Page 4
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, damage to persons or property, fitness for a specific purpose or the like.
Testing the FlexPendant connection ............3.5.4 Working closely with the robot in a safe way ..........Configuring the software ..................3.6.1 Information about software for the CRB 15000 ..........3.6.2 Lead-through ..................Product manual - CRB 15000 3HAC077389-001 Revision: L...
Page 6
Table of contents 3.6.3 The SafeMove configurator app on FlexPendant ........... 3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 ......3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio ....3.6.6 Information about Collaborative Speed Control add-in ........3.6.7 Speed control ..................
Page 7
Joint units ......................5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) ........5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) ..5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) ........5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) ..
The robot described in this manual has the following protection types: • Standard Product manual scope The manual covers all variants and designs of the CRB 15000. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
Page 10
Overview of this manual Continued Prerequisites A maintenance/repair/installation craftsman working with an ABB robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. • be trained to respond to emergencies or abnormal situations. References Documentation referred to in the manual, is listed in the table below.
Page 12
Updated requirement and procedure descriptions for manually releasing the brakes. Published in release 23B. The following updates are made in this revision: • Added new variants CRB 15000-10/1.52 and CRB 15000-12/1.27. • Added pin assignment on XG1 connector of SafetyIO-based laser scanner.
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Limitation of liability 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. The information does not cover how to design, install and operate a robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.
Page 18
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
• Product manual - OmniCore C30 Reasons for selection of stops in CRB 15000 For nearly all safety functions in CRB 15000, a category 1 stop is defined. Exceptions are only allowed: • When there is a technical fault in the system, or •...
Page 30
Specific information for GoFa robots The CRB 15000 collaborative robot is designed to be able to work safely alongside humans and even share tasks with them. It is vital for the user of the robot to operate it in a safe way, setting up the necessary safety configurations, and ensure that appropriate risk reduction measures are implemented.
If necessary, to prevent burns, allow touch surfaces to cool down before working closely with the robot. The following figure takes the CRB 15000-12/1.27 as an example to show the locations of touch surfaces. All the other surfaces are considered as non-touch surfaces.
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
2.1 About CRB 15000 Introduction The CRB 15000 robot is a flexible, agile 6-axis articulated robot, available in three variants spanning various options for payload from 5 kg to 12 kg, wrist reach from 0.95 m to 1.52 m (flange reach from 1.05 m to 1.62 m), and designed specifically for manufacturing industries that use flexible robot-based automation.
Page 43
Valid for CRB 15000-5/0.95. iii Valid for CRB 15000-10/1.52 and CRB 15000-12/1.27. iv Depending on climate and robot running conditions, condensation may occur on the inside of plastic covers. The condensation will disappear over time by itself, alternatively the user can open the covers and run a program for 12 hours to accelerate the process.
The SISTEMA/ABB FSDT libraries contains details for the safety functions. Performance level for OmniCore C30 for CRB 15000 The OmniCore C30 for CRB 15000 controller safety system has a safety category 3 with performance level PL d according to EN ISO 13849-1:2015 and thus fulfils the safety performance requirement of the robot safety standard EN ISO 10218-1:2011.
Safety on page 17 before performing any installation work. Note Always connect the CRB 15000 and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • Be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work. • Conform to all national and local codes.
3.2.2 Risk of tipping/stability Risk of tipping CRB 15000-5/0.95 is delivered lying flat in the delivery package, while CRB 15000-10/1.52 and CRB 15000-12/1.27 are delivered in standing position in the package. The robot cannot stand on its own without being secured to the foundation.
Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the CRB 15000. Action Note Transport the manipulator to its intended location.
Introduction This section describes how to lift the robot and transport it to the installation site. For CRB 15000-5/0.95, two persons are always required when lifting and securing the robot. For CRB 15000-10/1.52 and CRB 15000-12/1.27, lifting accessories, such as lifting roundslings, shall be prepared for the lifting and securing.
Page 62
3 Installation and commissioning 3.3.2.1 Orienting and securing the robot Continued Hole configuration, base CRB 15000-5/0.95 This illustration shows the hole configuration used when securing CRB 15000-5/0.95. + 0,012 6 H7 xx2000002366 Circular hole for locating pin Elongated hole for locating pin...
Page 65
Lifting and securing the robot (-5/0.95) Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minim- um of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury.
Page 84
Note If the gasket screws on the upper arm cover of CRB 15000-5/0.95 are replaced with hex spacers, then the IP54 is no longer fulfilled. Before fitting equipment to the robot upper arm, special considerations must be taken: •...
Page 85
Housing and lower arm For CRB 15000-10/1.52 and CRB 15000-12/1.27, extra loads can also be mounted on robot housing and lower arm. Definitions of dimensions and masses are shown Holes for fitting extra equipment on page Maximum allowed arm load depends on center of gravity of arm load and robot payload.
