguishing
1.2.3.2. Fire extinguishing
NOTE!
Use a CARBON DIOXIDE (CO2) extinguisher in the event of a fire in the robot (manipulator
or controller)!
24
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1 Safety
1.2.3.3. Emergency release of the robot’s arm
1.2.3.3. Emergency release of the robot’s arm
Description
In an emergency situation, any of the robot’s axes may be released manually by pushing the
brake release buttons on the robot.
How to release the brakes is detailed in section:
•
Manually releasing the brakes on page 47.
The robot arm may be moved manually on smaller robot models, but larger models may
require using an overhead crane or similar.
Increased injury
Before releasing the brakes, make sure that the weight of the arms does not increase the
pressure on the trapped person, further increasing any injury!
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25
1 Safety
1.2.3.4. Brake testing
1.2.3.4. Brake testing
When to test
During operation the holding brakes of each axis motor wear normally. A test may be
performed to determine whether the brake can still perform its function.
How to test
The function of each axis’ motor holding brakes may be checked as detailed below:
1. Run each manipulator axis to a position where the combined weight of the manipulator
arm and any load is maximized (max. static load).
2. Switch the motor to the MOTORS OFF position with the Operating mode selector on the
controller.
3. Check that the axis maintains its position.
If the manipulator does not change position as the motors are switched off, then the brake
function is adequate.
26
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1 Safety
1.2.3.5. Risk of disabling function "Reduced speed 250 mm/s"
1.2.3.5. Risk of disabling function "Reduced speed 250 mm/s"
NOTE!
Do not change "Transm gear ratio" or other kinematic parameters from the Teach Pendant
Unit or a PC. This will affect the safety function Reduced speed 250 mm/s.
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27
1 Safety
1.2.3.6. Safe use of the Teach Pendant Unit
1.2.3.6. Safe use of the Teach Pendant Unit
NOTE!
The enabling device is a push button located on the side of the Teach Pendant Unit (TPU)
which, when pressed halfway in, takes the system to MOTORS ON. When the enabling
device is released or pushed all the way in, the robot is taken to the MOTORS OFF state.
To ensure safe use of the Teach Pendant Unit, the following must be implemented:
28
•
The enabling device must never be rendered inoperative in any way.
•
During programming and testing, the enabling device must be released as soon as
there is no need for the robot to move.
•
The programmer must always bring the Teach Pendant Unit with him/her, when
entering the robot's working space. This is to prevent anyone else taking control of the
robot without the programmer knowing.
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1 Safety
1.2.3.7. Work inside the manipulator’s working range
1.2.3.7. Work inside the manipulator’s working range
WARNING!
If work must be carried out within the robot’s work envelope, the following points must be
observed:
•
The operating mode selector on the controller must be in the manual mode position to
render the enabling device operative and to block operation from a computer link or
remote control panel.
•
The robot's speed is limited to max. 250 mm/s when the operating mode selector is in
position < 250 mm/s. This should be the normal position when entering the working
space. The position 100% "full speed" may only be used by trained personnel who are
aware of the risks that this entails.
•
Pay attention to the rotating axes of the manipulator! Keep a distance to the axes in
order not to get entangled with hair or clothing. Also be aware of any danger that may
be caused by rotating tools or other devices mounted on the manipulator or inside the
cell.
•
Test the motor brake on each axis, according to section Brake testing on page 26.
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29
1 Safety
1.3.1. Safety signals, general
1.3 Safety related instructions
1.3.1. Safety signals, general
General
This section specifies all dangers that may arise from performing the work detailed in the
manual. Each danger is detailed in its own section consisting of:
•
A caption specifying the danger level (DANGER, WARNING or CAUTION) and the
type of danger.
•
A brief description of what will happen if the operator/service personnel does not
eliminate the danger.
•
An instruction of how to eliminate the danger to facilitate performing the activity at
hand.
Danger levels
The table below defines the captions specifying the danger levels used throughout this
manual.
Symbol
Designation
Signification
DANGER
Warns that an accident will occur if the instructions
are not followed, resulting in a serious or fatal injury
and/or severe damage to the product. It applies to
warnings that apply to danger with, for example,
contact with high voltage electrical units, explosion
or fire risk, risk of poisonous gases, risk of crushing,
impact, fall from height etc.
WARNING
Warns that an accident may occur if the instructions
are not followed, that can lead to serious injury,
possibly fatal, and/or great damage to the product. It
applies to warnings that apply to danger with, for
example, contact with high voltage electrical units,
explosion or fire risk, risk of poisonous gases, risk of
crushing, impact, fall from height etc.
ELECTRICAL
SHOCK
The electrocution or electrical shock symbol
indicates electrical hazards which could result in
severe personal injury or death.
CAUTION
Warns that an accident may occur if the instructions
are not followed, that can result in injury and/or
damage to the product. It also applies to warnings of
risks that include burns, eye injury, skin injury,
hearing damage, crushing or slipping, tripping,
impact, fall from height etc. Furthermore, it applies to
warnings that include function requirements when
fitting and removing equipment, where there is a risk
of damaging the product or causing a breakdown.
danger
warning
Electrical shock
caution
30
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1 Safety
1.3.1. Safety signals, general
Symbol
Designation
Signification
ELECTROSTATIC The electrostatic discharge (ESD) symbol indicates
DISCHARGE (ESD) electrostatic hazards which could result in severe
damage to the product.
Electrostatic discharge
(ESD)
NOTE
Note symbols alert you to important facts and
conditions.
TIP
Tip symbols direct you to specific instructions, where
to find additional information or how to perform a
certain operation in an easier way.
Note
Tip
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31
1 Safety
1.3.2. DANGER - Moving manipulators are potentially lethal!
1.3.2. DANGER - Moving manipulators are potentially lethal!
Description
Any moving manipulator is a potentially lethal machine.
When running the manipulator, it may perform unexpected and sometimes irrational
movements. However, all movements are performed with great force and may seriously
injure any personnel and/or damage any piece of equipment located within the manipulator
working range.
Elimination
Step
32
Action
Info/Illustration
1.
Before attempting to run the manipulator,
Emergency stop equipment such as
make sure all emergency stop equipment is gates, tread mats, light curtains, etc.
correctly installed and connected.
2.
If possible, use the hold-to-run button
whenever possible.
The hold-to-run button is used in manual
mode, not in automatic mode.
3.
Make sure no personnel are present within
the manipulator working range before
pressing the start button.
How to use the hold-to-run control in
RobotWare 5.0 is detailed in section
How to use the hold-to-run switch in
the Operator’s Manual, IRC5.
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1 Safety
1.3.3. WARNING - The unit is sensitive to ESD!
1.3.3. WARNING - The unit is sensitive to ESD!
Description
ESD (electro static discharge) is the transfer of electrical static charge between two bodies at
different potentials, either through direct contact or through an induced electrical field. When
handling parts or their containers, personnel not grounded may potentially transfer high static
charges. This discharge may destroy sensitive electronics.
Elimination
Step
Action
Note/Illustration
1.
Use a wrist strap
Wrist straps must be tested frequently to
ensure that they are not damaged and are
operating correctly.
2.
Use an ESD protective floor mat.
The mat must be grounded through a currentlimiting resistor.
3.
Use a dissipative table mat.
The mat should provide a controlled discharge
of static voltages and must be grounded.
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33
1 Safety
1.3.4. WARNING - Safety risks during work with gearbox oil
1.3.4. WARNING - Safety risks during work with gearbox oil
Description
When handling the gearbox oil, there are several dangers to both personal injuries and product
damages! Following safety information must be regarded before performing any work with
the oil in the gearboxes!
Warnings and elimination
Warning
Description
Elimination / Action
Changing and draining
gearbox oil may require
handling hot oil of up to 90°C!
Make sure that protective gear
like goggles and gloves are
always worn during this activity.
-
Hot oil!
When opening the oil plug,
Open oil plug carefully and keep
there may be pressure present away from the opening. Do not
in the gearbox, causing oil to overfill the gearbox when filling.
spray from the opening!
-
Possible pressure build
up in gearbox!
-
Do not overfill!
Overfilling of gearbox oil can
lead to internal over-pressure
inside the gearbox which in
turn may:
• damage seals and
gaskets
• completely press out
seals and gaskets
• prevent the manipulator
from moving freely.
Make sure not to overfill the
gearbox when filling with oil!
After filling, check the correct oil
level.
Mixing types of oil may cause
severe damage to the
gearbox!
When filling gearbox oil, do not
mix different types of oil unless
specified in the instruction.
Always use the type of oil
specified by the manufacturer!
Warm oil drains quicker than
cold oil.
When changing gearbox oil, first
run the robot for a time to heat
up the oil.
-
Do not mix types of oil!
-
Heat up the oil!
34
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1 Safety
1.3.4. WARNING - Safety risks during work with gearbox oil
Warning
-
Specified amount
depends on drained
volume!
3HAC 023637-001 Revision: -
Description
Elimination / Action
The specified amount of oil is After refilling, check the oil level.
based on the total volume of
the gearbox. When changing
the oil, the amount of refilled oil
may differ from the specified
amount, depending on how
much oil has previously been
drained from the gearbox.
35
1 Safety
1.3.4. WARNING - Safety risks during work with gearbox oil
36
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2 Installation and commissioning
2.1. Introduction
2 Installation and commissioning
2.1. Introduction
General
This chapter contains information for installing the robot to the working site.
More detailed technical data, such as load diagram, permitted extra loads (equipment) and
location of extra loads (equipment), may be found in the Product Specification for the robot.
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37
2 Installation and commissioning
2.2.1. Pre-installation procedure
2.2 Unpacking
2.2.1. Pre-installation procedure
General
This instruction is primarily intended for use when unpacking and installing the robot for the
first time. It also contains information useful during later re-installation of the robot.
Checking the pre-requisites for installation
The check-list below details what must be observed before proceeding with the actual
installation of the robot:
Step
38
Action
Detailed in section:
1.
Make sure only qualified installation personnel
conforming to all national and local codes are allowed
to perform the installation.
2.
Make sure the robot has not been damaged, by
visually inspecting its exterior.
3.
Make sure the lifting device to be used is
dimensioned to handle the weight of the robot.
Weight on page 39.
4.
If the robot is not to be installed directly, it must be
stored.
Storage conditions on page
39.
5.
Make sure the appointed operating environment of
the robot conforms to the specifications.
Operating conditions on
page 39 and Protection
classes on page 40.
6.
Before taking the robot to its installation site, make
sure the site conforms to applicable requirements.
Loads on foundation on
page 39 and Requirements
on foundation on page 39.
7.
Before moving the robot, make sure it does not tip
over!
8.
When these prerequisites have been met, the robot
may be taken to its installation site.
Lifting robot with roundsling
on page 45.
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2 Installation and commissioning
2.2.1. Pre-installation procedure
Weight
The table below shows the weight of the robot model.
Robot model
Weight
IRB 1600 - x/1.2
247 kg
IRB 1600 - x/1.45
250 kg
Loads on foundation
The table below shows the various forces and torques working on the robot during different
kinds of operation. Note! These forces and torques are extreme values that are rarely
encountered during operation. The values also never reach their maximum simultaneously!
Force
Mounting
Endurance load
Max. load
(emergency stop)
Force XY
Floor mounted
Inverted
Tilted ± 30º
± 1600 N
± 1600 N
± 2500 N
± 5000 N
± 5000 N
± 6000 N
Force Z
Floor mounted
Inverted
Tilted ± 30º
- 2500 ± 1600 N
+ 2500 ± 1600 N
+ 2100 ± 1600 N
- 2500 ± 3000 N
+ 2500 ± 3000 N
+ 2100 ± 3000 N
Torque XY
All
± 2000 Nm
± 5500 Nm
Torque Z
All
± 350 Nm
± 2000 Nm
Requirements on foundation
The table below shows the requirements for the foundation where the robot is installed.
Requirement
Value
Note
Levelness
max. 0.5 mm
The value for levelness aims at the circumstance of
the three anchoring points in the robot base.
Storage conditions
The table below shows the allowed storage conditions for the robot.
Parameter
Value
Min. ambient temperature
-25º C
Max. ambient temperature
+55º C
Max. ambient temperature (less than 24 hrs)
+70º C
Max. ambient humidity
Max. 95% at constant temperature
Operating conditions
The table below shows the allowed operating conditions for the robot.
Parameter
Value
Min. ambient temperature
+5º C
Max. ambient temperature
+45º C
Max. ambient humidity
Max. 95% at constant temperature
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39
2 Installation and commissioning
2.2.1. Pre-installation procedure
Protection classes
The table below shows the protection class of the robot.
40
Equipment
Protection class
Robot, standard
IP 54
Robot, Foundry
IP 67
Robot, Wash
IP 67
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2 Installation and commissioning
2.2.2. Working range
2.2.2. Working range
General
This section specifies the working ranges for the different robot models. The turning radius
is also shown separately in the last figure.
Illustration, working range IRB 1600 - 5/1.2 and IRB 1600 - 7/1.2
xx0400001260
Pos
Positions at wrist center (mm)
Angle (degrees)
X
Z
axis 2
axis 3
0
750
961.5
0º
0º
1
150
1561.5
0º
-90º
2
494
470
0º
+55º
3
1225
486.5
+90º
-90º
4
897
-287
+136º
-90º
5
386
737
+136º
-235º
6
321
786
-63º
+55º
7
-808
975
-63º
-90º
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41
2 Installation and commissioning
2.2.2. Working range
Angles, working range IRB 1600 - 5/1.2 and IRB 1600 - 7/1.2
Axis
Angle from
Angle to
Note
Axis 1
+180º
-180º
Axis 2
+136º
-63º
Axis 3
+55º
-235º
Axis 4
+200º
-200º
Default value
+190 revolutions
-190 revolutions
Maximum value.
The default working range for axis 4
can be extended by changing
parameter values in the software.
Axis 5
+115º
-115º
Axis 6
+400º
-400º
Default
+288 revolutions
-288 revolutions
Maximum value.
The default working range for axis 6
can be extended by changing
parameter values in the software.
Illustration, working range IRB 1600 - 5/1.45 and IRB 1600 - 7/1.45
xx0400001261
42
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2.2.2. Working range
Pos
Positions at wrist center (mm)
Angle (degrees)
X
Z
axis 2
axis 3
0
750
1186.5
0º
0º
1
150
1786.5
0º
-90º
2
404
643
0º
+65º
3
1450
486.5
+90º
-90º
4
800
-639
+150º
-90º
5
448
478
+150º
-245º
6
-6
740
-90º
+65º
7
-1150
486.5
-90º
-90º
Angles, working range IRB 1600 - 5/1.45 and IRB 1600 - 7/1.45
Axis
Angle from
Angle to
Axis 1
+180º
-180º
Axis 2
+150º
-90º
Axis 3
+65º
-245º
Axis 4
+200º
-200º
Default value
+190 revolutions
-190 revolutions
Maximum value.
The default working range for axis 4
can be extended by changing
parameter values in the software.
Axis 5
+115º
-115º
Axis 6
+400º
-400º
Default
+288 revolutions
-288 revolutions
Maximum value.
The default working range for axis 6
can be extended by changing
parameter values in the software.
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2 Installation and commissioning
2.2.2. Working range
Turning radius IRB 1600 - all models
The turning radius for the robot is shown in the figure below. Notice the differences
depending on the length of the lower arm.
xx0400001259
(A)
44
Minimum turning radius axis 1 (all models)
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2.3.1. Lifting robot with roundsling
2.3 On-site installation
2.3.1. Lifting robot with roundsling
Recommended lifting position
The figure below shows the recommended lifting positions. It is important that the roundsling
has free space and does not wear against any part of the robot.
xx0400001296
Required equipment
Equipment
Art. no.
Note
Overhead crane
-
Lifting capacity: 500 kg.
Roundsling
-
Length: 2 m.
Lifting capacity: 500 kg.
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2 Installation and commissioning
2.3.1. Lifting robot with roundsling
Lifting the robot with roundsling
Step
Action
Note
1.
Move the robot to an appropriate lifting position. Shown in the figure
Recommended lifting position on
page 45.
2.
Secure the roundsling safely at the lifting eye
and at the overhead crane.
Make sure the roundsling has free space and
does not wear against any part of the robot.
Capacity for the roundsling is
specified in Required equipment
on page 45.
Attachment is shown in the figure
Recommended lifting position on
page 45.
3.
-
Caution!
The robot weighs 250 kg! All lifting equipment
must be sized accordingly!
4.
Warning!
WARNING!
Personnel must not, under any circumstances,
be present under the suspended load!
5.
46
Raise the overhead crane to lift the robot.
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2.3.2. Manually releasing the brakes
2.3.2. Manually releasing the brakes
General
The section below details how to release the holding brakes of each axis’ motor.
This may be done in one of three ways:
•
using the brake release unit when the robot is connected to the controller.
•
using the brake release unit when the robot is disconnected from the controller, but
connected to an external power supply at the connector R1.MP.
•
using an external voltage supply directly on the motor connector.
Using the brake release unit when the robot is connected to the controller
This section details how to release the holding brakes using the internal brake release unit.
Step
1.
Action
Info/Illustration
The internal brake release unit is located at the
base of the robot and equipped with six buttons for
controlling the axes brakes. The buttons are
numbered according to the numbers of the axes.
xx0400001255
2.
-
Danger!
