ABB IRB 6730 Manuals

Manuals and User Guides for ABB IRB 6730. We have 1 ABB IRB 6730 manual available for free PDF download: Product Manual

ABB IRB 6730 Product Manual (660 pages)

Brand: ABB | Category: Robotics | Size: 38.53 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
28
Safety During Maintenance and Repair
29
Emergency Release of the Robot Axes
32
Brake Testing
33
Safety During Troubleshooting
34
Safety During Decommissioning
35
Manipulator Description
37
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
49
Installation and Commissioning
51
Introduction to Installation and Commissioning
51
Unpacking
52
Pre-Installation Procedure
52
Risk of Tipping/Stability
53
On-Site Installation
55
Brief Installation Procedure
55
Installing a Base Plate
56
Lifting the Robot
64
Lifting Robot with Lifting Accessory (Recommended Lifting Method)
64
Lifting the Robot with Fork Lift
66
Lifting the Robot with Roundslings
67
Orienting and Securing the Robot
72
Manually Releasing the Brakes
75
Loads Fitted to the Robot, Stopping Time and Braking Distances
77
Fitting Equipment on the Robot (Robot Dimensions)
78
Working Range Alterations
87
Adjusting the Working Range
87
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
88
Extended Working Range, Axis 1 (Option)
91
Electrical Connections
93
Robot Cabling and Connection Points
93
Test Run after Installation, Maintenance, or Repair
96
Maintenance
97
Introduction
97
Maintenance Schedule and Expected Component Life
98
Specification of Maintenance Intervals
98
Maintenance Schedule
99
Expected Component Life
101
Inspection Activities
102
Inspecting the Motor Seal
102
Inspecting the Balancing Device
104
Inspecting the Cable Harness
108
Inspecting the Dampers
110
Inspecting the Information Labels
112
Inspecting the Axis-1 Mechanical Stop
115
Inspecting the Oil Level in Axis-1 Gearbox
117
Inspecting the Oil Level in Axis-2 Gearbox
120
Inspecting the Oil Level in Axis-3 Gearbox
123
Inspecting the Oil Level in Axis-4 Gearbox
126
Inspecting the Oil Level in Axis-5 Gearbox
129
Inspecting the Oil Level in Axis-6 Gearbox
132
Replacement/Changing Activities
135
Type of Lubrication in Gearboxes
135
Changing the Oil in Axis-1 Gearbox
137
Changing the Oil in Axis-2 Gearbox
142
Changing the Oil in Axis-3 Gearbox
147
Changing the Oil in Axis-4 Gearbox
152
Changing the Oil in Axis-5 Gearbox
157
Changing the Oil in Axis-6 Gearbox
162
Replacing the SMB Battery
167
Lubrication Activities
170
Lubricating the Spherical Roller Bearing, Balancing Device
170
Cleaning Activities
172
Cleaning the IRB 6730
172
Repair
177
Introduction
177
General Procedures
178
Performing a Leak-Down Test
178
Mounting Instructions for Bearings
179
Mounting Instructions for Sealings
181
Cut the Paint or Surface on the Robot before Replacing Parts
185
Axes 1 and 2
186
Replacing the Axis-1 Cassette Sealing
186
Balancing Device
211
Replacing the Balancing Device
211
Replacing Spherical Roller Bearing, Balancing Device Link Ear
229
Replacing the Rear Bearings on the Balancing Device
244
Axes 3 and 4
256
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
256
Wrist
283
Replacing the Wrist
283
Replacing the Turning Disc
303
Electronic Parts
308
Removing the Cable Harness
308
Refitting the Cable Harness
329
Replacing the Brake Release Unit
357
Replacing the SMB Unit
364
Motors
370
Replacing the Axis-1 Motor
370
Replacing the Axis-2 Motor
385
Replacing the Axis-3 Motor
401
Replacing the Axis-4 Motor
413
Replacing the Axis-5 Motor
426
Replacing the Axis-6 Motor
438
Gears
448
Replacing the Axis-1 Gearbox
448
Replacing the Axis-2 Gearbox
495
Replacing the Axis-3 Gearbox
539
Replacing the Axis-6 Gearbox
588
Calibration
605
Introduction to Calibration
605
Introduction and Calibration Terminology
605
Calibration Methods
606
When to Calibrate
608
Synchronization Marks and Axis Movement Directions
609
Synchronization Marks and Synchronization Position for Axes
609
Calibration Movement Directions for All Axes
611
Updating Revolution Counters
612
Updating Revolution Counters on Omnicore Robots
612
Calibrating with Axis Calibration Method
613
Description of Axis Calibration
613
Calibration Tools for Axis Calibration
616
Installation Locations for the Calibration Tools
618
Axis Calibration - Running the Calibration Procedure
620
Reference Calibration
624
Verifying the Calibration
626
Checking the Synchronization Position
627
Troubleshooting
629
Introduction to Troubleshooting
629
Oil and Grease Stains on Motors and Gearboxes
631
Mechanical Noise or Dissonance
632
Manipulator Collapses on Power down
633
Decommissioning
635
Introduction to Decommissioning
635
Environmental Information
636
Scrapping of Robot
638
Decommissioning of Balancing Device
639
Reference Information
641
Introduction
641
Applicable Standards
642
Unit Conversion
643
Screw Joints
644
Weight Specifications
647
Standard Toolkit
648
Special Tools
649
Lifting Accessories and Lifting Instructions
654

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ABB IRB 6730 Product Manual (660 pages)

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