3.3.10 Installation of laser scanner Overview The safety separation technology and speed control for CRB 15000 is based on the connection and communication of one or two safety laser scanners in the robot. Laser scanner(s) provides a timely and continuous monitor on the activities within its scanning area and forms a protective field.
The configuration of emergency stops is stop category 1 and cannot be changed. Collision detection As default CRB 15000 will have collision detection active at stand still. It also has another stop ramp compared to other robots to be able to release clamping forces.
Page 115
3 Installation and commissioning 3.6.1 Information about software for the CRB 15000 Continued With the FlexPendant, a user can verify local presence with the three-position enabling device. For robots without a connected FlexPendant, system input signals can be used to verify local presence.
Page 116
3 Installation and commissioning 3.6.1 Information about software for the CRB 15000 Continued Some typical examples of singularity positions for GoFa are shown here. Typical arm singularities Typical wrist singularities xx2300000099 xx2300000098 xx2300000101 xx2300000100 For more information about singularity, see Technical reference manual - RAPID Overview, section Singularities.
Page 118
If the load is lighter than the defined load, the effect will be the same as if you are pulling the robot arm upwards. For the CRB 15000, there is a button for updating/refreshing the load while lead-through is active.
The configuration follows the same principles as when using Visual SafeMove in RobotStudio but the functionality is not as extensive. For more information about transient contact, quasi-static contact, and body areas, Guidelines for transient and quasi-static contact, CRB 15000 on page 132. Overview of the user interface The user interface consists of a configurator and a 3D model that visualizes the robot with the configured encapsulations and zones.
Page 127
5 Review the suggested supervisions. 6 When the supervision is applied, the data is transferred to Tool Speed Supervision and Tool Force Supervision. For more details, see Guidelines for transient and quasi-static contact, CRB 15000 on page 132. Continues on next page...
Page 128
The Standstill Supervision functionality is not active by default. It can be added, modified, and deactivated. The CRB 15000 has support for both stop category 0 and stop category 1 for Standstill Supervision. For other stops, only stop category 1 is available.
3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 About Human Contact Supervision The CRB 15000 robot is designed with collaborative applications in focus, where occasional contact between the human and the robot are foreseen. This is according to ISO/TS 15066.
Page 133
3 Installation and commissioning 3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 Continued Body model As defined in ISO/TS 15066, the body model is a representation of the human body consisting of individual body segments characterized by biomechanical properties.
Page 134
3 Installation and commissioning 3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 Continued Conclusion The values calculated in the Human Contact Supervision function are conservative. However, if the risk assessment for the final application shows that these values can be changed to a higher value, for example, by using padding on the arm, then the values can be changed in the settings for the tool force supervision and tool speed supervision.
Page 147
3 Installation and commissioning 3.6.7.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or earlier) Continued For CRB 15000, required settings for communication between laser scanner, PLC and OmniCore controller are predefined in the configuration file. 4 Set up safety user grants.
3.6.7.8 Speed control strategies General The speed control of CRB 15000 is affected by several factors, such as, the RobotWare version, the speed setting in the FlexPendant, the speed setting in motion instruction and the SpeedRefresh value. Users in different protection fields defined for laser scanner to monitor and perform different program execution actions may result in different movement speed.
Note If the CRB 15000 is connected to power, always make sure that the CRB 15000 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the CRB 15000: • Calendar time: specified in months regardless of whether the system is running or not.
4 Maintenance 4.3.2 Inspecting the cable harness 4.3.2 Inspecting the cable harness Location of cable harness Cable harness, CRB 15000-5/0.95 The figures show the location for the cable harness of CRB 15000-5/0.95. xx2100000056 xx2100000057 xx2100000058 xx2100000059 Spare part Spare part number...
Always check that all protective covers are fitted to the robot before cleaning. • Do not use compressed air to clean the robot. • Do not use solvents that are not approved by ABB to clean the robot. • Do not remove any covers or other protective devices before cleaning the robot.
CRB 15000-5/0.95 is illustrated. Report replaced units Note When replacing a part on the CRB 15000, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 204
If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface. Tighten the screws evenly when fastening the flange joint.
2 Loosen the robot from the foundation and lay it down on its back. • For CRB 15000-5/0.95, this step requires two persons. • For CRB 15000-10/1.52 and CRB 15000-12/1.27, the robot requires to be lifted using lifting roundslings. 3 Remove the base cover. 4 Replace the cabling.
Page 206
5.3.1 Replacing the base cabling Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 207
Laying down the robot (-5/0.95) Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minimum of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury. Continues on next page...
Page 216
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.2 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2000002007 xx2100000268 Refitting the base cover (-10/1.52 and -12/1.27)
Page 217
Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.4 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2300000760 Lifting and securing the robot (-5/0.95)
Page 228
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 234
Action Note Remove the swing attachment screws. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 242
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 249
Remove the swing attachment screws. Valid for CRB 15000-10/1.52 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 259
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.2 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2000002007 xx2100000268...