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in
unexpected ways! Make sure no personnel is near
the robot arm!
3.
3HAC 023637-001 Revision: -
Release the holding brake on a particular robot axis
by pressing the corresponding button on the
internal brake release panel and keeping it
depressed.
The brake will function again as soon as the button
is released.
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2 Installation and commissioning
2.3.2. Manually releasing the brakes
Using the brake release unit with an external power supply
This section details how to release the holding brakes with the internal brake release unit
using an external voltage supply. This is done if the robot is not connected to the controller.
Step
Action
Info/Illustration
-
Also, be careful not to interchange
the 24V and 0V pins. If they are
mixed up, damage can be caused to
a resistor diode and to the system
board.
1.
Danger!
Incorrect connections, such as supplying
power to the wrong pin, may cause all brakes
to be released simultaneously!
2.
Connect an external power supply to
connector R1.MP.
Supply:
• 0V on pin C10
• 24V on pin B8.
xx0400001302
3.
48
Push the brake release button to release the
holding brakes, according to the previous
procedure.
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2.3.3. Orienting and securing the robot
2.3.3. Orienting and securing the robot
General
This section details how to orient and secure the robot at a horizontal level at the installation
site.
Hole configuration, base
The figure below shows the hole pattern and dimensions of the robot base.
xx0400001300
A
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Center of axis 1
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2 Installation and commissioning
2.3.3. Orienting and securing the robot
Dimension, mounting surface and guiding sleeve
The figure below shows the dimension of the mounting surface and guiding sleeves, if used.
xx0400001306
50
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2.3.3. Orienting and securing the robot
Attachment bolts, specification
Attachment bolts, 3 pcs
M16 x 60 (installation directly on foundation of steel)
M16 x 70/80 (installation on foundation or base plate,
using guiding sleeves)
Washers, 3 pcs
17 x 30 x 3
Quality
Quality 8.8 (wall or angle mounted robot: Quality 12.9)
Tightening torque
200 Nm
Guiding sleeves, 2 pcs
(needed if wall or angle mounted, or if the robot is
calibrated with AbsAcc)
Orienting and securing the robot to installation site
Step
Action
Note
1.
Make sure the installation site for the robot
conforms to the specifications in section
Pre-installation procedure on page 38.
2.
Prepare the installation site with
attachment holes.
If the robot is calibrated with AbsAcc, it
must be installed using guiding sleeves.
Hole configuration of the base is shown
in the figure Hole configuration, base on
page 49.
Dimension of mounting surface and the
guiding sleeves are shown in the figure
Dimension, mounting surface and
guiding sleeve on page 50.
3.
Lift the robot to the installation site.
Detailed in section Lifting robot with
roundsling on page 45.
4.
Guide the robot gently using two of the
M16 attachment bolts while lowering it into
its mounting position.
5.
Fit and tighten the bolts and washers in the Specified in section Attachment bolts,
base attachment holes.
specification on page 51.
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2 Installation and commissioning
2.3.4. Load diagrams
2.3.4. Load diagrams
General
The load diagrams include a nominal pay load inertia, J0 of 0.012 kgm2, and an extra load of
15 kg for the IRB 1600-5/x variants and 5 kg for the IRB 1600-7/x variants, at the upper arm
housing.
At different arm load and moment of inertia the load diagram will be changed.
Accurate load diagram
For an accurate load diagram, please use the calculation program ABB RobotLoad IRB 1600,
Stand alone application on:
•
Inside.abb.com/atma, click on Products ---> Robots ---> IRB 1600 or
•
http://www.abb.com/roboticspartner, click on Product Range ---> Robots ---> IRB
1600
The application requires Microsoft.NET Framework and Microsoft Excel 9.0 software.
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2.3.4. Load diagrams
Load diagram - IRB 1600-5/1.2, IRB 1600-5/1.45
xx0500001449
-
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Maximum permitted load mounted on the robot tool flange at different positions
(center of gravity)
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2 Installation and commissioning
2.3.4. Load diagrams
Load diagram - IRB 1600-5/1.2, IRB 1600-5/1.45, "Vertical Wrist" (±10º)
xx0500001450
-
54
Maximum permitted load mounted on the robot tool flange at different positions
(center of gravity) at "Vertical Wrist" (±10º)
Description
Value
For wrist down (0º deviation from the vertical line)
Max load = 6 kg
ZMax = 0.11 m
LMax = 0.04 m
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2.3.4. Load diagrams
Load diagram - IRB 1600-7/1.2, IRB 1600-7/1.45
xx0500001451
-
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Maximum permitted load mounted on the robot tool flange at different positions
(center of gravity)
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2.3.4. Load diagrams
Load diagram - IRB 1600-7/1.2, IRB 1600-7/1.45, "Vertical Wrist" (±10º)
L
10 º 10 º
Z
L - Distance (m)
xx0500001452
-
56
Maximum permitted load mounted on the robot tool flange at different positions
(center of gravity) at "Vertical Wrist" (±10º)
Description
Value
For wrist down (0º deviation from the vertical line)
Max load = 9 kg
ZMax = 0.075 m
LMax = 0.045 m
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2.3.5. Loads
2.3.5. Loads
General
Any loads mounted on the robot must be defined correctly and carefully (with regard to the
position of center of gravity and inertia factor) in order to avoid jolting movements and
overloading the motors. If this is not done correctly operational stops may result.
Permitted extra loads and their positions
The shaded areas indicate the permitted positions (center of gravity) for extra loads mounted
on the wrist, upper arm housing and on the frame.
xx0500001448
The center of gravity of the extra load must be within the marked load areas.
Robot
Max load
Load area A Load area B Load area A+B
Load area C Load area D
IRB 1600 - 5/X
15 kg
5 kg
15 kg
0.5 kg
15 kg
IRB 1600 - 7/X
5 kg
5 kg
5 kg
0.5 kg
15 kg
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2.3.6. Fitting equipment on the robot (robot dimensions)
2.3.6. Fitting equipment on the robot (robot dimensions)
General
This section shows the robot dimensions and available mounting holes on the robot.
Main dimensions
The two figures below show the main dimensions of the robot. The remaining dimensions and
mounting holes on the upper arm, frame and turning disk are shown in the following figures.
xx0400001253
58
(A)
Centerline of axis 1
(B)
Smallest circumscribed radius, axis 1
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2.3.6. Fitting equipment on the robot (robot dimensions)
Mounting holes on the frame
The three available mounting holes for equipment on the frame must be threaded according
to the figure below.
xx0400001252
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2.3.6. Fitting equipment on the robot (robot dimensions)
Dimensions of the upper arm and mounting holes
The figure below shows the dimensions of the upper arm and available mounting holes for
equipment on the arm.
xx0400001251
60
(A)
Centerline of axis 3
(B)
Centerline of axis 4
(C)
Turning radius for axis 3
(D)
Smallest circumscribed radius for axis 4
(E)
Mounting holes for equipment
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2.3.6. Fitting equipment on the robot (robot dimensions)
Dimensions of the turning disk
The figure below shows the dimensions of the turning disk.
xx0200000063
Fastener quality
When fitting tools on the turning disk, use only screws with quality 12.9. When fitting
equipment on other places, standard screws with quality 8.8 can be used.
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2.3.7. Installation of signal lamp (option)
2.3.7. Installation of signal lamp (option)
General
A signal lamp with an yellow fixed light can be mounted on the robot, as a safety device. The
signal lamp is required on an UL/UR approved robot.
The lamp is active in MOTORS ON mode.
Location of signal lamp
The signal lamp is fitted to the upper arm housing of the robot, as shown in the figure below.
xx0400001265
62
A
Signal lamp
C
Cable gland
D
Cable bracket
E
Attachment holes for the signal lamp
F
Cover, upper arm housing
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2.3.7. Installation of signal lamp (option)
Required equipment
Equipment
Art. no.
Note
Signal lamp
3HAC 022235-001
Gasket, customer connections
3HAC 022050-001
Replace if damaged.
Gasket upper arm cover
3HAC 022049-001
Replace if damaged.
Installation, signal lamp
The procedure below details how to install the signal lamp to the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove the cover from the upper arm
housing to get access to the connectors
inside the housing.
3.
Remove the protection plug (A) from the
insertion hole in the contact panel.
Run the cables of the lamp through the hole
in the contact panel. Secure the cable gland
in the hole.
Shown in the figure Location of signal
lamp on page 62.
xx0400001264
•
4.
Connect the lamp connectors, R3.H1 and
R3.H2 and place the cables safely inside the
housing.
5.
Take out the lamp unit through the hole in
the upper arm housing cover and refit the
cover. Make sure the gaskets are not
damaged.
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A: Plug with o-ring, M10
Shown in the figure Location of signal
lamp on page 62.
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2 Installation and commissioning
2.3.7. Installation of signal lamp (option)
Step
6.
Action
Note
Fit the cable bracket of the signal lamp to
the two mounting holes in the upper arm
housing (B).
Shown in the figure Location of signal
lamp on page 62.
xx0400001263
•
7.
64
B: Mounting holes, M8 x 12
The signal lamp is now ready for use and is
lit in MOTORS ON mode.
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2.4.1. Introduction
2.4 Restricting the working range
2.4.1. Introduction
General
When installing the robot, make sure that it can move freely within its entire working space.
If there is a risk that it may collide with other objects, its working space should be limited.
The working range of following axes may be restricted:
•
Axis 1, hardware (mechanical stop and position switch)
•
Axis 2, hardware (mechanical stop)
•
Axis 3, hardware (mechanical stop)
This section describes how to install hardware that restricts the working range.
Notice that adjustments must also be made in the software. References to software manuals
are given in following installation procedures.
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2.4.2. Installation of additional mechanical stops on axis 1
2.4.2. Installation of additional mechanical stops on axis 1
General
This section details how to install additional mechanical stops on axis 1 in order to restrict the
working range of the axis.
Restrictions in working range
The working range of axis 1 can be restricted by fitting one or two additional mechanical
stops on the casted groove at the base.
The figure below shows both the minimum and maximum working range of the robot, when
restricted by the additional mechanical stops. The working range can be restricted freely
within the shown scope, depending on where the mechanical stop is installed along the casted
groove.
xx0400001286
66
A
Mounting position of two additional stops for maximum working area (±168º)
B
Mounting position of two additional stops for minimum working area (±64º)
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2.4.2. Installation of additional mechanical stops on axis 1
Illustration, mechanical stop, axis 1
The additional mechanical stop of axis 1 is fitted to the base of the robot, as shown in the
figure below.
xx0400001287
A
Mechanical stop, axis 1 (additional)
B
Attachment bolts and washers, mechanical stop
C
Stop pin (standard)
E
Casted groove
F
Guiding pin
G
Hidden stiffening ribs
Required equipment
Equipment
Art. no.
Note
Working range limit axis 1
3HAC 023110-001
Includes mechanical stops (2 pcs),
attachment bolts and washers.
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2 Installation and commissioning
2.4.2. Installation of additional mechanical stops on axis 1
Installation of mechanical stop, axis 1
The procedure below details how to install the mechanical stop to axis 1.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Place the stop at the base, with the guiding pin
in the casted groove. Turn the stop until the
holes align with the groove.
The stop can be mounted in either direction,
resulting in differences in the working range.
xx0400001288
Also see the figure Illustration,
mechanical stop, axis 1 on page
67.
3.
Drill two holes in the casted groove, with
guidance from the circular and the elliptical hole.
Drill the holes through 10.2 mm.
If drilling in a stiffening rib, drill depth must be
min. 30 mm.
4.
Cut the threads M12.
If cutting in a stiffening rib, thread depth must be
min. 23 mm.
5.
Fit the stop to the base without tightening the
bolts.
6.
Turn axis 1 manually and check the working
area between the stops.
How to release the holding brake
of the axis motor is detailed in
section Manually releasing the
brakes on page 47.
7.
Tighten the bolts.
2 pcs/stop: M12 x 40, tightening
torque: 85 Nm.
8.
-
Warning!
If the mechanical stop is deformed after a hard
collision, it must be replaced!
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2.4.3. Installation of additional mechanical stop on axis 2
2.4.3. Installation of additional mechanical stop on axis 2
General
This section details how to install an additional mechanical stop on axis 2 in order to restrict
the working range of the axis.
Restrictions in working range
The working range of axis 2 can be restricted by fitting an additional mechanical stop at the
frame. The working range can only be restricted backwards, as shown in the figures below.
Notice the different working ranges for the different models!
xx0400001289
xx0400001290
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2.4.3. Installation of additional mechanical stop on axis 2
Illustration, mechanical stop, axis 2
The additional mechanical stop for axis 2 is fitted together with a damper to the frame, as
shown in the figure below.
xx0400001291
A
Mechanical stop, axis 2
B
Attachment bolts, mechanical stop (2 pcs)
C
Attachment holes, mechanical stop
D
Damper, axis 2
E
Washer
F
Attachment screw, damper
Required equipment
Equipment
Art. no.
Note
Working range limit axis 2
3HAC 023108-001
Includes mechanical stop,
damper and attachment bolts.
Installation of mechanical stop, axis 2
The procedure below details how to install the mechanical stop to axis 2.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
70
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2.4.3. Installation of additional mechanical stop on axis 2
Step
Action
Note
2.
Fit the mechanical stop to the frame, without
tightening the bolts.
Attachment holes are shown in the
figure Illustration, mechanical stop,
axis 2 on page 70.
3.
Make sure that the stop is in contact with the
lower boss on the gearbox, as the arrow shows
in the figure to the right.
xx0400001292
Note! It is important that the
mechanical stop is fitted in contact
with the lower boss on the gearbox!
4.
Tighten the attachment bolts.
2 pcs; M8 x 35, tightening torque:
25 Nm.
5.
Fit the damper to the mechanical stop, with its Shown in the figure Illustration,
attachment screw and washer. Tighten the
mechanical stop, axis 2 on page
screw.
70.
6.
-
Warning!
If the mechanical stop is deformed after a hard
collision, it must be replaced!
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2.4.4. Installation of additional mechanical stops on axis 3
2.4.4. Installation of additional mechanical stops on axis 3
General
This section details how to install an additional mechanical stop on axis 3 in order to restrict
the working range of the axis.
Restrictions in working range
The working range of axis 3 can be restricted into two different working areas, as shown in
the two figures below. Notice the differences between the different models.
xx0400001283
72
-
Robot models IRB 1600 - x/1.2
A
Working range A
B
Working range B
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2.4.4. Installation of additional mechanical stops on axis 3
xx0400001284
-
Robot models IRB 1600 - x/1.45
A
Working range A
B
Working range B
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2.4.4. Installation of additional mechanical stops on axis 3
Illustration, mechanical stop, axis 3
The mechanical stop is installed at the upper arm housing, as shown in the figure below.
xx0400001285
A
Mechanical stop, axis 3
B
Attachment screws and washers (2 pcs)
Required equipment
Equipment
Art. no.
Note
Working range limit axis 3
3HAC 023109-001
Includes mechanical stop,
attachment screws and washers.
Installation of mechanical stop, axis 3
The procedure below details how to install the mechanical stop to axis 3.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Fit the mechanical stop to the two mounting
holes at the upper arm housing, with the two
attachment screws and washers. Tighten the
screws.
Shown in the figure Illustration,
mechanical stop, axis 3 on page 74.
2 pcs: M8 x 25, tightening torque:
25 Nm.
3.
-
Warning!
If the mechanical stop is deformed after a hard
collision, it must be replaced!
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2.4.5. Installation of position switch, axis 1
2.4.5. Installation of position switch, axis 1
General
This section details how to install the position switch to axis 1.
Location of position switch, axis 1
The position switch is installed between the frame and the base, as shown in the figure below.
xx0400001356
A
Position switch
B
Attachment screws, position switch, 2 pcs: M6 x 30
C
Holder ring (2 parts)
D
Attachment screws, holder ring, 6 pcs: M8 x 12
E
Cam
F
Bracket
G
Attachment screws, housing, 2 pcs: M6 x 8
H
Cable straps
I
Attachment screws, attachment plate, 2 pcs: M6 x 16
Required equipment
Equipment
Art. no.
Note
Position switch, axis 1
3HAC 023973-001
Includes 3 switches.
All parts are included in the delivery.
Instruction of how to cut the cams is
enclosed in the kit.
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2 Installation and commissioning
2.4.5. Installation of position switch, axis 1
Installation, position switch axis 1
The procedure below details how to install the position switch to the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic
and pneumatic pressure supplies to
the robot!
2.
Fit the two holder rings underneath the Shown in the figure Location of position
frame with the six attachment screws. switch, axis 1 on page 75.
6 pcs, M8 x 12.
3.
Cut the cams according to instructions,
enclosed with the position switch kit.
4.
Fit the cams to the holder ring with the Shown in the figure Location of position
attachment screws.
switch, axis 1 on page 75.
M6 x 12.
5.
Attach the position switch to the
bracket with two attachment screws.
6.
Fit the complete bracket to the base of Shown in the figure Location of position
the robot with the two attachment
switch, axis 1 on page 75.
screws.
2 pcs, M6 x 8.
7.
Fit the attachment plate (A) to the base 2 pcs, M6 x 16.
of the robot with the two attachment
Shown in the figure Location of position
screws.
switch, axis 1 on page 75.
Fit the switches to the attachment
plate. Adjust the height of the switches
with shims (B) until each roller (C)
aligns with corresponding cam (D).
2 pcs, M6 x 30.
xx0400001358
76
8.
Secure the cabling inside the housing
with cable straps.
Shown in the figure Location of position
switch, axis 1 on page 75.
9.
Connect the position switch cabling.
The cabling and connection points are
specified in section Position switch cables
(option) on page 79.
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2.5.1. Connectors on robot
2.5 Electrical connections
2.5.1. Connectors on robot
Connectors on the robot
The figure below shows all connections of the robot cabling, including the customer
connections.
xx0400001262
A
Connection for air
B
Connection for signal lamp
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2.5.2. Robot cabling and connection points
2.5.2. Robot cabling and connection points
General
Connect the robot and controller to each other after securing them to the foundation. The lists
below specify which cables to use for each respective application.
Main cable categories
All cables between the robot and control cabinet are divided into the following categories:
Cable category
Description
Robot cables
Handles power supply to and control of the robot’s motors as
well as feedback from the serial measurement board.
Specified in table Robot cables on page 78.
Position switch cables (option) Handles supply to and feedback from any position switches
and cooling fans on the robot.
See the product manual for the controller.
Specified in table Position switch cables (option) on page 79.
Customer cables (option)
Handles communication with equipment fitted on the robot
by the customer, low voltage signals and high voltage power
supply + protective ground.
See the product manual for the controller.
Art. no. is specified in section Document references in the
Product manual, reference information.
Also specified in tableCustomer cables (option) on page 79.
External axes cables (option)
Handles power supply to and control of the external axes’
motors as well as feedback from the servo system.
See the product manual for external axes.
Art. no. is specified in section Document references in the
Product manual, reference information.
These categories are divided into sub-categories which are specified below:
Robot cables
These cables are included in the standard delivery. They are completely pre-manufactured
and ready to plug in.
Cable sub-category Description
78
Connection
Connection
point, cabinet point, robot
Robot cable, power
Transfers drive power from the XS1
drive units in the control cabinet
to the robot motors.
R1.MP
Robot cable, signals
Transfers resolver data from the XS2
serial measurement board and
power supply to the SMB.
R1.SMB
3HAC 023637-001 Revision: -
2 Installation and commissioning
2.5.2. Robot cabling and connection points
Robot cable, power, for robots with standard protection
Cable (standard)
Art. no.
Robot cable, power, 7 m
3HAC 2492-1
Robot cable, power, 15 m
3HAC 2529-1
Robot cable, power, 22 m
3HAC 2539-1
Robot cable, power, 30 m
3HAC 2564-1
Robot cable, power, for robots with foundry and wash protection
Cable (foundry)
Art. no.
Robot cable, power, 7 m
3HAC 9038-1
Robot cable, power, 15 m
3HAC 9038-2
Robot cable, power, 22 m
3HAC 9038-3
Robot cable, power, 30 m
3HAC 9038-4
Cable
Art. no.
Robot cable, signal, shielded, 7 m
3HAC 2493-1
Robot cable, signal, shielded, 15 m
3HAC 2530-1
Robot cable, signal, shielded, 22 m
3HAC 2540-1
Robot cable, signal, shielded, 30 m
3HAC 2566-1
Robot cable, signals
Position switch cables (option)
The cable is delivered in one length only and should be winded to suitable length.
Cable
Art. no.
Connection
Connection
point,
point, robot
cabinet
Position switch cable, axis 1, 30 m
3HAC 7997-4
XS8
R1.LS
Customer cables (option)
The customer cables are ordered according to current protection class of the robot.
Customer cables for robots with standard protection
Cable (standard)
Art. no.
Connection
point, robot
Customer cable, power-signal, 7 m
3HAC 3353-1
R1.CP/CS
Customer cable, power-signal, 15 m
3HAC 3354-1
R1.CP/CS
Customer cable, power-signal, 22 m
3HAC 3355-1
R1.CP/CS
Customer cable, power-signal, 30 m
3HAC 3356-1
R1.CP/CS
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2 Installation and commissioning
2.5.2. Robot cabling and connection points
Customer cables for robots with foundry and wash protection
80
Cable (foundry and wash)
Art. no.
Connection
point, robot
Customer cable, power-signal, 7 m
3HAC 8183-1
R1.CP/CS
Customer cable, power-signal, 15 m
3HAC 8183-2
R1.CP/CS
Customer cable, power-signal, 22 m
3HAC 8183-3
R1.CP/CS
Customer cable, power-signal, 30 m
3HAC 8183-4
R1.CP/CS
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2 Installation and commissioning
2.5.3. Customer connections on the robot
2.5.3. Customer connections on the robot
General
For connection of equipment on the robot, there are cables integrated into the robot cabling.
This section specifies recommendations for the customer connections.
The air and electrical connectors are shown in the figure Connectors on the robot on page 77.
Air connection
Connection
Dimension
Air inlet (at the base)
Air outlet (at the upper arm housing)
1/4"
The integrated air hose is sized as specified in the table below.
Inner diameter
Max. pressure
8 mm
0.8 MPa / 115 psi
Customer connectors R2.CS and R2.CP
The customer connectors R2.CS and R2.CP can be used with either:
•
specified connector components from Souriau, or
•
connectors that meet Military standard MIL-C-26482 series 1.
These connectors are further detailed in following sections.
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2 Installation and commissioning
2.5.3. Customer connections on the robot
Specified connector components from Souriau
The components specified below are from connector manufacturer Souriau and can be used
for connection to R2.CS and R2.CP.
xx0400001339
A
Pin connector
B
Pin
C
Backshell
Recommended pin connectors
Pin connector
Souriau art. no.
Pin connector, standard connection, CS (Customer Signal)
UT0W6 1626 P-H
Pin connector, standard connection, CP (Customer Power)
UT0W6 1210 P-H
Pin connector, integrated wirefeeder cabling, CS
UT0W6 1626P-H
Pin connector, Integrated wirefeeder cabling, CP
UT06 1412P-H
Recommended pins (turned)
Turned pins for cable area...
Souriau art. no.
0.21 - 0.93 mm2 (standard connection, CP/CS and
integrated wirefeeder cabling, CS)
RM24M9K
0.13 - 0.25 mm2 (integrated wirefeeder cabling, CP)
RM24M9K
2
0.25 - 0.5 mm (integrated wirefeeder cabling, CP)
2
0.5 - 1.5 mm (integrated wirefeeder cabling, CP)
RM20M12K
RM16M23K
Recommended backshell
82
Backshell
Souriau art. no.
Backshell, standard connection, CS
UT0 16JC
Backshell, standard connection, CP
UT0 12JC
Backshell, integrated wirefeeder cabling, CS
UT0 16JC
Backshell, integrated wirefeeder cabling, CP
UT0 14JC
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2 Installation and commissioning
2.5.3. Customer connections on the robot
Connectors that meet Military standard
The connectors specified below meet Millitary standard MIL-C-26482 series 1 and can be
used for connection to R2.CS and R2.CP (only for standard customer connection).
The figure below shows a complete connector, including pin connector and backshell.
xx0400001340
Connector for crimping
The complete pin connectors for crimping include pin connector and backshell.
Connector for crimping
Military standard MIL-C-26482
Complete pin connector, CS
MS3126*1626S
Complete pin connector, CP
MS3126*1210S
Turned pin 0.2 - 0.5 mm2
M39029/31-240
2
M29029/31-228
Turned pin 0.5 - 1.5 mm
Connector for soldering
The complete pin connectors for soldering include pin connector, backshell and pins.
Connector for soldering
Military standard MIL-C-26482
Complete pin connector, CS
MS3116*1626S
Complete pin connector, CP
MS3116*1210S
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2 Installation and commissioning
2.5.3. Customer connections on the robot
84
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3 Maintenance
3.1. Introduction
3 Maintenance
3.1. Introduction
Structure of this chapter
This chapter details all maintenance activities recommended for the robot and any external
units of the robot.
It is based on the maintenance schedule, located in the beginning of the chapter. The schedule
contains information about required maintenance activities including intervals and refers to
procedures for the activities.
Each procedure contains all information required to perform the activity, e.g. required tools
and materials.
The procedures are gathered in different sections, divided according to the maintenance
activity.
Safety information
Before any service work is commenced, it is extremely important that all safety information
is observed!
There are general safety aspects that must be read through, as well as more specific safety
information that describe danger and safety risks when performing the procedures. Make sure
to read through the chapter Safety on page 11.
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3 Maintenance
3.2.1. Specification of maintenance intervals
3.2 Maintenance schedule and expected component life
3.2.1. Specification of maintenance intervals
Description
The intervals may be specified in different ways depending on the type of maintenance
activity to be carried out and the working conditions of the robot:
86
•
Calendar time: specified in months regardless of whether the robot system is run or not
•
Operating time: specified in operating hours. More frequent running of the robot
means more frequent maintenance activities.
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3 Maintenance
3.2.2. Maintenance schedule
3.2.2. Maintenance schedule
General
The robot must be maintained regularly to ensure proper function. The maintenance activities
and intervals are specified in the table below.
Non-predictable situations also give rise to inspections of the robot. Any damages must be
attended to immediately!
The inspection intervals do not specify the life of each component.
Maintenance schedule
The table below specifies the required maintenance activities and intervals:
Maintenance
activity
Equipment
Change
Gearbox oil, axes 5 and 6 20,000 hrs
Change
Battery, measurement
system
12 - 36 mths 2)
Replacement of
measurement system
battery pack on page 95.
Cleaning
Complete robot
Regular 1)
Cleaning, complete robot
on page 97.
Interval
Detailed in section
Oil change, gearbox axes
5 and 6 on page 92.
1. A regular interval implies that the activity is to be performed regularly, but the actual
interval may not be specified by the robot manufacturer. The interval depends on the
operation cycle of the robot, its working environment and movement pattern.
Generally, the more contaminated environment, the closer the intervals. The more
demanding movement pattern (sharper bending cable harness), the closer the intervals.
2. The battery is used as a back-up when the robot system is switched off. Therefore, the
life of a lithium battery depends on how frequently the power to the system is switched
off and also if the environment temperature is higher than recommended operating
temperature. The life varies from 12 - 36 mths, depending on current conditions. An
alert is given on the TPU or the FlexPendant when the battery is nearly discharged and
it must then be replaced within a month.
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3 Maintenance
3.2.3. Expected component life
3.2.3. Expected component life
General
The life of any component depends on how hard it is run, and it can vary greatly.
Expected life
Component
Expected life
Note
Robot cable harness
2,000,000 cycles
See note 1)
Cabling for position switch
2,000,000 cycles
See note 1)
Gearbox
40,000 hrs
1. The expected life can also be affected by grouping harnesses/cables other than
standard options. The life expectancy is based on a test cycle that for every axis goes
from the calibration position to minimum angle, to maximum angle and back to the
calibration position. Deviations from this test cycle will result in differences in
expected life!
88
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3 Maintenance
3.3.1. Inspection, damper axes 2, 3 and 5
3.3 Inspection activities
3.3.1. Inspection, damper axes 2, 3 and 5
Location of dampers
The figure below shows the location of all the dampers to be inspected.
xx0400001217
A
Damper, axis 2
B
Attachment screw
xx0400001215
A
Damper, axis 3
B
Cast tab
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3 Maintenance
3.3.1. Inspection, damper axes 2, 3 and 5
xx0200000429
A
Damper, axis 5
B
Recess
Required equipment
Equipment
Art. no.
Note
Standard toolkit
-
The contents are defined in section Standard
toolkit in the Product manual, reference
information.
Inspection, dampers
The procedure below details how to inspect the dampers.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
90
2.
Check all dampers for damage, such as
Shown in the figure in section
cracks or existing impressions that are larger Location of dampers on page 89.
than 1 mm.
3.
Check attachment screws for deformation.
4.
If any damage is detected, the damper must
be replaced with a new one!
Replacement is detailed in
sections:
• Replacement of damper,
axis 2 on page 124
• Replacement of damper,
axis 3 on page 126
• Replacement of damper,
axis 5 on page 128.
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3 Maintenance
3.4.1. Oil in gearboxes
3.4 Replacement activities
3.4.1. Oil in gearboxes
Location of gearboxes
xx0500001427
A
Gearbox, axis 1
B
Gearbox, axis 2
C
Gearbox, axis 3
D
Gearbox, axis 4
E
Gearboxes, axes 5 and 6
Type and amount of oil in gearboxes
Gearbox
Type of oil
Art. no.
Amount
Axis 1
Mobil Gearlube X320
11712016-604
3,400 ml
Axis 2
Mobil Gearlube X320
11712016-604
3,400 ml
Axis 3
Mobil Gearlube X320
11712016-604
500 ml
Axis 4
Mobil Gearlube X320
11712016-604
350 ml
Axis 5-6 (wrist unit)
Optimol BM 100
3HAC 0860-1
Total amount: 350 ml
(new wrist)
Amount at oil change:
300 ml
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3 Maintenance
3.4.2. Oil change, gearbox axes 5 and 6
3.4.2. Oil change, gearbox axes 5 and 6
Location of oil plugs
The gearboxes for axes 5 and 6 are located in the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0200000475
A
Oil plug, draining and filling
B
Oil plug, vent hole
Required equipment
92
Equipment, etc.
Art. no.
Amount
Note
Lubricating oil
3HAC 0860-1
Total amount: 350 Optimol BM 100
ml (new wrist)
Amount at oil
change: 300 ml
Oil collecting vessel
Capacity: 400 ml.
Standard toolkit
The contents are defined in
section Standard toolkit in the
Product manual, reference
information.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
These procedures include
references to the tools
required.
3HAC 023637-001 Revision: -
3 Maintenance
3.4.2. Oil change, gearbox axes 5 and 6
Draining, wrist unit
The procedure below details how to drain oil from the gearboxes in the wrist unit.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
-
Warning!
Handling gearbox oil involves several safety
risks. Before proceeding, please observe the
safety information in section WARNING - Safety
risks during work with gearbox oil on page 34.
3.
Position the robot as shown in the figure to the Vessel capacity is specified in
right:
section Required equipment on
• upper arm: upwards for a standing robot page 92!
• axis 4: 180º, to a position where the oil
plug (A), faces downwards.
Note! The total amount of oil will not be drained.
There will remain approximately 50 ml in the
wrist unit.
xx0500001434
•
A: Oil plug, draining and
filling
The position for an inverted robot
is the opposite!
4.
Remove the both oil plugs.
Shown in the figure Location of oil
Both oil plugs must be removed in order to drain plugs on page 92.
the wrist unit properly.
5.
Refit the oil plug, vent hole.
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3 Maintenance
3.4.2. Oil change, gearbox axes 5 and 6
Filling oil, wrist unit
The procedure below details how to fill oil in the gearboxes in the wrist unit.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
-
Warning!
Handling gearbox oil involves several
safety risks. Before proceeding, please
observe the safety information in section
WARNING - Safety risks during work with
gearbox oil on page 34.
3.
Remove the oil plug, draining and filling.
Shown in the figure Location of oil
plugs on page 92!
4.
Position the robot as shown in the figure to The oil quality and amount is specified
the right:
in section Required equipment on
page 92!
• upper arm: downwards for a
standing robot
• axis 4: 90º, to a position where the
oil plug (A), faces upwards.
Fill oil in the wrist unit through the oil plug.
xx0500001435
• A: Oil plug, draining and filling
The position for an inverted robot:, is
the opposite.
5.
94
Refit the oil plug.
3HAC 023637-001 Revision: -
3 Maintenance
3.4.3. Replacement of measurement system battery pack
3.4.3. Replacement of measurement system battery pack
Location of battery pack
The battery pack for the measurement system is located inside the base of the robot, as shown
in the figure below.
xx0500001390
A
Base cover, including gasket. Battery pack is located beneath the cover.
Battery pack on serial measurement unit
The battery pack is attached to the serial measurement unit as shown in the figure below.
xx0500001393
A
Battery pack
B
Velcro strap
C
Connector X3
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3 Maintenance
3.4.3. Replacement of measurement system battery pack
Required equipment
Equipment
Spare part no.
Battery pack
3HAC 16831-1
Gasket, base cover
3HAC 022047-001
Replace if damaged.
Standard toolkit
-
The contents are defined in section
Standard toolkit in the Product manual,
reference information.
Circuit diagram
Note
See chapter Circuit diagram in the
Product manual, reference information.
Replacement, battery pack
The procedure below details how to replace the battery pack.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
96
2.
Remove the base cover from the robot by Shown in the figure Location of battery
unscrewing its attachment screws.
pack on page 95.
3.
Disconnect the battery from the serial
measurement unit.
4.
Remove the battery pack.
5.
Fit the new battery pack and connect it to
the serial measurement unit (X3).
Spare part no. is specified in Required
equipment on page 96.
Shown in the figure Battery pack on
serial measurement unit on page 95.
6.
Check the base cover gasket, replace if
damaged.
Spare part no. is specified in Required
equipment on page 96.
7.
Refit the base cover to the robot.
Shown in the figure Location of battery
pack on page 95.
8.
Update the revolution counters.
Detailed in section Updating revolution
counters on page 176.
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3 Maintenance
3.5.1. Cleaning, complete robot
3.5 Cleaning activities
3.5.1. Cleaning, complete robot
General
The protection class of Foundry and Wash versions is IP 67, i.e. the robot is watertight.
Required equipment
Equipment, etc.