Page 261
M4x25 12.9 Lafre Pre-tighten the screws crosswise firstly. 2C2B/FC6.9+PrO-COat111 (16 pcs) CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 266
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 278
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.4 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2300000760 Securing the base...
Page 280
Pre-tighten the screws crosswise firstly. Valid for CRB 15000-12/1.27 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 285
12.9 Lafre 2C2B/FC6.9, 16 pcs Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 286
12.9 Lafre 2C2B/FC6.9, 16 pcs CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 297
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 308
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 325
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 339
12.9 Lafre 2C2B/FC6.9, 16 pcs Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 344
5.3.4 Replacing the axis-3 cabling Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 400
Note CAUTION Axis-4 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 418
5.3.6 Replacing the axis-5 cabling Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 440
Note CAUTION Axis-5 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 447
Note CAUTION Axis-6 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
5 Replace the cabling. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 477
Note CAUTION Axis-6 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 491
Laying down the robot (-5/0.95) Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minimum of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury. Loosen the robot from the foundation.
Page 498
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.2 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2000002007 xx2100000268 Lifting and securing the robot (-5/0.95)
Page 516
2C2B/FC6.9+PrO-COat111 (16 pcs) Valid for CRB 15000-10/1.52 and CAUTION CRB 15000-12/1.27 Do not mix the flange screws used for CRB 15000- Hex socket head cap screw: M5x30 5/0.95 and the threaded screws used for CRB 12.9 Lafre 2C2B/FC6.9, 16 pcs 15000-10/1.52 and CRB 15000-12/1.27.
Page 526
5.4.2 Replacing the housing Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 563
5 Replace the tubular. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 580
Note CAUTION Axis-4 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 598
6 Replace the wrist housing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 615
Note CAUTION Axis-5 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 622
Note CAUTION Axis-6 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
The arm-side interface is located as shown in the figure. xx2000002549 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 648
5.5.1 Replacing the base Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 654
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 660
Action Note Remove the swing attachment screws. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 668
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 675
Remove the swing attachment screws. Valid for CRB 15000-10/1.52 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 686
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.2 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2000002007 xx2100000268...
Page 688
M4x25 12.9 Lafre Pre-tighten the screws crosswise firstly. 2C2B/FC6.9+PrO-COat111 (16 pcs) CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 693
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 705
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.4 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2300000760 Securing the base...
Page 707
Pre-tighten the screws crosswise firstly. Valid for CRB 15000-12/1.27 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 712
12.9 Lafre 2C2B/FC6.9, 16 pcs Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 713
12.9 Lafre 2C2B/FC6.9, 16 pcs CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
2 Remove the lower and upper arm undivided. 3 Remove the swing cover. 4 (For CRB 15000-10/1.52 and CRB 15000-12/1.27) Loosen the base from the foundation and lay it down with the torque sensor side upwards. 5 Remove the axis-2 joint unit.
Page 725
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 731
Action Note Remove the swing attachment screws. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 735
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 742
Remove the swing attachment screws. Valid for CRB 15000-10/1.52 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 744
M4x25 12.9 Lafre Pre-tighten the screws crosswise firstly. 2C2B/FC6.9+PrO-COat111 (16 pcs) CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 751
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 756
Pre-tighten the screws crosswise firstly. Valid for CRB 15000-12/1.27 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 764
12.9 Lafre 2C2B/FC6.9, 16 pcs Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) 5.6 Joint units 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Location of the axis-1 joint unit The joint unit is located as shown in the figure. xx2000002018 Summary of the replacement procedure This is a brief summary of the replacement procedure, containing the major actions to be performed.
Page 769
5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 770
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Removing the joint unit Use these procedures to remove the joint unit. Preparations before removing the joint unit Action Note Jog the robot to the specified position: • Axis 1: 0° (home position) •...
Page 771
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the four lower arm cover screws. xx2000001929 Remove the cover by inserting a small flat screwdriver to snap open the locks at each end of the cover.
Page 772
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Disconnecting the cabling between the lower arm and the swing Action Note Remove the functional earth cable by removing the screw. xx2000001936 Cut the cable ties. xx2000001937 Snap loose and disconnect all connectors.
Page 773
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Removing the lower and upper arm assembled Action Note Remove the cable bracket by removing the four screws. xx2000001939 Secure the weight of the upper and lower arm. Suggestion with lifting sling and an overhead crane.
Page 774
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 775
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the complete arm system from the swing. xx2000001941 Remove the guide pins. xx2000002432 Removing the swing cover (-5/0.95) Action Note CAUTION Make sure that all supplies for electrical power are turned off.