Art. no. Note
May be used on Foundry
versions only!
Steam cleaner
-
May be used on Foundry
versions only!
High pressure water cleaner
-
•
•
•
•
•
•
•
Vacuum cleaner
Cloth with mild detergent
-
Water pressure at nozzle: max. 2,500 kN/
m 2 (25 bar)
Type of nozzle: fan jet, min. 45° spread
Flow: max. 100 litres/min.
Water temperature: max. 80° C
Max. water pressure on enclosures: 50 kN/
m 2 (0.5 bar)
Fan jet nozzle should be used, min. 45°
spread
Flow: max. 100 litres/min.
May be used on Standard version
Do’s and don’ts!
The section below specifies some special considerations when cleaning the robot.
Always!
•
Always use cleaning equipment as specified above! Any other cleaning equipment
may shorten the life of paintwork, rust inhibitors, signs, or labels!
•
Always check that all protective covers are fitted to the robot before cleaning!
•
Never point the water jet at bearing seals, contacts, and other seals!
•
Never spray from a distance closer than 0.4 m!
•
Never remove any covers or other protective devices before cleaning the robot!
•
Never use any cleaning agents, e.g. compressed air or solvents, other than those
specified above!
•
Never spray connectors and similar items with a high pressure cleaner!
Never!
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3 Maintenance
3.5.1. Cleaning, complete robot
98
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4 Repair
4.1. Introduction
4 Repair
4.1. Introduction
Structure of this chapter
This chapter details all repair activities recommended for the robot and any external units of
the robot.
It is made up of separate procedures, each detailing a specific repair activity. Each procedure
contains all information required to perform the activity, e.g. spare parts numbers, required
special tools and materials.
The procedures are gathered in sections, divided according to the component location on the
robot.
Required equipment
All equipment required to perform a specific repair activity is listed together with the current
procedure.
The equipment is also gathered in different lists in the Product manual, reference information.
Safety information
Before any service work is commenced, it is extremely important that all safety information
is observed!
There are general safety aspects that must be read through, as well as more specific safety
information that describe danger and safety risks when performing specific steps in a
procedure. Make sure to read through the chapter Safety on page 11 before commencing any
service work.
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99
4 Repair
4.2.1. Performing a leak-down test
4.2 General procedures
4.2.1. Performing a leak-down test
General
After refitting any motor and any gearbox, the integrity of all seals enclosing the gearbox oil
must be tested. This is done in a leak-down test.
Required equipment
Equipment, etc.
Art. no.
Leakdown tester
3HAC 0207-1
Leak detection spray
-
Note
Procedure
Step
100
Action
Note/Illustration
1.
Finish the refitting procedure of the motor or gear in
question.
2.
Remove the topmost oil plug on the gear in question, Art. no. is specified above!
and replace it with the leakdown tester.
Adapters may be required, which are included in the
leakdown tester kit.
3.
Apply compressed air, and raise the pressure with the Recommended value: 0.2 knob until the correct value is shown on the
0.25 bar (20 - 25 kPa)
manometer.
4.
Disconnect the compressed air supply.
5.
Wait for approx. 8-10 minutes. No pressure loss must If the compressed air is
be detected.
significantly colder or
warmer than the gearbox to
be tested, a slight pressure
increase or decrease
respectively may occur. This
is quite normal.
6.
Was any pressure drop evident?
Localize the leak as detailed below.
Remove the leakdown tester, and refit the oil plug.
The test is complete.
7.
Spray suspected leak areas with leak detection
spray.
Bubbles indicate a leak.
8.
When the leak has been localized: take the
necessary measures to correct the leak.
Art. no. is specified above!
3HAC 023637-001 Revision: -
4 Repair
4.2.2. Mounting instructions for bearings
4.2.2. Mounting instructions for bearings
General
This section details how to mount and grease different types of bearings on the manipulator.
Equipment
Equipment, etc.
Art. no.
Note
Grease
3HAB 3537-1
Used to grease the bearings, if not
specified otherwise.
Assembly of all bearings
Follow the instructions below when mounting a bearing on the manipulator.
1. To avoid contamination, let a new bearing remain in its wrapping until it is time for fitting.
2. Ensure that all parts included in the bearing fitting are free from burrs, grinding waste and
other contamination. Cast components must be free from foundry sand.
3. Bearing rings, inner rings and roller elements must under no circumstances be subjected
to direct impact. Furthermore, the roller elements must not be exposed to any stresses
during the assembly work.
Assembly of tapered bearings
Follow the previous instructions for assembly of all bearings, when mounting a tapered
bearing on the manipulator.
In addition to those instructions, the procedure below must be carried out to enable the roller
elements to adjust to the correct position against the race flange.
1. Tension the bearing gradually until the recommended pre-tension is achieved.
Note! The roller elements must be rotated a specified number of turns before pretensioning is carried out and also rotated during the pre-tensioning sequence.
2. Make sure the bearing is properly aligned, as this will directly affect the lifespan of the
bearing.
Greasing of bearings
The bearings must be greased after assembly, according to instructions below:
•
The bearings must not be completely filled with grease. However, if space is available
beside the bearing fitting, the bearing may be totally filled with grease when mounted,
as excessive grease will be pressed out from the bearing when the robot is started.
•
During operation, the bearing should be filled to 70-80% of the available volume.
•
Ensure that grease is handled and stored properly, to avoid contamination.
Grease the different types of bearings as detailed below:
•
Grooved ball bearings must be filled with grease from both sides.
•
Tapered roller bearings and axial needle bearings must be greased in the split
condition.
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101
4 Repair
4.2.3. Mounting instructions for seals
4.2.3. Mounting instructions for seals
General
This sections details how to mount different types of seals to the manipulator.
Equipment
Equipment, etc.
Art. no.
Note
Grease
3HAB 3537-1
Used to lubricate the seals.
Rotating seals
The procedure below details how to fit rotating seals.
CAUTION!
Please observe the following before commencing any assembly of seals:
•
Protect the sealing surfaces during transport and mounting.
•
Keep the seal in its original wrappings or protect it well before actual mounting.
•
The fitting of seals and gears must be carried out on clean workbenches.
•
Use a protective sleeve for the sealing lip during mounting, when sliding over threads,
keyways, etc.
Step
102
Action
Note
1.
Check the seal to ensure that:
• the seal is of the correct type (provided with cutting
edge).
• there is no damage to the sealing edge (feel with a
fingernail).
2.
Inspect the sealing surface before mounting. If scratches or
damage are found, the seal must be replaced, as it may
result in future leakage.
3.
Lubricate the seal with grease just before fitting. (Not too
Art. no. is specified in
early as there is a risk of dirt and foreign particles adhering Equipment on page
to the seal.)
102.
Fill the space between the dust tongue and sealing lip to 2/
3 with grease. The rubber coated external diameter must
also be greased, unless otherwise specified.
4.
Mount the seal correctly with a mounting tool.
Never hammer directly on the seal as this may result in
leakage.
3HAC 023637-001 Revision: -
4 Repair
4.2.3. Mounting instructions for seals
Flange seals and static seals
The procedure below details how to fit flange seals and static seals.
Step
Action
Note
1.
Check the flange surfaces. They must be even and free from pores.
It is easy to check flatness using a gauge on the fastened joint
(without sealing compund).
If the flange surfaces are defective, the parts may not be used
beacuse leakage could occur.
2.
Clean the surfaces properly and in accordance with ABB
ROBOTICS PRODUCTS recommendations.
3.
Distribute the sealing compound evenly over the surface, preferably
with a brush.
4.
Tighten the screws evenly when fastening the flange joint.
O-rings
The procedure below details how to fit o-rings.
Step
Action
Note
1.
Ensure that the correct o-ring size is used.
2.
Check the o-ring for surface defects, burrs, shape accuracy, etc. Defective o-rings
may not be used.
3.
Check the o-ring grooves.
Defective o-rings
The grooves must be geometrically correct and free from pores may not be used.
and contamination.
4.
Lubricate the o-ring with grease.
5.
Tighten the screws evenly when assembling.
3HAC 023637-001 Revision: -
103
4 Repair
4.3.1. Replacement of cable harness
4.3 Complete manipulator
4.3.1. Replacement of cable harness
Location of cable harness
The cable harness is run through the robot from the base to the upper arm housing.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
Required equipment
Equipment
Spare part no.
Note
Cable harness IRB 1600/1.45
3HAC 021827-001
No application interface.
Cable harness IRB 1600/1.2
3HAC 021827-008
No application interface.
Cable harness IRB 1600/1.45,
Customer connections
3HAC 021828-001
Cable harness IRB 1600/1.2,
Customer connections
3HAC 021828-002
Cable harness IRB 1600/1.45, Wire
feeder
3HAC 021830-001
Cable harness IRB 1600/1.2, Wire
feeder
3HAC 021830-002
Gasket, upper arm cover
3HAC 022049-001
Replace if damaged.
Gasket, customer connections
3HAC 022050-001
Replace if damaged.
Gasket, base cover
3HAC 022047-001
Replace if damaged.
Gasket, gearbox axis 1-2
3HAC 022048-001
Replace if damaged.
VK-cover
3HAA 2166-23
Upper and lower covers.
2 pcs
VK-cover
3HAA 2166-21
Middle cover.
Cable ties
104
Standard toolkit
The contents are defined in
section Standard toolkit in the
Product manual, reference
information.
Circuit diagram
See chapter Circuit diagram
in the Product manual,
reference information.
3HAC 023637-001 Revision: -
4 Repair
4.3.1. Replacement of cable harness
Illustration, covers to remove
The figure below shows all the covers that must be removed from the robot in order to get
access to the cable harness and all the brackets.
xx0400001248
A
Upper and lower VK-cover
B
Arm housing cover, with gaskets
C
VK-cover (also shown with the cover removed)
D
Cover, frame, with gasket
E
Base cover, with gasket
3HAC 023637-001 Revision: -
105
4 Repair
4.3.1. Replacement of cable harness
Removal, cable harness
The procedure below details how to remove the complete cable harness from the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove all the covers:
All the covers are shown in the
figure Illustration, covers to remove
• Remove the covers of the upper arm
on page 105.
housing, frame and base.
• Push out the upper and lower VK-cover
from the inside.
• Remove the middle VK-cover from the
lower arm.
Caution! Be careful not to damage the cabling
and cable bracket inside the lower arm when
removing the middle VK-cover!
The figure to the right shows the space
underneath the cover. The gray areas are safe
for insertion of a tool that may be inserted with
a maximum depth of 20 mm!
xx0400001247
3.
The cable bracket inside the lower arm is
attached to the cable harness. Move the
bracket to the new cabling.
4.
Disconnect all the connectors inside the upper Shown in the figure Illustration,
arm housing.
cabling inside upper arm housing
on page 107.
5.
Remove all cable ties, clamps and brackets
inside the upper arm housing.
6.
Disconnect all the connectors inside the frame. Shown in the figure Illustration,
cabling inside frame on page 109.
7.
Remove the fastening plate, all cable ties and
brackets from inside the frame. Remove the
cable clamp unit from the fastening plate.
Attachment points inside the frame
are shown in the figure Illustration,
cabling inside frame on page 109.
8.
Disconnect all the connectors at the base and
remove the SMB unit from the base.
Shown in the figure Illustration,
cabling inside base on page 110.
9.
Remove all cable ties and brackets at the base. Shown in the figure Illustration,
cabling inside base on page 110.
Attachment points inside the upper
arm housing are shown in the
figure Illustration, cabling inside
upper arm housing on page 107.
10. Pull out the cabling from the upper arm housing
and pull it down through the lower arm.
11. Continue pulling down the cable harness
through the frame and pull it out at the rear of
the base.
106
3HAC 023637-001 Revision: -
4 Repair
4.3.1. Replacement of cable harness
Illustration, cabling inside upper arm housing
The figure below shows how the cabling is run inside the upper arm housing.
xx0400001250
A
Signal cabling; connectors for motors on axes 3, 4, 5 and 6: R3.FB3, R3.FB4,
R3.FB5 and R3.FB6
B
Power cabling; connectors for motors on axes 3, 4, 5 and 6: R3.MP3, R3.MP4,
R3.MP5 and R3.MP6
C
Optional connector: R2.CP
D
Optional connector: R2.CS
E
Distance console with contact panel
F
Cable clamp unit
G
Attachment screws, cable clamp unit (2 pcs, only one shown)
H
Clamp, signal cabling
I
Clamp, motor cabling
J
Connector plate
K
Connector holder
L
Cable tie, connector holder
3HAC 023637-001 Revision: -
107
4 Repair
4.3.1. Replacement of cable harness
Refitting, cable harness in upper arm housing and lower arm
The procedure below details how to refit the cabling inside the upper arm housing.
The cable layout is shown in the figure Illustration, cabling inside upper arm housing on page
107.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Insert the cabling to axes 3, 4, 5 and 6 up through
the lower arm and into the upper arm housing.
3.
Place the cable bracket correctly inside the lower Spare part no. is specified in
arm and secure it by refitting the VK-cover.
Required equipment on page
104.
xx0400001247
Cable bracket is attached to the
cabling with 2 screws, M6x8.
108
4.
Fasten the cabling inside the upper arm housing Shown in the figure Illustration,
by fitting the cable clamp unit to the distance
cabling inside upper arm housing
console with two attachment screws.
on page 107.
5.
Fit the motor and signal cabling to the connector Hexagon nut: M5. 1 pc for each
plate with clamps.
clamp.
6.
Reconnect the signal cable connectors and slide Shown in the figure Illustration,
them into the connector holder.
cabling inside upper arm housing
Notice that one of the cable ties in the connector on page 107.
holder plate must be removed in order to insert
the cables into the holder. Refit it when the
connectors are inserted.
7.
Reconnect the motor cable connectors.
8.
Reconnect optional connectors, if any, at the
contact panel.
9.
Place the cabling correctly inside the housing
and secure it with cable ties.
The cable layout is shown in the
figure Illustration, cabling inside
upper arm housing on page 107.
3HAC 023637-001 Revision: -
4 Repair
4.3.1. Replacement of cable harness
Step
Action
Note
10. Refit the arm housing cover with eight attachment 8 pcs, M6.
screws. Check the two gaskets and replace, if
Shown in the figure Illustration,
damaged.
covers to remove on page 105.
Spare part no. is specified in
Required equipment on page
104.
11. Fit new VK-covers to the lower arm.
Spare part no. is specified in
Required equipment on page
104.
12. Continue refitting the cable harness according to
procedure Refitting, cable harness in frame and
base on page 111.
Illustration, cabling inside frame
The figure below shows how the cabling is run inside the frame.
xx0400001249
A
Power cabling; connectors for motors on axes 1 and 2: R3.MP1 and R3.MP2
B
Signal cabling; connectors for motors on axes 1 and 2: R3.FB1 and R3.FB2
C
Cable clamp unit (attachment screws behind the fastening plate)
D
Fastening plate
E
Attachment screws and nuts
3HAC 023637-001 Revision: -
109
4 Repair
4.3.1. Replacement of cable harness
Illustration, cabling inside base
The figure below shows how the cabling is run inside the base. Optional cabling is also shown
in the figure, but not further specified.
xx0500001388
110
A
Power cabling
B
Signal cabling
C
Clamp with hexagon nut
D
Attachment screws, cable clamp unit
E
Hexagon nut, SMB plate
F
Fastening plate
G
SMB unit
H
Cable clamp unit
3HAC 023637-001 Revision: -
4 Repair
4.3.1. Replacement of cable harness
Refitting, cable harness in frame and base
The procedure below details how to refit the cabling inside the frame and the base.
The cable layout is shown in the figures Illustration, cabling inside frame on page 109 and
Illustration, cabling inside base on page 110.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Run the cables from the lower arm into the
frame.
3.
Fit the cable clamp unit to the fastening plate
with two attachment screws, but do not secure
the plate to the frame yet.
4.
Run the cabling down to the base. Pull it out at
the rear of the base.
5.
Connect all the connectors inside the frame and Shown in the figure Illustration,
secure all plates and cable brackets inside the cabling inside frame on page 109.
frame with attachment screws and nuts.
6.
In the base, secure the cabling to the bottom
fastening plate:
• fit the cable clamp unit with two
attachment screws (M6).
• fit the separate cables with clamps and
hexagon nuts.
Shown in the figure Illustration,
cabling inside base on page 110.
7.
Refit the SMB unit to the fastening plate with
hexagon nuts.
Shown in the figure Illustration,
cabling inside base on page 110.
8.
Connect the:
• signal cable connectors to the SMB
board
• power cable connector to the housing in
the base
• optional cabling, if any
• ground cable.
Shown in the figure Illustration,
cabling inside base on page 110.
9.
Refit the covers to the frame and to the base.
Replace the gaskets, if damaged.
Shown in the figure Illustration,
covers to remove on page 105.
Spare part no. is specified in
Required equipment on page
104.
10. Recalibrate the robot!
3HAC 023637-001 Revision: -
Shown in the figure Illustration,
cabling inside frame on page 109.
Calibration is detailed in a
separate calibration manual.
Art. no. for the manual is specified
in section Document references
in the Product manual, reference
information.
111
4 Repair
4.4.1. Replacement of complete upper arm
4.4 Upper and lower arm
4.4.1. Replacement of complete upper arm
General
The complete upper arm is considered a spare part, including wrist, gearboxes and motors.
Location of upper arm
The figure below shows the location of the upper arm on the robot and some of the upper arm
components.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001218
112
A
Arm housing cover, including gaskets for the cover and the contact panel
B
VK cover. Upper arm attachment screws inside
3HAC 023637-001 Revision: -
4 Repair
4.4.1. Replacement of complete upper arm
Required equipment
Equipment
Spare part no.
Art. no.
Note
Upper arm, spare
3HAC 023630-001
VK-cover
3HAA 2166-23
Sealing ring (V-ring)
3HAB 3732-19
Replace if damaged.
Gasket, upper arm cover
3HAC 022049-001
Replace if damaged.
Gasket, customer
connections
3HAC 022050-001
Replace if damaged.
Includes the wrist unit. All
gearboxes are filled with
oil at delivery.
Grease
3HAB 3537-1 To lubricate the sealing
ring (V-ring).
Locking liquid
-
Lifting slings
-
Loctite 574
Standard toolkit
The contents are defined
in section Standard toolkit
in the Product manual,
reference information.
Other tools and procedures
may be required. See
references to these
procedures in the step-bystep instructions below.
These procedures include
references to the tools
required.
3HAC 023637-001 Revision: -
113
4 Repair
4.4.1. Replacement of complete upper arm
Removal, complete upper arm
The procedure below details how to remove the complete upper arm from the robot.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Move the upper arm to a horizontal position.
3.
Remove the arm housing cover from the upper Shown in the figure Location of
arm.
upper arm on page 112.
4.
Disconnect all connectors inside the arm
housing and loosen the cabling from straps
and brackets.
The cabling and all connectors
inside the upper arm housing are
shown in the figure Illustration,
cabling inside upper arm housing
on page 107.
5.
Remove the VK-cover from the lower arm by
pushing it out from the inside.
Pull out the cabling from the arm housing.
Shown in the figure Location of
upper arm on page 112.
6.
Secure the weight of the arm with lifting slings.
7.
-
Caution!
The complete upper arm weighs 34 kg without
any additinal equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
8.
Remove the 10 attachment screws (A) and the
one washer (B).
9.
Remove the upper arm, lift it away and place it
securely.
xx0400001219
114
3HAC 023637-001 Revision: -
4 Repair
4.4.1. Replacement of complete upper arm
Refitting, complete upper arm
The procedure below details how to refit the complete upper arm to the robot.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Wipe the contact surfaces clean on both the
upper and lower arm.
3.
-
Caution!
The complete upper arm weighs 34 kg without
any additinal equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
4.
Attach lifting slings to the upper arm and lift it.
5.
Lubricate the sealing ring (A) with grease and
fit it to the upper arm.
Replace the sealing ring, if damaged.
xx0400001220
•
•
A: Sealing ring, spare part
no. is specified in Required
equipment on page 113.
B: Contact surface.
6.
Lubricate the the contact surface, upper arm,
with Loctite 574.
7.
Lift the upper arm to mounting position, fit the 10 pcs: M10 x 40.
washer (B) and secure the upper arm with the Tightening torque: 70 Nm.
10 attachment screws (A).
xx0400001219
3HAC 023637-001 Revision: -
115
4 Repair
4.4.1. Replacement of complete upper arm
Step
Action
Note/Illustration
8.
Run the cabling through the lower arm and
into the arm housing.
9.
Connect all the connectors in the arm housing Refitting of the cabling in the upper
and secure the cabling with brackets and
arm house is further detailed in
straps.
section Refitting, cable harness in
upper arm housing and lower arm
on page 108.
10. Refit the arm housing cover to the upper arm. Shown in the figure Location of
upper arm on page 112.
Check the two gaskets in the cover and
replace them, if damaged.
Spare part no. is specified in section
Required equipment on page 113.
11. Refit a new VK-cover to the lower arm.
Shown in the figure Location of
upper arm on page 112.
Spare part no. is specified in section
Required equipment on page 113.
12. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
116
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
4 Repair
4.4.2. Replacement of complete lower arm
4.4.2. Replacement of complete lower arm
Location of lower arm
The lower arm is located on the robot as shown in the figure below.
xx0400001246
A
Lower arm
B
VK-cover
C
VK-cover, middle
Required equipment
Equipment
Spare part no.
Note
Lower arm, spare
3HAC 023558-001
IRB 1600 - 7/.12
IRB 1600 - 7/1.45
Lower arm, short, spare
3HAC 023559-001
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
VK-cover
3HAA 2166-23
VK-cover
3HAA 2166-21
3HAC 023637-001 Revision: -
In the middle of the lower arm.
117
4 Repair
4.4.2. Replacement of complete lower arm
Equipment
Spare part no.
Note
Sealing ring (V-ring)
3HAB 3732-13
Replace if damaged.
Isopropanol
Used to clean the mating surfaces.
Locking liquid
Loctite 574
Standard toolkit
The contents are defined in section
Standard toolkit in the Product
manual, reference information!
Other tools and procedures
may be required. See
references to these
procedures in the step-bystep instructions below.
These procedures include references
to the tools required.
Removal, lower arm
The procedure below details how to remove the complete lower arm.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove the complete upper arm.
Detailed in section Removal,
complete upper arm on page 114.
3.
Remove the VK-covers.
Caution! Be careful not to damage the
cabling and cable bracket inside the lower
arm when removing the middle VK-cover!
The figure to the right shows the space
underneath the cover. The gray areas are
safe for insertion of a tool that may be
inserted with a maximum depth of 20 mm!
Shown in the figure Location of lower
arm on page 117.
4.
Pull down the cabling through the lower arm
and pull it out.
xx0400001247
5.
-
Caution!
The lower arm weighs 20 kg! Use a suitable
lifting devie to avoid injury to personnel!
6.
118
Fit the lifting device to the lower arm to
secure the weight of the arm.
3HAC 023637-001 Revision: -
4 Repair
4.4.2. Replacement of complete lower arm
Step
Action
7.
Unscrew the 12 attachment screws and
remove the one washer.
8.
Gently pull out the cabling while lifting away
the lower arm. Be careful with the
connectors, they are sensitive to damage!
9.
Check the sealing ring. Replace it if
damaged.
Note
Spare part no. is specified in Required
equipment on page 117.
Refitting, lower arm
The procedure below details how to refit the complete lower arm.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Clean the mating surfaces on both the lower
arm and on the frame with isopropanol. Also
clean the area where the sealing ring is fitted.
3.
Fit the sealing ring properly to the frame.
Replace it if damaged.
Spare part no. is specified in
Required equipment on page 117.
xx0400001245
•
•
4.
A: Sealing ring
B: Mating surface
Lubricate the mating surface on the frame with
Loctite 574.
5.
-
Caution!
The lower arm weighs 20 kg! Use a suitable
lifting devie to avoid injury to personnel!
3HAC 023637-001 Revision: -
119
4 Repair
4.4.2. Replacement of complete lower arm
Step
Action
Note/Illustration
6.
Fit the lifting device to the lower arm and lift it
into position.
7.
Insert the cabling into the lower arm.
8.
Fit the lower arm against the frame, fit the one 12 pcs; M10 x 40, tightening torque:
washer and secure with the 12 attachment
70 Nm.
screws.
9.
Push the cabling up through the lower arm and
place the cable bracket inside the lower arm
correctly.
10. Fit new VK-covers to the lower arm.
Spare part no. is specified in
Required equipment on page 117.
Make sure that the cable bracket inside the
lower arm is secured beneath the middle VKcover.
11. Refit the upper arm.
Detailed in section Refitting,
complete upper arm on page 115.
12. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
120
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
4 Repair
4.4.3. Replacement of wrist unit
4.4.3. Replacement of wrist unit
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0200000438
A
Attachment screws, wrist unit (3 pcs)
B
Oil plug (only one shown)
C
Wrist unit
Required equipment
Equipment, etc.
Spare part no. Art. no.
Note
Wrist, Standard/
Foundry
3HAC 10475-1
Standard and Foundry versions.
O-ring sealing plate not included!
O-ring sealingplate
3HAC 7191-1
Must be replaced.
Grease
3HAC 3537-1 For lubricating the o-ring sealing
plate.
Standard toolkit
The contents are defined in
section Standard toolkit in the
Product manual, reference
information.
Other tools and
procedures may be
required. See
references to these
procedures in the stepby-step instructions
below.
These procedures include
references to the tools required.
3HAC 023637-001 Revision: -
121
4 Repair
4.4.3. Replacement of wrist unit
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Drain the oil from the wrist unit.
Detailed in section Oil change,
gearbox axes 5 and 6 on page 92.
3.
Remove the wrist unit by unscrewing its
three attachment screws.
Shown in the figure in section
Location of wrist unit on page 121.
Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
122
2.
Run the robot to a position where the
upper arm is vertical and points upward.
3.
Lightly lubricate the o-ring sealing plate
with grease.
4.
In order to release the brake, connect the Connect to connector R3.MP5 or 6:
24 VDC power supply to motors:
• +: pin 7
• -: pin 8
5.
Fit the o-ring sealing plate to the upper
arm. Fit the wrist unit to the upper arm
with the three attachment screws, while
making sure that the gears mate properly.
Use a new o-ring! Spare part no. is
specified in Required equipment on page
121.
3 pcs, M8 x 25, tightening torque: 28 Nm.
6.
Perform a leak-down test.
Detailed in section Leak-down test.
7.
Refill the wrist unit with oil.
Detailed in section Oil change, gearbox
axes 5 and 6 on page 92.
8.
Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference information.
Art. no. is specified in section Required
equipment on page 121.
3HAC 023637-001 Revision: -
4 Repair
4.4.3. Replacement of wrist unit
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
123
4 Repair
4.4.4. Replacement of damper, axis 2
4.4.4. Replacement of damper, axis 2
Location of damper, axis 2
The damper, axis 2, is located as shown in the figure below!
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001217
A
Damper, axis 2
B
Attachment screw and washer
Required equipment
124
Equipment, etc.
Spare part no.
Damper, axis 2
3HAC 022013-001
Note
Standard toolkit
The contents are defined in section
Standard toolkit in the Product
manual, reference information.
Other tools and procedures may
be required. See references to
these procedures in the step-bystep instructions below.
These procedures include
references to the tools required.
3HAC 023637-001 Revision: -
4 Repair
4.4.4. Replacement of damper, axis 2
Removal, damper axis 2
The procedure below details how to remove the damper, axis 2.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Run the robot to a position that enables you to access the
attachment screw of damper, axis 2.
3.
Remove the damper by unscrewing the single attachment
screw and washer.
Refitting, damper axis 2
The procedure below details how to refit the damper, axis 2.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Run the robot to a position that enables access to the
attachment screw of the damper, axis 2.
3.
Secure the damper with the attachment screw and
washer.
1 pc: M6 x 16.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
125
4 Repair
4.4.5. Replacement of damper, axis 3
4.4.5. Replacement of damper, axis 3
Location of damper, axis 3
The damper, axis 3, is shown in the figure below!
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001215
A
Damper, axis 3
B
Cast tab
Required equipment
Equipment, etc.
Spare part no.
Damper, axis 3
3HAC 022260-001
Standard toolkit
126
Note
The contents are defined in section
Standard toolkit in the Product manual,
reference information.
3HAC 023637-001 Revision: -
4 Repair
4.4.5. Replacement of damper, axis 3
Removal, damper axis 3
The procedure below details how to remove the damper, axis 3.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Run the robot to a position that enables access to Shown in the figure Location of
damper, axis 3.
damper, axis 3 on page 126.
3.
Remove the damper by gently prying it from the
cast tab.
Refitting, damper axis 3
The procedure below details how to refit the damper, axis 3.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Run the robot to a position that enables access to the Shown in the figure Location
location where the damper, axis 3, is fitted.
of damper, axis 3 on page
126.
3.
Refit the damper by gently pressing it onto the cast
tab on the upper arm.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
127
4 Repair
4.4.6. Replacement of damper, axis 5
4.4.6. Replacement of damper, axis 5
Location of damper, axis 5
The damper, axis 5, is located as shown in the figure below!
xx0200000429
A
Damper, axis 5
B
Recess
Required equipment
Equipment, etc.
Spare part no.
Damper, axis 5
3HAB 8964-1
Standard toolkit
Note
The contents are defined in section
Standard toolkit in the Product manual,
reference information.
Removal, damper axis 5
The procedure below details how to remove the damper, axis 5.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
128
2.
Run the robot to a position that enables the end of the Shown in the figure in
damper to be pushed into the recess in the wrist unit. section Location of damper,
axis 5 on page 128.
3.
Unhook the end of the damper, and push it into the
recess.
4.
Manually move the wrist (robot axis 5) away from the
damper to pull it out.
3HAC 023637-001 Revision: -
4 Repair
4.4.6. Replacement of damper, axis 5
Refitting, damper axis 5
The procedure below details how to refit the damper, axis 5.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Push the end of the damper into the gap between the Make sure the damper is
wrist unit and upper arm.
turned the correct way!
3.
Manually move the wrist (robot axis 5) in order to pull
the damper into position.
4.
Fold out the damper hooks to secure it in position.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance),
it is vital that:
•
- all the service tools and other foreign objects are removed from the manipulator!
•
- all normal safety equipment is installed properly, e.g. TPU enabling device.
•
- all personnel is standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
- special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
129
4 Repair
4.5.1. Replacement of base
4.5 Frame and base
4.5.1. Replacement of base
Location of base
The base is located at the bottom of the robot as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0500001453
A
Base
B
Attachment screws and washer, base-gearbox unit (VK-cover removed)
Required equipment
Equipment
Spare part no.
Base, spare
3HAC 023552-001
Standard and Foundry
versions.
V-ring (sealing ring)
3HAB 3732-21
Replace if damaged.
VK-cover
3HAA 2166-26
Lifting slings
130
Art. no.
Note
-
3HAC 023637-001 Revision: -
4 Repair
4.5.1. Replacement of base
Equipment
Spare part no.
Art. no.
Note
Locking liquid
Grease
Loctite 574
For sealing the base to the
gearbox 1-2.
3HAB 3537-1
Isopropanol
Standard toolkit
For lubricating the V-ring.
For cleaning the mating
surfaces.
-
The contents are defined
in section Standard toolkit
in the Product manual,
reference information.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
These procedures include
references to the tools
required.
Removal, base
The procedure below details how to remove the base from the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove the cabling inside the base and pull The cable layout in the base is shown
it up to the gearbox unit.
in the figure .
3.
Remove the serial measurement unit.
4.
Unfasten the base from the installation site
by removing the attachment bolts from the
foundation.
Detailed in section Removal, serial
measurement unit on page 135.
5.
-
Caution!
The robot weighs 250 kg! All lifting
equipment must be sized accordingly!
6.
3HAC 023637-001 Revision: -
Fit the lifting slings to the robot, lift it and
place it with the side of the lower arm
downwards on a work bench.
Be careful not to damage the motor
connectors!
Art. no. is specified in Required
equipment on page 130.
131
4 Repair
4.5.1. Replacement of base
Step
7.
Action
Note
Remove the VK-cover from the base.
Tip! Push out the cover from inside or drill a
hole in the cover through which a tool can be
inserted in order to bend out the cover.
8.
-
Caution!
The base weighs 81 kg! All lifting equipment
used must be sized accordingly!
9.
Secure the weight of the base and remove
the gearbox/base attachment screws and
washer.
Shown in the figure Location of base
on page 130.
10. Separate the base from the gearbox unit.
Refitting, base
The procedure below details how to refit the base to the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Place the robot with the side of the lower
arm downwards on a workbench.
Be careful not to damage the motor
connectors.
3.
Clean the mating surfaces between the
base and the gearbox unit with isopropanol.
4.
Check the V-ring on the gearbox unit.
Spare part no. is specified in Required
Lubricate with grease if needed. Replace it if equipment on page 130.
damaged!
5.
Lubricate the mating surface on the base
with Loctite 574.
6.
-
Caution!
The base weighs 81 kg! All lifting equipment
used must be sized accordingly!
7.
132
Lift the base to mounting position.
3HAC 023637-001 Revision: -
4 Repair
4.5.1. Replacement of base
Step
Action
Note
8.
Secure the base to the gearbox unit with the Shown in the figure Location of base
gearbox/base attachment screws and
on page 130.
washer.
16 pcs, M10 x 40, tightening torque:
70 Nm.
9.
Refit a new VK-cover to the base.
Spare part no. is specified in Required
equipment on page 130.
10.
-
Caution!
The robot weighs 250 kg! All lifting
equipment must be sized accordingly!
11. Turn the robot to stand upright.
12. Secure the base to the foundation.
Attachment bolts and tightening
torque are specified in section
Attachment bolts, specification on
page 51.
13. Pull down the cabling and refit it inside the
base.
The cable layout inside the base is
shown in the figure .
14. Refit the serial measurement unit.
Detailed in section Refitting, serial
measurement unit on page 136.
15. Recalibrate the robot.
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
133
4 Repair
4.5.2. Replacement of serial measurement unit
4.5.2. Replacement of serial measurement unit
Location of serial measurement unit
The serial measurement unit is located inside the base of the robot, as shown in the figure
below.
xx0500001390
A
Base cover, including gasket. Serial measurement unit is located beneath the
cover.