Page 776
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note CAUTION Valid for CRB 15000-5/0.95 There is cabling connected between the cover and the joint unit drive board. Open the cover with care to avoid damage to the cabling or the connector(s).
Page 777
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Cut the cable ties. xx2000001946 Remove the functional and protective earth cables by removing the screw. xx2000001945 Snap loose and disconnect the connectors: • J2.DC+ • J2.DC- •...
Page 778
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Removing the axis-2 joint unit (-5/0.95) Action Note Fit the lifting aid to the joint unit, on the torque Lifting aid: 3HAC077788-001 sensor side. Screws: M4x35 (4 pcs) CAUTION The connectors and the joint unit cables are sensitive to mechanical damage.
Page 779
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Put the cabling at the slot in order not to squeeze it during removal of joint unit. xx2100000045 Press the joint unit out of position using two of the previous attachment screws as removal tools.
Page 780
Action Note Remove the swing attachment screws. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 781
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Tilt the base on to its side and remove the bottom cover by removing the attachment screws. xx2000002007 Disconnecting the axis-1 joint unit cabling Action Note Cut the cable ties.
Page 782
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Disconnect the connectors from the drive board. • D1.X1 from X1 • D1.DC+ from DC+ • D1.DC- from ground • D1.X4 from X4 • D1.X2 from X2 •...
Page 783
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Fit two guide pins to the axis-1 joint unit. Guide pin, M4x120: 3HAC077786- Always use guide pins in pairs. For joint units on axes 1, 2 and 3 of CRB 15000-5/0.95 and axis 3 of...
Page 784
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the lifting aid and guide pins. xx2000001957 Removing the joint cable Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Fit the protection plate to the drive board unit.
Page 785
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the protection plate. xx2100000301 Remove the cable support from the drive board by removing the attachment screws. xx2000002055 Disconnect the two connectors from the torque sensor board.
Page 786
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the joint cable from the hollow shaft from the torque sensor side. CAUTION The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- xx2000002060 sembly with care.
Page 787
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Secure the cable plate to the joint unit with the Hex socket head cap screw: attachment screws. M2.5x6 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 0.45 Nm.
Page 788
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Keep the cabling loose, making sure not to twist or strain it. Use the cable tie to pre-fix the cable by hand. xx2100000507 Fit the protection plate to the drive board unit.
Page 789
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Secure the cables to the cable support with a Cable tie: 3HAC075545-001. For cable tie, using a cable tie gun. securing joint unit cable. Assembly direction for the cable tie is shown in Cable tie gun EVO 7i the figure.
Page 790
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Preparations before fitting the joint unit (-5/0.95) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page...
Page 791
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Fit two guide pins to the joint unit. Guide pin, M4x120: 3HAC077786- Always use guide pins in pairs. For joint units on axes 1, 2 and 3 of CRB 15000-5/0.95 and axis 3 of...
Page 792
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the guide pins and secure the remaining two attachment screws. xx2100000296 Pre-tighten the screws crosswise. Torque tighten all screws crosswise. Tightening torque: 4.3 Nm. Remove the lifting aid by removing the screws.
Page 793
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Connect the connectors to each other and snap them to the cable holders. • J1.DC+ to J1.DC+ • J1.DC- to J1.DC- • J1.CS to J1.CS • J1.CP to J1.CP...
Page 794
Refit the bottom cover with the attachment screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (8 pcs) Tightening torque: 1.2 Nm. Note For CRB 15000-5/0.95, fit the cover in correct dir- ection, the protrusion of the cover must face out- wards. xx2000002007 xx2100000268...
Page 795
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Securing the base Action Note Lift the base to standing and secure it to the Attachment screws: M10x35 8.8 (4 foundation with the attachment screws and pcs). washers. Washers: 23/10.5/2.5 mm Steel (4 pcs).
Page 796
M4x25 12.9 Lafre Pre-tighten the screws crosswise firstly. 2C2B/FC6.9+PrO-COat111 (16 pcs) CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 797
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Clean the mounting surface of the joint unit and Cleaning agent: Isopropanol the mating surface on the casting with isopropan- Flange sealant: Loctite 574 Joint unit mounting surface is pointed out in the figure.
Page 798
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Fit two guide pins to the joint unit. Guide pin, M4x120: 3HAC077786- Always use guide pins in pairs. For joint units on axes 1, 2 and 3 of CRB 15000-5/0.95 and axis 3 of...
Page 799
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Secure the joint unit with new attachment screws. Flange socket head screw with glue: 3HAB3413-435 M4x35 12.9 Lafre 2C2B/FC6.9+PrO-COat111, with NYPLAS glue , 12 pcs Used for joint unit of CRB 15000- 5/0.95.
Page 800
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Refitting the lower and upper arm assembled (-5/0.95) Action Note Fit two guide pins to the axis-2 joint unit. Guide pin, M4x120: 3HAC077786- xx2000001949 Remove any old residuals of flange sealant from...