Serial measurement unit layout
The complete spare part of the serial measurement unit is shown in the figure below.
xx0500001391
134
A
Connector SMB
B
Connector SMB1-4
C
Connector SMB 3-6
D
Hexagon nuts (totally 4 pcs)
E
Battery pack
3HAC 023637-001 Revision: -
4 Repair
4.5.2. Replacement of serial measurement unit
Required equipment
Equipment
Spare part no.
Serial measurement unit
3HAC 023424-001
Gasket, base cover
3HAC 022047-001
Note
Standard toolkit
Circuit diagram
See chapter Circuit diagram in the
Product manual, reference information.
Removal, serial measurement unit
The procedure below details how to remove the serial measurement unit from the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove the base cover from the robot.
Shown in the figure Location of serial
measurement unit on page 134.
3.
Disconnect all the connectors from the
serial measurement unit.
4.
Unscrew the four hexagon nuts on the
Shown in the figure Serial measurement
serial measurement unit enough to enable unit layout on page 134.
lifting the unit.
Do not remove the nuts.
5.
Lift and pull the serial measurement unit
backwards, over the lip (A), and lift it away.
xx0500001455
3HAC 023637-001 Revision: -
135
4 Repair
4.5.2. Replacement of serial measurement unit
Refitting, serial measurement unit
The procedure below details how to refit the serial measurement unit to the robot.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Fit the serial measurement unit on to the
four pins (A).
xx0500001392
136
3.
Slide the unit into position, within the lips,
and secure with the four hexagon nuts.
4.
Reconnect all the connectors to the unit.
Shown in the figure Serial
measurement unit layout on page 134.
5.
Check the gasket of the base cover.
Replace it if damage.
Spare part no. is specified in Required
equipment on page 135.
6.
Refit the base cover.
Shown in the figure Location of serial
measurement unit on page 134.
7.
Update the revolution counters!
Detailed in section Updating revolution
counters on page 176.
3HAC 023637-001 Revision: -
4 Repair
4.5.3. Replacement of push button unit
4.5.3. Replacement of push button unit
Location of push button unit
The push button unit for brake release is located inside the base of the robot, as shown in the
figure below.
xx0500001390
A
Base cover, including gasket. Push button unit is located beneath the cover.
Push button unit on serial measurement unit
The push button unit is attached to the serial measurement unit as shown in the figure below.
xx0500001394
A
Push button unit
B
Hexagon nuts (2 pcs)
C
Hexagon nuts, SMB unit (4 pcs)
3HAC 023637-001 Revision: -
137
4 Repair
4.5.3. Replacement of push button unit
Required equipment
Equipment
Spare part no.
Note
Push button unit
3HAC 020967-001
Includes brake release board and push
buttons.
Gasket, base cover
3HAC 022047-001
Standard toolkit
The contents are defined in section
Standard toolkit in the Product manual,
reference information.
Removal, push button unit
The procedure below details how to remove the push button unit from the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
138
2.
Remove the base cover from the robot.
Shown in the figure Location of push
button unit on page 137.
3.
Disconnect all the connectors from the
brake release board.
4.
Unscrew the four hexagon nuts on the
SMB unit and move the SMB unit
backwards. The nuts do not need to be
removed.
Shown in the figure Push button unit on
serial measurement unit on page 137.
5.
Remove the two hexagon nuts from the
push button unit.
Shown in the figure Push button unit on
serial measurement unit on page 137.
6.
Remove the push button unit by lifting it up.
3HAC 023637-001 Revision: -
4 Repair
4.5.3. Replacement of push button unit
Refitting, push button unit
The procedure below details how to refit the push button unit to the robot.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Fit the new push button unit to the serial
measurement unit in the robot base.
Spare part no. is specified in Required
equipment on page 138.
Shown in the figure Push button unit on
serial measurement unit on page 137.
3.
Secure the unit with two hexagon nuts.
Shown in the figure Push button unit on
serial measurement unit on page 137.
4.
Push in and secure the SMB unit with the
four hexagon nuts.
Shown in the figure Push button unit on
serial measurement unit on page 137.
5.
Reconnect all the connectors to the board.
6.
Check the gasket of the base cover.
Replace it if damaged.
Spare part no. is specified in Required
equipment on page 138.
7.
Refit the base cover.
Shown in the figure Location of push
button unit on page 137.
3HAC 023637-001 Revision: -
139
4 Repair
4.6.1. Replacement of motor, axis 1
4.6 Motors
4.6.1. Replacement of motor, axis 1
Location of motor
The axis 1 motor is located on the frame, as shown in the figure below.
xx0400001256
A
Motor, axis 1
B
Connector plate for motor cabling
C
Cover, frame
D
Attachment screws, motor (4 pcs)
E
Motor cover
Required equipment
Equipment
Spare part no.
Art. no.
Note
Rot. ac motor incl. pinion, 3HAC 023557-001
spare
O-ring
21522012-428
Gasket, gearbox axis 1-2 3HAC 022048-001
140
O-ring, motor.
Replace if damaged.
Replace if damaged.
3HAC 023637-001 Revision: -
4 Repair
4.6.1. Replacement of motor, axis 1
Equipment
Spare part no.
Art. no.
Note
Power supply
-
24 VDC, max 1.5 A
For releasing the
brakes.
Isopropanol
-
Used to clean mating
surfaces.
Grease
3HAB 3537-1
Rotation tool, motor
3HAC 022266-003
Standard toolkit
Circuit diagram
The contents are
defined in section
Standard toolkit in the
Product manual,
reference information.
-
See chapter Circuit
diagram in the Product
manual, reference
information.
Removal, motor axis 1
The procedure below details how to remove the motor, axis 1.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Remove the cover, frame.
3.
Disconnect the connectors for the motor, axis 1.
4.
Loosen the connector plate from the frame and pull
out the motor cabling.
5.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
6.
Unscrew the four attachment screws from the motor. Shown in the figure Location
of motor on page 140.
7.
Remove the motor by gently lifting it straight up,
making sure the motor pinion is not damaged against
the gear.
8.
Disconnect the brake release voltage from the motor
connector.
3HAC 023637-001 Revision: -
Shown in the figure Location
of motor on page 140.
Connect to connector
R3.MP1:
• +: pin 7
• -: pin 8
141
4 Repair
4.6.1. Replacement of motor, axis 1
Refitting, motor axis 1
The procedure below details how to refit the motor, axis 1.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Clean the mating surface on the frame.
3.
Make sure the o-ring on the circumference of
the motor is seated properly. Lubricate the oring with grease.
4.
Remove the motor cover from top of the motor. Shown in the figure Location of
motor on page 140.
5.
In order to release the brakes, connect the 24
VDC power supply to the motor.
6.
Fit the rotation tool to the end of the motor shaft. Art. no. is specified in Required
equipment on page 140.
7.
Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox, axis 1.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear.
8.
Secure the motor with four attachment screws
and washers, but do not tighten yet.
9.
Adjust the motor in relation to the gear in the
There should be a barely noticable
gearbox:
gear play.
• use the rotation tool to wiggle the motor
shaft back and forth to feel the play. Tap
with a plastic mallet.
• position the motor pinion at at least two
other positions by turning axis 1
manually and check the gear play again.
10. Tighten the motor attachment screws.
Art. no. is specified in Required
equipment on page 140.
Connect to connector R3.MP1:
• +: pin 7
• -: pin 8
4 pcs, M8 x 25.
Tightening torque: 35 Nm.
11. Disconnect the brake release voltage.
12. Refit the motor cover to top of the motor.
Shown in the figure Location of
motor on page 140.
13. Insert the motor cabling through the frame and 4 pcs.
secure the connector plate with attachment
screws.
142
14. Connect all the connectors inside the frame.
The cable layout is shown in the
figure Illustration, cabling inside
frame on page 109.
15. Refit the cover, frame. Replace the gasket, if
damaged.
Spare part no. is specified in
Required equipment on page 140.
3HAC 023637-001 Revision: -
4 Repair
4.6.1. Replacement of motor, axis 1
Step
Action
16. Recalibrate the robot!
Note
Calibration is detailed in a
separate calibration manual.
Art. no. for the manual is specified
in section Document references in
the Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
143
4 Repair
4.6.2. Replacement of motor, axis 2
4.6.2. Replacement of motor, axis 2
Location of motor axis 2
The motor axis 2 is located on the front of the robot as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001257
A
Motor, axis 2
B
Cover, frame
C
Connector plate for motor cabling
D
Bracket and cable tie
E
Motor cover
Required equipment
Equipment, etc. Spare part no.
Note
Rot. ac motor incl.
pinion, spare
3HAC 023557-001
O-ring
21522012-428
Must be replaced when
replacing motor.
Gasket, gearbox
axis 1-2
3HAC 022048-001
Replace if damaged.
Grease
3HAB 3537-1
For lubricating the o-ring.
Isopropanol
-
For cleaning mating surfaces.
Standard toolkit
144
Art. no.
The contents are defined in
section Standard toolkit in the
Product manual, reference
information.
3HAC 023637-001 Revision: -
4 Repair
4.6.2. Replacement of motor, axis 2
Equipment, etc. Spare part no.
Art. no.
Note
Rotation tool,
motor
3HAC 022266003
For adjusting the gear play,
motor/pinion
Power supply
-
24 VDC, 1.5 A.
For releasing the brakes.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
These procedures include
references to the tools
required.
-
See chapter Circuit diagram in
the Product manual, reference
information.
Removal, motor axis 2
The procedure below details how to remove the axis 2 motor.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Remove the cover, frame.
Shown in the figure Location
of motor axis 2 on page 144.
3.
Disconnect the motor connectors inside the frame.
Connectors:
• R3.MP2
• R3.FB2
4.
Cut any cable ties and remove any brackets or
clamps securing the cables.
5.
Remove the connector plate by removing its
attachment screws, and pull the cables out from the
frame.
Shown in the figure Location
of motor axis 2 on page 144.
6.
-
Danger!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor, the
lower arm will be movable and may fall down!
3HAC 023637-001 Revision: -
145
4 Repair
4.6.2. Replacement of motor, axis 2
Step
7.
Action
Note
In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector
R3.MP2
• +: pin 7
• -: pin 8
8.
-
Warning!
Oil will be running out of the motor attachment hole
when removing the motor! It may also be hot! Take
any necessary measures to collect the oil.
9.
Remove the motor by unscrewing its four attachment Shown in the figure Location
screws and plain washers.
of motor axis 2 on page 144.
10. Remove the motor by gently pulling it out, making
sure the motor pinion does not get damaged while
moving it away from the gear.
11. Disconnect the brake release voltage.
12. Remove any remaining oil from the gearbox by
siphoning it off.
Refitting, motor axis 2
The procedure below details how to refit the axis 2 motor.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
146
2.
Make sure the mating surfaces on the motor
and the gearbox are clean and free from burrs.
If necessary, clean the surfaces with
isopropanol.
3.
Make sure the o-ring on the circumference of Art. no. is specified in section
the motor is seated properly.
Required equipment on page 144.
Lightly lubricate the o-ring withgrease.
4.
In order to release the brakes, connect the 24 Connect to connector R3.MP2:
VDC power supply to the motor.
• +: pin 7
• -: pin 8
5.
Remove the motor cover from top of the motor. Shown in the figure Location of
motor axis 2 on page 144.
6.
Fit the rotation tool to the end of the motor
shaft.
Art. no. is specified in section
Required equipment on page 144.
3HAC 023637-001 Revision: -
4 Repair
4.6.2. Replacement of motor, axis 2
Step
Action
Note
7.
Fit the motor, making sure the motor pinion is
properly mated to gearbox 2.
Use the rotation tool to rotate the motor pinion,
when mating it to the gear.
Make sure the motor is turned the
right way, i.e. connections upwards.
Make sure the motor pinion does
not get damaged!
8.
Secure the motor with four attachment screws 4 pcs, M8 x 25.
and plain washers, but do not tighten yet.
Tightening torque: approx 2 Nm.
9.
Adjust the motor in relation to the gear in the There should be a barely noticable
gearbox.
gear play.
Use the rotation tool to wiggle the motor shaft
back and forth to feel the play. Tap with a
plastic mallet.
10. Refit the motor cover to the top of the motor.
Be careful not to damage the cables!
11. Tighten the motor attachment screws.
Tightening torque: 35 Nm.
12. Disconnect the brake release voltage.
13. Refit the connector plate with its attachment
screws.
Shown in the figure Location of
motor axis 2 on page 144.
14. Reconnect the motor connectors inside the
frame.
Cable layout is shown in the figure
Illustration, cabling inside frame on
page 109.
15. Refit all cable ties, and the bracket underneath Shown in the figure Location of
the frame.
motor axis 2 on page 144.
16. Refit the cover, frame. Replace the gasket, if
damaged.
Shown in the figure Location of
motor axis 2 on page 144.
Art. no. for the gasket is specified in
section Required equipment on
page 144.
17. Perform a leak-down test.
Detailed in section Performing a
leak-down test on page 100.
18. Refill the gearbox with oil.
Type of oil and amount is specified
in section Oil in gearboxes on page
91.
19. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified
in section Document references in
the Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
147
4 Repair
4.6.3. Replacement of motor, axis 3
4.6.3. Replacement of motor, axis 3
Location of motor
The motor of axis 3 is located inside the upper arm housing, as shown in the figure below.
xx0400001258
A
Motor, axis 3
B
Attachment screws and washers of the motor (4 pcs)
C
Signal connector R3.FB3
D
Power connector R3.MP3
E
Connector holder
F
Upper arm housing cover
G
Cable tie
Required equipment
148
Equipment
Spare part no.
Art. no.
Note
Rot. ac motor incl
pinion
3HAC 021798-001
O-ring
21522012-426
Replace if damaged.
Gasket, upper arm
cover
3HAC 022049-001
Replace if damaged.
Gasket, customer
connections
3HAC 022050-001
Replace if damaged.
3HAC 023637-001 Revision: -
4 Repair
4.6.3. Replacement of motor, axis 3
Equipment
Spare part no.
Art. no.
Note
Isopropanol
-
Used for cleaning the
mating surfaces.
Grease
3HAB 3537-1
Used for lubricating the oring.
Rotation tool, motor
3HAC 022266-003 For adjusting the gear
play.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
These procedures include
references to the tools
required.
Circuit diagram
See chapter Circuit
diagram in the Product
manual, reference
information.
Removal, motor axis 3
The procedure below details how to remove the axis 3 motor.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Remove any additional mechanical stops from axis 3.
3.
Move:
• axis 2 to calibration position
• upper arm backwards against the mechanical
stop.
This position enables removal of the motor without
draining of the gearbox, axis 3.
xx0500001447
4.
3HAC 023637-001 Revision: -
Remove the upper arm house cover.
Shown in the figure Location
of motor on page 148.
149
4 Repair
4.6.3. Replacement of motor, axis 3
Step
5.
Action
Note
Disconnect the motor connectors R3.MP3 and
R3.FB3.
Shown in the figure Location
of motor on page 148.
6.
-
Danger!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
7.
In order to release the brakes, connect the 24 VDC
power supply to the motor.
8.
Remove the motor, axis 3, by unscrewing its
attachment screws and washers.
Lift the motor gently straight out, making sure the
motor pinion is not damaged.
9.
Disconnect the brake release voltage.
Connect to connector
R3.MP3:
• +: pin 7
• -: pin 8
Refitting, motor axis 3
The procedure below details how to refit the axis 3 motor.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
150
2.
Clean the mating surfaces inside the upper arm
housing and on the motor with isopropanol.
3.
Make sure the o-ring on the circumference of the Replace the o-ring if damaged.
motor is seated properly. Ligthly lubricate it with Art .no. is specified in section
grease.
Required equipment on page
148.
4.
In order to release the brakes, connect the 24
VDC power supply to the motor.
5.
Fit the motor to the upper arm housing, making
sure the motor pinion is properly mated to the
gear of axis 3.
6.
Fit the attachment screws and washers but do
not tighten them yet.
Connect to connector R3.MP3:
• +: pin 7
• -: pin 8.
4 pcs, M6 x 20.
Shown in the figure Location of
motor on page 148.
3HAC 023637-001 Revision: -
4 Repair
4.6.3. Replacement of motor, axis 3
Step
Action
Note
7.
Fit the rotation tool to the end of the motor shaft. Art. no. is specified in Required
equipment on page 148.
8.
Adjust the motor in relation to the gear.
Use the rotation tool to wiggle the motor shaft
back and forth to feel the play.
There should be a barely
noticable gear play.
9.
Tighten the motor attachment screws.
Tightening torque: 10 Nm.
10. Disconnect the brake release voltage.
11. Reconnect the motor connectors, run and secure Cable layout is shown in the
the cabling correctly inside the upper arm
figure Illustration, cabling inside
housing.
upper arm housing on page 107.
12. Refit the cover, upper arm housing. Check both
the gaskets and replace, if damaged.
Shown in the figure Location of
motor on page 148.
Art. no. is specified in section
Required equipment on page
148.
13. Refit any additional mechanical stops.
Detailed in section Installation of
additional mechanical stops on
axis 3 on page 72.
14. Recalibrate the robot!
Calibration is detailed in a
separate calibration manual.
Art. no. for the manual is
specified in section Document
references in the Product
manual, reference information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
151
4 Repair
4.6.4. Replacement of motor, axis 4
4.6.4. Replacement of motor, axis 4
Location of motor
The axis 4 motor is located inside the upper arm housing, as shown in the figure below.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001273
A
Motor, axis 4
B
Cover, upper arm housing
C
Connector plate
D
Signal connector, R3.FB4
E
Power connector, R3.MP4
F
Attachment screw and washer, motor (4 pcs)
Required equipment
Equipment, etc.
Spare part no.
Art. no.
Note
Rot. ac motor incl pinion 3HAC 021799-001
O-ring
152
3HAB 3772-81
Replace if damaged.
Gasket, upper arm cover 3HAC 022049-001
Replace if damaged.
Gasket, customer
connections
Replace if damaged.
3HAC 022050-001
3HAC 023637-001 Revision: -
4 Repair
4.6.4. Replacement of motor, axis 4
Equipment, etc.
Grease
Spare part no.
Art. no.
Note
3HAB 3537-1
Used for lubricating the oring.
Standard toolkit
The contents are defined in
section Standard toolkit in
the Product manual,
reference information.
Power supply
-
24 VDC, max. 1,5 A.
For releasing the brakes.
Rotation tool, motor
3HAC 022266- For adjusting the gear play.
003
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step
instructions below.
These procedures include
references to the tools
required.
Circuit Diagram
See chapter Circuit diagram
in the Product manual,
reference information.
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2.
Manually move the robot to a position where the
upper arm points straight down.
3.
Remove the cover from the upper arm housing.
4.
Remove the connector plate to get access to the
axis 4 motor.
5.
Disconnect the connectors R3.MP4 and R3.FB4
from the axis 4 motor.
6.
In order to release the brakes, connect the 24 VDC Connect to connector R3.MP4
power supply to the motor.
• +: pin 7
• -: pin 8
7.
Remove the motor, axis 4 by unscrewing the motor Shown in the figure Location of
attachment screws.
motor on page 152.
8.
Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
9.
Remove the motor by gently lifting it out.
3HAC 023637-001 Revision: -
This will enable the motor 4 to
be removed without draining
the oil in the gearbox.
Shown in the figure Location of
motor on page 152.
Make sure the motor pinion is
not damaged!
153
4 Repair
4.6.4. Replacement of motor, axis 4
Refitting, motor axis 4
The procedure below details how to refit the motor, axis 4.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
154
2.
Clean the mating surfaces on the motor and
the gearbox.
Shown in the figure Location of
motor on page 152.
3.
Make sure the o-ring on the circumference of Art. no. is specified in section
the motor is seated properly. Lightly lubricate Required equipment on page 152.
the o-ring with grease .
4.
In order to release the brakes, connect the 24 Connect to connector R3.MP4
VDC power supply to the motor.
• +: pin 7
• -: pin 8
5.
Fit the motor with the attachment screws and
washers.
Until the motor shaft is adjusted to the gear, as
described in following steps, only tighten the
screws lightly.
Shown in the figure Location of
motor on page 152.
Tightening torque: approx. 2 Nm.
4 pcs, M6 x 20.
6.
Fit the rotational tool to the end of the motor
shaft.
Art. no. is specified in section
Required equipment on page 152.
7.
Adjust the motor in relation to the gear in the
gearbox.
Use the arm tool to wiggle the motor shaft
back and forth to feel the play.
There should be a barely noticable
gear play.
8.
Tighten the motor attachment screws.
Shown in the figure Location of
motor on page 152.
Tightening torque: 10 Nm.
9.
Reconnect the motor connectors R3.MP4 and
R3.FB4.
10. Refit the connector plate.
Shown in the figure Location of
motor on page 152.
11. Make sure all the cabling is placed correctly
inside the upper arm housing.
Cable layout is shown in the figure
Illustration, cabling inside upper arm
housing on page 107.
12. Refit the cover to the upper arm housing.
Check both the gaskets and replace, if
damaged.
Art. no. is specified in Required
equipment on page 152.
13. Perform a leak-down test.
Detailed in section Performing a
leak-down test on page 100.
14. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
3HAC 023637-001 Revision: -
4 Repair
4.6.4. Replacement of motor, axis 4
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
155
4 Repair
4.6.5. Replacement of motor and timing belt, axis 5
4.6.5. Replacement of motor and timing belt, axis 5
Location of motor
The motor and timing belt of axis 5 is located inside the upper arm housing, as shown in the
figure below.
xx0400001279
156
A
Motor, axis 5
B
Cover, upper arm housing
C
Connector plate
D
Signal cable, motor 5. R3.FB5
E
Power cable, motor 5: R3.MP5
F
Attachment screws and washers, motor bracket (2 pcs)
G
Motor bracket
H
Attachment screws and washers, motor (3 pcs)
3HAC 023637-001 Revision: -
4 Repair
4.6.5. Replacement of motor and timing belt, axis 5
Required equipment
Equipment
Spare part no.
Rot. ac motor incl pinion
3HAC 021800-001
Timing belt
3HAC 021304-001
Art. no.
Note
Gasket, upper arm cover 3HAC 022049-001
Replace if damaged.
Gasket, customer
connections
Replace if damaged.
3HAC 022050-001
Belt tightener
3HAC 024044-001
Dynamometer Salter Super Samson 100N
-
Supplier: Ahlsell
Standard toolkit
The contents are
defined in section
Standard toolkit in the
Product manual,
reference information.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step
instructions below.
These procedures
include references to
the tools required.
Circuit diagram
See chapter Circuit
diagram in the Product
manual, reference
information.
Belt tightener, 3HAC 024044-001
The belt tightener is a special tool that is used when adjusting the tension of the timing belt
of axis 5. The length of the tool is important, since the tool is pulled with a given force.
xx0500001457
3HAC 023637-001 Revision: -
157
4 Repair
4.6.5. Replacement of motor and timing belt, axis 5
Removal, motor axis 5 and timing belt
The procedure below details how to remove the motor and the timing belt of axis 5.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
158
2.
Remove the axis 4 motor.
Detailed in section Removal, motor
axis 4 on page 153.
3.
Remove the motor and timing belt of axis 6.
Detailed in section Removal, motor
and timing belt, axis 6 on page 162.
4.
Disconnect the axis 5 motor connectors:
R3.MP5 and R3.FB5.
5.
Move aside all cabling that is hindering
access to the axis 5 motor.
6.
Remove the motor bracket, including the
motor, by unscrewing the two attachment
screws and washers.
7.
Remove the timing belt of axis 5.
8.
Remove the motor bracket from the motor.
Shown in the figure Location of
motor on page 156.
3HAC 023637-001 Revision: -
4 Repair
4.6.5. Replacement of motor and timing belt, axis 5
Refitting, motor and timing belt axis 5
The procedure below details how to refit the motor and timing belt of axis 5.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Clean the mating surfaces on the motor and
in the upper arm housing.
3.
Fit the new motor to the motor bracket,
previously removed from the old motor.
4.
Follow the steps below when fitting the
Art. no. is specified in Required
motor:
equipment on page 157.
• Place the timing belt (B) round the
motor pinion and place the belt
round the axis 5 as fitting the motor
in the upper arm housing.
• Fasten the motor bracket with two
attachment screws (C), but do not
tighten the screws yet. Use correct
attachment holes, shown in the
figure to the right!
• Adjust the belt tension by pulling the
motor bracket, using the belt
tightener and dynamometer, as
shown in the figure to the right.
• Tighten the two attachment screws
of the bracket (C) with a torque of 10
Nm.
3 pcs, M6 x 20.
xx0400001280
•
•
•
•
•
A: Motor axis 5
B: Timing belt, axis 5
C: Attachment screws and
washers, motor bracket, 2 pcs,
M6 x 20
D: Belt tightener, the
dimensions are shown in the
figure .
F: 24 N.
5.
Refit the motor and timing belt of axis 6.
Detailed in section Refitting, motor and
timing belt, axis 6 on page 163.
6.
Refit the motor of axis 4.
Detailed in section Refitting, motor
axis 4 on page 154.
7.
Reconnect all connectors and place the
cabling correctly inside the upper arm
housing.
Cable layout shown in the figure
Illustration, cabling inside upper arm
housing on page 107.
3HAC 023637-001 Revision: -
159
4 Repair
4.6.5. Replacement of motor and timing belt, axis 5
Step
Action
Note/Illustration
8.
Refit the cover to the upper arm housing.
Check both the gaskets and replace, if
damaged.
Art.no. is specified in Required
equipment on page 157.
9.
Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
160
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
4 Repair
4.6.6. Replacement of motor and timing belt, axis 6
4.6.6. Replacement of motor and timing belt, axis 6
Location of motor
The motor and timing belt of axis 6 are located inside the upper arm housing, as shown in the
figure below.
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0400001281
A
Motor, axis 6
B
Cover, upper arm housing
C
Connector plate
D
Signal cable, axis 6 motor: R3.FB6
E
Power cable, axis 6 motor: R3.MP6
F
Attachment screws and washers, motor (3 pcs)
G
Distance console with cable bracket and contact panel
H
Cable tie
3HAC 023637-001 Revision: -
161
4 Repair
4.6.6. Replacement of motor and timing belt, axis 6
Required equipment
Equipment
Spare part no.
Rot. ac motor incl pinion
3HAC 021800-001
Timing belt
3HAC 6779-1
Art. no.
Note
Gasket, upper arm cover 3HAC 022049-001
Replace if damaged.
Gasket, customer
connections
Replace if damaged.
3HAC 022050-001
Hook
3HAC 024045-001
Dynamometer Salter Super Samson 100N
-
Supplier: Ahlsell
Standard toolkit
The contents are
defined in section
Standard toolkit in the
Product manual,
reference information.
Other tools and
procedures may be
required. See references
to these procedures in the
step-by-step instructions
below.
These procedures
include references to
the tools required.
Circuit diagram
See chapter Circuit
diagram in the Product
manual, reference
information.
Removal, motor and timing belt, axis 6
The procedure below details how to remove the motor and timing belt of axis 6.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
162
2.
Remove the cover from the upper arm housing.
3.
Remove the connector plate.
Shown in the figure Location
of motor on page 161.
4.
Remove the complete distance console with cable
brackets and contact panel.
Shown in the figure Location
of motor on page 161.
5.
Disconnect the motor cables for the axis 6 motor;
R3.MP6 and R3.FB6.
6.
Remove the axis 6 motor by unscrewing its three
attachment screws and washers.
7.
Remove the timing belt.
3HAC 023637-001 Revision: -
4 Repair
4.6.6. Replacement of motor and timing belt, axis 6
Refitting, motor and timing belt, axis 6
The procedure below details how to refit the motor and timing belt of axis 6.
Step
Action
Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the
robot!
2.
Clean the mating surfaces on the motor
and in the upper arm housing.
3.
Follow the steps below when fitting the
motor:
• Place the timing belt (B) round
the motor pinion and place the
belt round the axis 6 as fitting the
motor in the upper arm housing.
• Secure the motor with its tree
attachment screws and washers
(C), but do not tighten them yet.
• Attach the hook round the motor
pinion (underneath the motor)
and adjust the belt tension with a
force of 80 N, using a
dynamometer. Shown in the
figure to the right.
• Tighten the motor attachment
screws with a torque of 10 Nm.
xx0400001282
•
•
•
•
•
A: Motor, axis 6
B: Timing belt, axis 6
C: Attachment screws and
washers, motor, 3 pcs, M6 x 20
D: Hook (motor pinion: Ø24.07
mm)
F: 80 N.
4.
Refit the complete distance console.
5.
Refit the connector plate. Refit the cable Shown in the figure Location of motor on
tie.
page 161.
6.
Reconnect the motor cables: R3.MP6
and R3.FB6.
7.
Place all the cabling correctly inside the Cable layout is shown in the figure
upper arm housing.
Illustration, cabling inside upper arm
housing on page 107.
8.
Refit the cover to the upper arm housing. Art. no. is specified in Required equipment
Check both the gaskets and replace, if on page 162.
damaged.
3HAC 023637-001 Revision: -
Shown in the figure Location of motor on
page 161.
163
4 Repair
4.6.6. Replacement of motor and timing belt, axis 6
Step
9.
Action
Note/Illustration
Recalibrate the robot!
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
164
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
4 Repair
4.7.1. Replacement of gearbox, axes 1-2
4.7 Gearboxes
4.7.1. Replacement of gearbox, axes 1-2
Location of gearbox unit, axes 1-2
The gearboxes of axes 1 and 2 are located as shown in the figure below. Note that both
gearboxes, 1 and 2, are a single unit!
A more detailed view of the component and its position may be found in chapter Spare parts
and exploded views in the Product manual (part 2 of 2), reference information.
xx0500001400
A
Gearbox unit, axes 1-2
B
Attachment screws and washer, base-gearbox unit (VK-cover is removed)
Required equipment
Equipment
Spare part no.
Gearbox axis 1-2,
spare
3HAC 023555-001
3HAC 023637-001 Revision: -
Art. no.
Note
Includes:
• gearbox axis 1-2
• V-ring (sealing ring)
• lubricating oil in vessel
• stop arm.
165
4 Repair
4.7.1. Replacement of gearbox, axes 1-2
Equipment
Spare part no.
Art. no.
Note
VK-cover
3HAA 2166-26
Isopropanol
-
For cleaning the mating
surfaces before fitting.
Grease
3HAB 3537-1
For lubricating the V-ring.
Locking liquid
-
Loctite 574
Lifting slings
-
Standard toolkit
The contents are defined in
section Standard toolkit in the
Product manual, reference
information.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
These procedures include
references to the tools required.
Removal, gearbox unit axes 1-2
The procedure below details how to remove the complete gearbox unit, axes 1-2.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
Remove the motor, axis 1.
Detailed in section Removal, motor
axis 1 on page 141.
3.
Remove the motor, axis 2.
Detailed in section Replacement of
motor, axis 2 on page 144.
4.
Remove the complete arm system.
Detailed in section Removal,
complete arm system.
5.
Drain the oil from gearbox, axis 1.
6.
Unfasten the base from the installation site by
removing the attachment bolts from the
foundation.
7.
-
Caution!
The complete gearbox unit and base weighs
201 kg together! (Base: 81 kg, gearbox unit:
120 kg.) All lifting equipment used must be
sized accordingly!
166
3HAC 023637-001 Revision: -
4 Repair
4.7.1. Replacement of gearbox, axes 1-2
Step
Action
Note
8.
Fit the lifting slings to the base/gearbox unit
and place it with the lower arm side
downwards, on top of a suitable workbench.
9.
Remove the VK-cover from the bottom of the
robot base.
Tip! When the cabling is removed, it may be
easier to drill a hole through the cover or to try
and push it out from the inside.
10. Secure the weight of the base with lifting
slings.
11. Remove the gearbox/base attachment screws Shown in the figure Location of
and washer.
gearbox unit, axes 1-2 on page 165.
12. Separate the base from the gearbox unit.
Refitting, gearbox unit axes 1-2
The procedure below details how to refit the complete gearbox unit, axes 1-2.
Step
Action
Note
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2.
-
Caution!
The complete gearbox unit weighs 120 kg
(without the base)! All lifting equipment used
must be sized accordingly!
3.
Place the gearbox unit with the lower arm
side downwards on a suitable workbench.
4.
Clean the mating surfaces of the base and
of the gearbox unit with isopropanol.
5.
Lubricate the V-ring with grease and fit it to Art. no. is specified in Required
the gearbox unit.
equipment on page 165.
6.
Fit a small amount of Loctite 574 on the
mating surface in the gearbox unit.
7.
Fit the base to the gearbox unit and secure Shown in the figure Location of
it with the attachment screws and the
gearbox unit, axes 1-2 on page 165.
washer.
16 pcs, M10 x 40, tightening torque:
70 Nm.
8.
Fit a new VK-cover to the base of the robot. Shown in the figure Location of
gearbox unit, axes 1-2 on page 165.
Spare part no. is specified in Required
equipment on page 165.
3HAC 023637-001 Revision: -
167
4 Repair
4.7.1. Replacement of gearbox, axes 1-2
Step
Action
Note
9.
-
Caution!
The complete gearbox unit and base weighs
201 kg together! (Base: 81 kg, gearbox unit:
120 kg.) All lifting equipment used must be
sized accordingly!
10. Fit the lifting slings to the base/gearbox unit,
turn it right side up and move it to the
installation site.
11. Secure the base to the foundation.
Attachment bolts and the tightening
torque are specified in section
Attachment bolts, specification on
page 51.
12. Refit the complete arm system.
Detailed in section Refitting, complete
arm system.
13. Refit the motors, axes 1 and 2.
Detailed in sections:
• Refitting, motor axis 1 on page
142
• Refitting, motor axis 2 on page
146.
14. Perform a leak-down test.
Detailed in section Performing a leakdown test on page 100.
15. Fill the two gearboxes with oil.
Type of oil and amount is specified in
section Oil in gearboxes on page 91.
16. Recalibrate the robot.
Calibration is detailed in a separate
calibration manual.
Art. no. for the manual is specified in
section Document references in the
Product manual, reference
information.
DANGER!
When performing the first test run after a service activity (repair, installation or maintenance,
it is vital that:
168
•
all the service tools and other foreign objects are removed from the manipulator!
•
all normal safety equipment is installed properly, e.g. TPU enabling device.
•
all personnel are standing at a safe distance from the manipulator, i.e. out of its reach
behind any safety fences, etc.
•
special attention is paid to the function of the part previously serviced.