Page 801
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 802
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Connecting the axis-2 joint unit cabling Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Reconnect the connectors to the drive board.
Page 803
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Secure the cabling with cable ties. Cable ties (3 pcs) xx2000001946 Connecting the cabling between the lower arm and swing Action Note Connect the connectors to each other and snap them to the cable holders.
Page 804
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Connect the functional earth cable with the screw. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (1 pcs). Tightening torque: 0.8 Nm xx2000001936 Refitting the lower arm covers (-5/0.95)
Page 805
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note Snap the lower arm cover into place. Hex socket head cap screw: M3x16 12.9 Lafre 2C2B/FC6.9 (4 pcs) Secure the cover with four screws. Tightening torque: 0.45 Nm.
Page 806
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Action Note For robots with RobotWare earlier than 7.10 Cable ties Secure the brake release cable with a cable tie. xx2000001931 Refit the cover with the four screws. Hex socket head cap screw: M3x30 12.9 Lafre 2C2B/FC6.9 (4 pcs)
Page 807
5 Repair 5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) Continued Concluding procedure Action Note Calibrate the joint unit torque sensor. Calibration on page 1051 1 On the FlexPendant, go to the Code app and call the calibration procedure using PP to Routine, not by using Call Routine.
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Location of the axis-1 joint unit The joint unit is located as shown in the figure.
Page 809
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Spare part Article number Note Joint unit 3HAC087472-001 Used for CRB 15000-10/1.52 and CRB 15000-12/1.27. New O-rings 3HAC061327-044 and cable tie 3HAC075545-001 are included in the delivery.
Page 810
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Removing the joint unit Use these procedures to remove the joint unit. Preparations before removing the joint unit Action Note Jog the robot to the specified position: xxx •...
Page 811
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the lower inner cover by removing the screws. xx2300000813 Disconnecting the cabling between the lower arm and the swing Action Note Remove the functional earth cable by removing the screw.
Page 812
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Removing the lower and upper arm assembled Action Note Remove the cable bracket by removing the four screws. xx2000001939 Secure the weight of the upper and lower arm.
Page 813
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove two attachment screws and fit two guide Guide pin, M5x150: 3HAC087786- pins to the axis-2 joint unit. Always use guide pins in pairs.
Page 814
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the complete arm system from the swing. xx2000001941 Remove the guide pins. xx2000002432 Removing the swing cover and insert (-10/1.52 and -12/1.27) Action...
Page 815
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note CAUTION Valid for CRB 15000-5/0.95 There is cabling connected between the cover and the joint unit drive board. Open the cover with care to avoid damage to the cabling or the connector(s).
Page 816
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the functional and protective earth cables by removing the screw. xx2000001945 Snap loose and disconnect the connectors: • J2.DC+ • J2.DC- • J2.CS •...
Page 817
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Loosen the robot base from the foundation by removing the foundation attachment screws. Lay the robot down with the torque sensor side upwards on a working bench. Do not damage the base socket.
Page 818
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Place the two semicircular blocks surrounding the joint unit, and use two fully threaded attachment screws as removal tools to press the joint unit out of position.
Page 819
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Securing the base (-10/1.52 and -12/1.27) Action Note Lift the base to standing and secure it to the Attachment screws: M10x35 8.8 (4 foundation with the attachment screws and pcs).
Page 820
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the swing attachment screws. Valid for CRB 15000-10/1.52 CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 821
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Lift away the swing. CAUTION The torque sensor (on the exposed PCBA) is sensitive to mechanical damage. Handle the as- sembly with care. Loosening the base and removing the base cover...
Page 822
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Snap loose and disconnect the connectors: • J1.DC+ • J1.DC- • J1.CS • J1.CP xx2000002010 Disconnect the connectors from the drive board. • D1.X1 from X1 •...
Page 823
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the lifting aid to the joint unit, on the torque Lifting aid: 3HAC087787-001 sensor side. Screws: M5x30 (4 pcs for plate and 2 pcs for beam)
Page 824
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the lifting aid. xx2300000778 xx2300000776 Removing the joint cable Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the...
Page 825
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Cut the cable tie at the drive board. xx2000002058 Remove the protection plate. xx2100000301 Remove the cable support from the drive board by removing the attachment screws.
Page 826
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the cable plate by removing the attach- ment screws. xx2000002049 Remove the joint cable from the hollow shaft from the torque sensor side.
Page 827
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the cable plate to the joint unit with the Hex socket head cap screw: attachment screws. M2.5x6 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 0.45 Nm.
Page 828
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Keep the cabling loose, making sure not to twist or strain it. Use the cable tie to pre-fix the cable by hand. xx2100000507 Fit the protection plate to the drive board unit.