3HAC 023637-001 Revision: -
4 Repair
4.7.2. Service work on gearboxes, axes 3, 4, 5 and 6
4.7.2. Service work on gearboxes, axes 3, 4, 5 and 6
Gearboxes, replacement
The gearboxes of axes 3, 4, 5 and 6 are intended to run without requiring any repairs or
maintenance work. This implies that they must under no circumstances be opened or
serviced.
If the gearboxes require replacement:
•
axes 3 and 4: the complete upper arm is to be replaced. This procedure is detailed in
section Replacement of complete upper arm on page 112.
•
axes 5 and 6: the complete wrist unit is to be replaced. This procedure is detailed in
section Replacement of wrist unit on page 121.
3HAC 023637-001 Revision: -
169
4 Repair
4.7.2. Service work on gearboxes, axes 3, 4, 5 and 6
170
3HAC 023637-001 Revision: -
5 Calibration information
5.1. Introduction
5 Calibration information
5.1. Introduction
General
This chapter includes general information about different calibration methods and also details
procedures that do not require specific calibration equipment.
When the robot system must be recalibrated, it is done according to documentation enclosed
with the calibration tools.
When to calibrate
The system must be calibrated if any of the below occurs.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration methods
supplied from ABB. Calibrate the robot carefully with standard calibration. The different
methods are briefly described in section Calibration methods on page 172, and further
detailed in separate Calibration manuals.
If the robot has Absolute Accuracy calibration, it is also recommended but not always needed
to be calibrated for new Absolute Accuracy.
The resolver values will change when parts affecting the calibration position are replaced on
the robot, e.g. motors, wrist or part of transmission.
Contents of the revolution counter memory are lost
If the contents of the revolution counter memory are lost, the counters must be updated as
detailed in section Updating revolution counters on page 176. This will occur when:
•
the battery is discharged
•
a resolver error occurs
•
the signal between a resolver and measurement board is interrupted
•
a robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are connected at
the first installation.
The robot is rebuilt
If the robot has been rebuilt, e.g. after a crash or when the robot has been changed for other
reachability, it needs to be recalibrated for new resolver values.
If the robot has Absolute Accuracy calibration, it needs to be calibrated for new Absolute
Accuracy.
3HAC 023637-001 Revision: -
171
5 Calibration information
5.2. Calibration methods
5.2. Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods that are
supplied from ABB.
Types of calibration
Type of
calibration
Description
Calibration method
Standard
calibration
The calibrated robot is positioned at home
position, i.e. the axes positions (angles) are
set to 0º.
Standard calibration data is found in the file
calib.cfg, supplied with the robot at delivery.
The file identifies the correct resolver/motor
position corresponding to the robot home
position.
From deliveries together with RobotWare 5.0.5
and higher, the data will instead be found on
the SMB (serial measurement board) in the
robot, and not in a separate file.
Calibration Pendulum
(standard method)
or
Levelmeter calibration
(alternative method)
Absolute Accuracy
calibration
(optional)
Based on standard calibration, and besides
CalibWare
positioning the robot at home position, the
Absolute Accuracy calibration also
compensates for:
• mechanical tolerances in the robot
structure
• deflection due to load.
Absolute Accuracy calibration focuses on
positioning accuracy in the Cartesian
coordinate system for the robot.
Absolute Accuracy data is found in the file
absacc.cfg, supplied with the robot at delivery.
The file replaces the calib.cfg file and identifies
motor positions as well as absacccompensation parameters.
From deliveries together with RobotWare 5.0.6
and higher, the data will instead be found on
the SMB (serial measurement board) in the
robot, and not in a separate file.
A robot calibrated with AbsAcc has a sticker
next to the identification plate of the robot.
To regain 100% Absolute Accuracy
performance, the robot must be recalibrated
for Absolute Accuracy!
xx0400001197
172
3HAC 023637-001 Revision: -
5 Calibration information
5.2. Calibration methods
Calibration methods
Each calibration method is detailed in a separate manual. Below is a brief description of the
methods available.
Calibration Pendulum - standard method
Calibration Pendulum is the standard method for calibration of all ABB robots (except IRB
6400R, IRB 640, IRB 1400H and IRB 4400S) and is also the most accurate method for the
standard type of calibration. It is the recommended method in order to achieve proper
performance.
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including the manual Calibration Pendulum Instruction.
Levelmeter Calibration - alternative method
Levelmeter Calibration is referred to as the alternative method for calibration of ABB robots,
because of the less accurate values obtained during calibration. The method uses the same
principles as Calibration Pendulum but does not have as good of mechanical tolerances to the
toolkit parts as the standard method with Calibration Pendulum.
This method may, after calibration, require modifications in the robot program, and is
therefore not recommended.
The calibration equipment for Levelmeter Calibration is ordered as separate parts for each
robot and the manual Instruction for Levelmeter Calibration is enclosed with the Levelmeter
2000.
CalibWare - Absolute Accuracy calibration
In order to achieve a good positioning in the Cartesian coordinate system, Absolute Accuracy
is used as a TCP calibration. The tool CalibWare guides through the calibration process and
calculates new compensation parameters. This is detailed further in the manual CalibWare 2.0
Users Guide.
If a service operation is done to a robot with Absolute Accuracy, a new absolute accuracy
calibration is required in order to establish full performance. For most cases after motor and
transmission replacements that do not include taking apart the robot structure, standard
calibration is sufficient. Standard calibration also supports wrist exchange.
References
The article numbers for the Calibration manuals are listed in section Document references in
the Product manual (part 2 of 2), reference information. Article numbers for the calibration
tools are also listed in part 2 of the Product manual.
3HAC 023637-001 Revision: -
173
5 Calibration information
5.3. Calibration scales and correct axis position
5.3. Calibration scales and correct axis position
Introduction
This section specifies the calibration scale positions and/or correct axis position for all robot
models.
Calibration marks, IRB 1600
The illustration below shows the calibration marks and correct positions of the six axes of the
robot. The marks shown in the figure are numbered according to the number of the axes.
xx0500001423
174
3HAC 023637-001 Revision: -
5 Calibration information
5.4. Calibration movement directions for all axes
5.4. Calibration movement directions for all axes
Calibration movement directions
When calibrating, the axis must consistently be run towards the calibration position in the
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
Note! The figure shows an IRB 7600, but the positive direction is the same for all robots,
except the positive direction of axis 3 for IRB 6400R which is in the opposite direction!
xx0200000089
3HAC 023637-001 Revision: -
175
5 Calibration information
5.5. Updating revolution counters
5.5. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using the pendant.
Step 1 - Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Step
Action
Note
1.
Select axis-by-axis motion mode.
2.
Jog the robot so that the calibration marks
lie within the tolerance zone.
Shown in section Calibration scales and
correct axis position on page 174.
3.
When all axes are positioned, store the
revolution counter settings.
Detailed in sections:
Step 2 - Storing the revolution counter
setting with the FlexPendant on page
176 (RobotWare 5.0).
Correct calibration position of axis 4 and 6
When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes do not have
any mechanical stops and can therefore be calibrated at the wrong turn.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot is in the correct position, do NOT rotate axis 4 or 6 at power up before
the revolution counters are updated.
If one of the below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the exact calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Robot variant
Axis 4
Axis 6
IRB 1600
Yes
Yes
Step 2 - Storing the revolution counter setting with the FlexPendant
This procedure details the second step when updating the revolution counter; storing the
revolution counter setting with the FlexPendant (RobotWare 5.0).
Step
1.
176
Action
On the ABB menu, tap Calibration.
All mechanical units connected to the system are shown along with their calibration
status.
3HAC 023637-001 Revision: -
5 Calibration information
5.5. Updating revolution counters
Step
2.
Action
Tap the mechanical unit in question.
A screen is displayed: tap Rev. Counters.
en0400000771
3.
Tap Update revolution counters....
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
• Tap Yes to update the revolution counters.
• Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
4.
Select the axis to have its revolution counter updated by:
• Ticking in the box to the left
• Tapping Select all to update all axes.
Then tap Update.
5.
A dialog box is displayed, warning that the updating operation cannot be undone:
• Tap Update to proceed with updating the revolution counters.
• Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the ticked revolution counters and removes the tick from
the list of axes.
6.
-
Caution!
If a revolution counter is incorrectly updated, it will cause incorrect robot positioning,
which in turn may cause damage or injury!
Check the calibration position very carefully after each update.
See section Checking the calibration position on page 178.
3HAC 023637-001 Revision: -
177
5 Calibration information
5.6. Checking the calibration position
5.6. Checking the calibration position
General
Check the calibration position before beginning any programming of the robot system. This
may be done in one of two ways:
•
Using a MoveAbsJ instruction with argument zero on all axes
•
Using the Jogging window on the teach pendant
Using a MoveAbsJ instruction on the FlexPendant, IRC5
This section describes how to create a program, which runs all the robot axes to their zero
position.
Step
Action
Note
1.
On ABB menu tap Program Editor.
2.
Create a new program.
3.
Use MoveAbsJ in the Motion&Proc menu.
4.
Create the following program: MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs,
v1000, z50, Tool0
5.
Run the program in manual mode.
6.
Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
The calibration marks are
shown in section Calibration
scales and correct axis
position on page 174.
How to update the revolution
counters is detailed in section
Updating revolution counters
on page 176.
Using the Jogging window on the FlexPendant, IRC5
This section describes how to jog the robot to all axes zero position.
Step
178
Action
1.
Tap Jogging in the ABB menu.
2.
Tap Motion mode to choose group of axes to jog.
3.
Tap axes 1-3 to jog axes 1, 2 or 3.
4.
Manually run the robots axes to a position where
the axis position value read on the FlexPendant,
is equal to zero.
5.
Check that the calibration marks for the axes
align correctly. If they do not, update the
revolution counters!
Note
The calibration marks are shown
in section Calibration scales and
correct axis position on page 174.
How to update the counters is
detailed in section Updating
revolution counters on page 176.
3HAC 023637-001 Revision: -
Index
A
Absolute Accuracy, calibration 173
Absolute Accuracy, guiding sleeves 51
air connections, pressure 81
attachment bolts, robot-foundation 51
B
backshells, customer connection 81
base
brake release buttons 47
hole configuration 49
replacing 130
screws, tightening torque 133
spare part number 130
battery pack
replacing 95
replacing, interval 87
spare part number 96
belt tightener axis 5
article number 157
measure 157
brake release unit
releasing the brakes 47
replacing 137
spare part number 138
brakes, releasing
external power supply to connector R1.MP 48
manually 47
power supply on motor axis 1 141
power supply to motor axis 2 146
power supply to motor axis 3 150
power supply to motor axis 4 153
brakes, testing function 26
C
cable harness
inside base, figure 110
inside frame, figure 109
inside upper arm, figure 107
replacing 104
spare part number 104
cabling
inside base, figure 110
inside frame, figure 109
inside upper arm, figure 107
replacing 104
spare part number 104
cabling, position switch 79
cabling, robot 78
calibration
Absolute Accuracy type 172
alternative method 173
Calibration Pendulum 173
Levelmeter calibration 173
standard method 173
standard type 172
3HAC 023637-001 Revision: -
when to calibrate 171
calibration manuals 173
Calibration Pendulum 173
calibration position 176
calibration position, checking 178
calibration position, jog to 178
calibration, Absolute Accuracy 173
CalibWare 172
check, installation site 38
cleaning
robot, interval 87
cleaning, robot 97
Connection of external safety devices 12
connectors
air 81
customer 81
MIL-C-26482 series 1 83
on robot, figure 77
R2.CS and R2.CP
pins, customer connection 81
Souriau 82
cracks, damper 90
customer connections 77
D
damage, damper 90
damper, axis 2 89
attachment screw 125
replacing 124
spare part number 124
damper, axis 3
inspection 89
replacing 126
spare part number 126
damper, axis 5
inspection 89
replacing 128
spare part number 128
dimensions
guiding sleeves 50
mounting surface 50
robot 58
direction of axes 175
E
environment 39
equipment, robot 58
ESD sensitive equipment 33
ESD, damage elimination 33
explanation, safety symbols 30
extra equipment 58
extra loads 57
179
Index
F
figures
base, hole configuration 49
brake release buttons 47
cabling inside base 110
cabling inside frame 109
cabling inside upper arm housing 107
connectors on robot 77
gearboxes 91
mounting surface 50
power supply to connector R1.MP 48
fitting, equipment 58
foundation
loads 39
requirements 39
frame
replacing 165
spare part number 165
G
gaskets, spare part number
base cover 138
gearbox axis 1-2 140
upper arm cover 162
upper arm customer connections 162
gearbox, axes 1-2
replacing 165
spare part number 165
gearboxes
location on robot, figure 91
type of oil and amount 91
gearboxes, axes 3-6
replacing 169
service work 169
gearboxes, axes 5 and 6
amount and type of oil 92
oil change 92
H
hole configuration
base 49
I
illustrations
base, hole configuration 49
brake release buttons 47
cabling inside base 110
cabling inside frame 109
cabling inside upper arm housing 107
connectors on robot 77
gearboxes 91
mounting surface 50
power supply to connector R1.MP 48
inspection 89
installation
checking site prior robot installation 38
180
equipment 58
mechanical stop axis 2 69
mechanical stops axis 3 72
mechanical stops, axis 1 66
position switch axis 1 75
robot, attachment bolts 51
signal lamp 62
intervals, maintenance 87
L
lamp unit
article number 63
installation 62
Levelmeter calibration 173
lifting, robot 45
Limitation of Liability 13
load diagrams 52
loads 57
loads, foundation 39
location of connectors 77
lower arm
replacing 117
screws, tightening torque 120
spare part number 117
M
maintenance intervals 87
maintenance schedule 87
measurement system battery pack, replacing 95
measurement system battery pack, spare part number 96
mechanical stop axis 2
article number 70
installation 69
mechanical stop axis 3
article number 74
screws, tightening torque 74
mechanical stops axis 1
article number 67
installation 66
screws, tightening torque 68
mechanical stops axis 2
screws, tightening torque 71
mechanical stops axis 3
installation 72
motor axis 1
brake release with power supply 141
replacing 140
spare part number 140
tightening torque 142
motor axis 2
brake release with power supply 146
replacing 144
spare part number 144
tightening torque 147
motor axis 3
brake release with power supply 150
3HAC 023637-001 Revision: -
Index
replacing 148
screws, tightening torque 151
spare part number 148
motor axis 4
brake release with power supply 153
replace 152
screws, tightening torque 154
spare part number 152
motor axis 5
replacing 156
screws, tightening torque 159
spare part number 157
motor axis 6
replacing 161
screws, tightening torque 163
spare part number 162
motor connectors 77
mounting, equipment 58
N
negative directions, axes 175
O
oil change
gearbox axes 5 and 6 92
gearboxes, axes 5 and 6, intervals 87
safety risks 34
wrist unit 92
wrist unit, intervals 87
oil in gearboxes
amount 91
article numbers 91
type 91
operating, conditions 39
orienting, robot 49
P
permitted extra loads 57
position switch axis 1
article number 75
installation 75
position, robot
when draining wrist unit 93
when filling oil in wrist unit 94
positive directions, axes 175
protection classes, IP class 40
push button unit
releasing the brakes 47
replacing 137
spare part number 138
R
releasing brakes
external power supply to connector R1.MP 48
manually 47
requirements, foundation 39
restricting working range
3HAC 023637-001 Revision: -
axis 1 66, 75
axis 2 69
axis 3 72
Revolution counters 176
robot
cleaning 97
connectors 77
dimensions 58
equipment, fitting 58
lifting 45
orienting and securing 49
robot position
when draining wrist unit 93
when filling oil in wrist unit 94
RobotLoad 52
S
Safety, service 12
safety, symbols 30
schedule, maintenance 87
securing, robot 49, 51
serial measurement unit
battery pack, replacing 95
battery pack, spare part number 96
replacing 134
spare part number 135
signal connectors 77
signal lamp
article number 63
installation 62
SMB unit
battery pack, replacing 95
battery pack, spare part number 96
replacing 134
spare part number 135
Souriau, connector 82
storage, conditions 39
symbols, safety 30
T
testing, brakes 26
tightening torques, attachment screws
base-gearbox unit 133
lower arm-frame 120
mechanical stop axis 1 68
mechanical stop axis 2 71
mechanical stop axis 3 74
motor axis 1 142
motor axis 2 147
motor axis 3 151
motor axis 4 154
motor axis 5 159
motor axis 6 163
robot to foundation, attachment bolts 51
upper arm 115
wrist unit 122
181
Index
timing belt axis 5
adjusting the tension 159
replacing 156
spare part number 157
timing belt axis 6
adjusting the tension 163
replacing 161
spare part number 162
tools
belt tightener axis 5, article number 157
belt tightener axis 5, measure 157
dynamometer axis 5 and 6 162
hook axis 6, article number 162
rotational tool, article number 152
U
Updating revolution counters 176
upper arm
replacing 112
screws, tightening torque 115
spare part number 113
V
Validity and responsibility 12
VK-covers, spare part number
at base 130
lower arm, lower 117
lower arm, middle 117
lower arm, upper 113
W
weight
base 132
gearbox unit 167
lower arm 118, 119
robot 39, 46, 131, 133
upper arm 114, 115
wrist unit
amount and type of oil 92
oil change 92
replacing 121
screws, tightening torque 122
spare part number 121
182
3HAC 023637-001 Revision: -
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