Page 829
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the cables to the cable support with a Cable tie: 3HAC075545-001. For cable tie, using a cable tie gun. securing joint unit cable.
Page 830
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Refitting the axis-1 joint unit (-10/1.52 and -12/1.27) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Check the o-rings.
Page 831
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the lifting aid to the joint unit, aligning the pin Joint unit: 3HAC087472-001 with the pin hole. Lifting aid: 3HAC087787-001 Screws: M5x30 (4 pcs for plate and...
Page 832
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Check the joint unit position by placing the lower boss of one semicircular block between the lifting aid and base. The joint unit is properly placed when no gaps...
Page 833
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the joint unit with the remaining attach- Hex socket head cap screw: ment screws. 3HAB3409-20 xx2300000785 Torque tighten all screws crosswise. M5x55 12.9 Lafre 2C2B/FC6.9, 12 Tightening torque: 8.2 Nm.
Page 834
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Connect the connectors to each other and snap them to the cable holders. • J1.DC+ to J1.DC+ • J1.DC- to J1.DC- • J1.CS to J1.CS •...
Page 835
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Refitting the base cover (-10/1.52 and -12/1.27) Action Note Wipe, lubricate and fit the o-ring to its groove. 3HAC061327-072 Replace if damaged. Grease: 3HAC042536-001 (Shell Gadus S2) xx2000002016 Refit the bottom cover with the attachment screws.
Page 836
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Valid for CRB 15000-10/1.52 Hex socket head cap screw: M5x25 12.9 Lafre 2C2B/FC6.9 (16 pcs) Refit the swing flange with the attachment screws. Tightening torque: 8.2 Nm...
Page 837
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the swing with the attachment screws. Hex socket head cap screw: M5x30 12.9 Lafre 2C2B/FC6.9 (16 pcs) Pre-tighten the screws crosswise firstly. Valid for CRB 15000-12/1.27...
Page 838
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Refitting the axis-2 joint unit (-10/1.52 and -12/1.27) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Check the o-rings.
Page 839
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the lifting aid to the joint unit, aligning the pin Joint unit: 3HAC087472-001 with the pin hole. Lifting aid: 3HAC087787-001 Screws: M5x30 (4 pcs for plate and...
Page 840
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the joint unit to the swing, aligning the pin with the pin hole. CAUTION The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- sembly with care.
Page 841
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure with four attachment screws and pre- tighten the screws crosswise. xx2300000796 Remove the lifting aid by removing the screws. xx2300000797 Secure the joint unit with the remaining attach- Hex socket head cap screw: ment screws.
Page 842
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Refitting the lower and upper arm assembled (-10/1.52 and -12/1.27) Action Note Fit three guide pins to the axis-2 joint unit. Guide pin, M5x150: 3HAC087786- xx2300001021...
Page 843
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the guide pins and fasten the remaining Hex socket head cap screw: M5x30 two screws and washers. 12.9 Lafre 2C2B/FC6.9, 16 pcs CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB...
Page 844
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Connect the connectors to each other and snap them to the cable holders. • J2.DC+ to J2.DC+ • J2.DC- to J2.DC- • J2.CS to J2.CS •...
Page 845
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Connecting the cabling between the lower arm and swing Action Note Connect the connectors to each other and snap them to the cable holders. xx2000001938 Secure the cabling with cable ties.
Page 846
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the lower cover of lower arm by removing the screws. xx2300000812 Remove the lower inner cover by removing the screws. xx2300000813 Refitting the swing cover and insert(-10/1.52 and -12/1.27)
Page 847
5 Repair 5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Refit the cover with the four screws. Hex socket head cap screw: M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.4 Nm xx2300000814 Concluding procedure...
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Location of the axis-2 joint unit The joint unit is located as shown in the figure. xx2000001948 Summary of the replacement procedure This is a brief summary of the replacement procedure, containing the major actions to be performed.
Page 849
5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 850
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Removing the joint unit Use these procedures to remove the joint unit. Preparations before removing the joint unit Action Note Jog the robot to the specified position: • Axis 1: 0°...
Page 851
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the four lower arm cover screws. xx2000001929 Remove the cover by inserting a small flat screwdriver to snap open the locks at each end of the cover.
Page 852
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Disconnecting the cabling between the lower arm and the swing Action Note Remove the functional earth cable by removing the screw. xx2000001936 Cut the cable ties. xx2000001937 Snap loose and disconnect all connectors.
Page 853
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Removing the lower and upper arm assembled Action Note Remove the cable bracket by removing the four screws. xx2000001939 Secure the weight of the upper and lower arm. Suggestion with lifting sling and an overhead crane.
Page 854
Always use guide pins in pairs. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 855
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the complete arm system from the swing. xx2000001941 Remove the guide pins. xx2000002432 Removing the swing cover (-5/0.95) Action Note CAUTION Make sure that all supplies for electrical power are turned off.
Page 856
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note CAUTION Valid for CRB 15000-5/0.95 There is cabling connected between the cover and the joint unit drive board. Open the cover with care to avoid damage to the cabling or the connector(s).
Page 857
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Cut the cable ties. xx2000001946 Remove the functional and protective earth cables by removing the screw. xx2000001945 Snap loose and disconnect the connectors: • J2.DC+ • J2.DC- •...
Page 858
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Removing the axis-2 joint unit (-5/0.95) Action Note Fit the lifting aid to the joint unit, on the torque Lifting aid: 3HAC077788-001 sensor side. Screws: M4x35 (4 pcs) CAUTION The connectors and the joint unit cables are sensitive to mechanical damage.
Page 859
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Put the cabling at the slot in order not to squeeze it during removal of joint unit. xx2100000045 Press the joint unit out of position using two of the previous attachment screws as removal tools.
Page 860
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Fit the protection plate to the drive board unit. Protection plate: 3HAC077790-001 (for CRB 15000-5/0.95) / 3HAC087789-001 (for CRB 15000- 10/1.52 and CRB 15000-12/1.27) Using the protection plate is important for protect- ing the drive board unit.
Page 861
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the cable support from the drive board by removing the attachment screws. xx2000002055 Disconnect the two connectors from the torque sensor board. • TQ.A • TQ.B...
Page 862
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Place the joint cable through the hollow shaft from the torque sensor side. CAUTION The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- xx2000002048 sembly with care.
Page 863
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Insert the cabling through the cable support and fit the support to the drive board with the attach- ment screws. xx2000002056 Hex socket head cap screw: M3x30 12.9 Lafre 2C2B/FC6.9 (2 pcs)
Page 864
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Fit the protection plate to the drive board unit. Protection plate: 3HAC077790-001 (for CRB 15000-5/0.95) / 3HAC087789-001 (for CRB 15000- 10/1.52 and CRB 15000-12/1.27) xx2000002057 Secure the cables to the cable support with a Cable tie: 3HAC075545-001.
Page 865
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the protection plate. xx2100000301 Preparations before fitting the joint unit (-5/0.95) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section...
Page 866
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Refitting the axis-2 joint unit (-5/0.95) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Fit the lifting aid to the joint unit.
Page 867
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Fit the joint unit to the swing, aligning the pin with the pin hole. CAUTION xx2000001959 The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- sembly with care.
Page 868
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Remove the lifting aid by removing the screws. xx2000001956 Clean pushed-out flange sealant, if any. Connecting the axis-2 joint unit cabling Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling...
Page 869
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note Secure the cables for functional earth and Hex socket head cap screw: M3x6 (1 protective earth with a screw. pcs). Tightening torque: 0.8 Nm. xx2000001945 Secure the cabling with cable ties.
Page 870
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Action Note For robots with RobotWare earlier than 7.10 Place the cover at mounting position and recon- nect the brake release connector DR.X8 to the drive board. Orient the cover for proper arrangement of the brake release cable.
Page 871
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Refitting the lower and upper arm assembled (-5/0.95) Action Note Fit two guide pins to the axis-2 joint unit. Guide pin, M4x120: 3HAC077786- xx2000001949 Remove any old residuals of flange sealant from...
Page 872
M4x25 12.9 Lafre 2C2B/FC6.9+PrO-COat111 (16 pcs) Pre-tighten the screws crosswise firstly. CAUTION Do not mix the flange screws used for CRB 15000- 5/0.95 and the threaded screws used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Always use washers together with the threaded screws for CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 873
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Connecting the cabling between the lower arm and swing Action Note Connect the connectors to each other and snap them to the cable holders. xx2000001938 Secure the cabling with cable ties.
Page 874
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Refitting the lower arm covers (-5/0.95) Action Note Wipe, lubricate and fit the o-ring to its groove. O-ring: 3HAC061327-044 Replace if damaged. Grease: 3HAC042536-001 (Shell Gadus S2) xx2000001954 Refit the inner cover with four screws.
Page 875
5 Repair 5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) Continued Concluding procedure Action Note Calibrate the joint unit torque sensor. Calibration on page 1051 1 On the FlexPendant, go to the Code app and call the calibration procedure using PP to Routine, not by using Call Routine.
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Location of the axis-2 joint unit The joint unit is located as shown in the figure.
Page 877
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Spare part Article number Note Joint unit 3HAC087472-001 Used for CRB 15000-10/1.52 and CRB 15000-12/1.27. New O-rings 3HAC061327-044 and cable tie 3HAC075545-001 are included in the delivery.
Page 878
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Removing the joint unit Use these procedures to remove the joint unit. Preparations before removing the joint unit Action Note Jog the robot to the specified position: xxx •...
Page 879
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the lower inner cover by removing the screws. xx2300000813 Disconnecting the cabling between the lower arm and the swing Action Note Remove the functional earth cable by removing the screw.
Page 880
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Removing the lower and upper arm assembled Action Note Remove the cable bracket by removing the four screws. xx2000001939 Secure the weight of the upper and lower arm.
Page 881
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove two attachment screws and fit two guide Guide pin, M5x150: 3HAC087786- pins to the axis-2 joint unit. Always use guide pins in pairs.
Page 882
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the complete arm system from the swing. xx2000001941 Remove the guide pins. xx2000002432 Removing the swing cover and insert (-10/1.52 and -12/1.27) Action...
Page 883
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note CAUTION Valid for CRB 15000-5/0.95 There is cabling connected between the cover and the joint unit drive board. Open the cover with care to avoid damage to the cabling or the connector(s).
Page 884
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the functional and protective earth cables by removing the screw. xx2000001945 Snap loose and disconnect the connectors: • J2.DC+ • J2.DC- • J2.CS •...
Page 885
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Loosen the robot base from the foundation by removing the foundation attachment screws. Lay the robot down with the torque sensor side upwards on a working bench. Do not damage the base socket.
Page 886
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Place the two semicircular blocks surrounding the joint unit, and use two fully threaded attachment screws as removal tools to press the joint unit out of position.
Page 887
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Removing the joint cable Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Fit the protection plate to the drive board unit.
Page 888
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the protection plate. xx2100000301 Remove the cable support from the drive board by removing the attachment screws. xx2000002055 Disconnect the two connectors from the torque sensor board.
Page 889
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Remove the joint cable from the hollow shaft from the torque sensor side. CAUTION The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- xx2000002060 sembly with care.
Page 890
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the cable plate to the joint unit with the Hex socket head cap screw: attachment screws. M2.5x6 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 0.45 Nm.
Page 891
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Keep the cabling loose, making sure not to twist or strain it. Use the cable tie to pre-fix the cable by hand. xx2100000507 Fit the protection plate to the drive board unit.
Page 892
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the cables to the cable support with a Cable tie: 3HAC075545-001. For cable tie, using a cable tie gun. securing joint unit cable.
Page 893
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Refitting the axis-2 joint unit (-10/1.52 and -12/1.27) Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Check the o-rings.
Page 894
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the lifting aid to the joint unit, aligning the pin Joint unit: 3HAC087472-001 with the pin hole. Lifting aid: 3HAC087787-001 Screws: M5x30 (4 pcs for plate and...
Page 895
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Fit the joint unit to the swing, aligning the pin with the pin hole. CAUTION The connectors and the joint unit cables are sensitive to mechanical damage. Handle the as- sembly with care.
Page 896
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure with four attachment screws and pre- tighten the screws crosswise. xx2300000796 Remove the lifting aid by removing the screws. xx2300000797 Secure the joint unit with the remaining attach- Hex socket head cap screw: ment screws.
Page 897
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Connecting the axis-2 joint unit cabling Action Note ELECTROSTATIC DISCHARGE (ESD) The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Reconnect the connectors to the drive board.
Page 898
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Secure the cabling with cable ties. Cable ties (3 pcs) xx2000001946 Refitting the swing cover and insert(-10/1.52 and -12/1.27) Action Note Refit the insert.
Page 899
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Refit the cover with the four screws. Hex socket head cap screw: M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.4 Nm xx2300000814 Refitting the lower and upper arm assembled (-10/1.52 and -12/1.27)
Page 900
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Lift the upper and lower arm assembly to mount- Example of CRB 15000-5/0.95, ing position and slide it onto the guide pins. similar to CRB 15000-10/1.52 and CRB 15000-12/1.27.
Page 901
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Refit the cable bracket with four screws. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (4 pcs). Tightening torque: 0.8 Nm xx2000001939 Connecting the cabling between the lower arm and swing...
Page 902
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Connect the functional earth cable with the screw. Hex socket head cap screw: M3x8 12.9 Lafre 2C2B/FC6.9 (1 pcs). Tightening torque: 0.8 Nm xx2000001936 Refitting the lower arm covers (-10/1.52 and -12/1.27)
Page 903
5 Repair 5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) Continued Action Note Refit the lower cover of lower arm with three Lower arm cover, lower: Lower screws. arm, used for CRB 15000-10/1.52 and CRB 15000-12/1.27. Tightening torque: 1.4 Nm.
Page 905
5.6.5 Replacing the axis-3 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 942
5.6.6 Replacing the axis-4 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 963
Note CAUTION Axis-4 joint unit used for CRB 15000-5/0.95 has the same appearance as that used for CRB 15000- 10/1.52 and CRB 15000-12/1.27. Do not mix the joint units for different manipulator variants. Al- ways check the mark or label on the joint units before refitting.
Page 981
7 Replace the axis-5 to axis-6 transition cabling. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...