Page 1 ROBOTICS Product manual IRB 8700...
Page 2 Trace back information: Workspace R18-1 version a12 Checked in 2018-03-27 Skribenta version 5.2.025...
Page 4 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.
Page 5: Table Of Contents
Robot cabling and connection points ............Installation of options ..................2.6.1 Signal lamp (option) ................. 2.6.2 Installing the motor cooling fans ..............Start of robot in cold environments ..............Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 6 Upper and lower arms ..................4.5.1 Replacing the upper arm ................4.5.2 Replacing the wrist .................. 4.5.3 Replacing the axis-6 unit ................4.5.4 Replacing the turning disc ................ Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 7 Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 9: Overview Of This Manual
Prerequisites A maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Organization of chapters The manual is organized in the following chapters: Chapter...
Page 10 Securing the base plate on page • Bearing grease 3HAC9408-1 changed name from Longtime PD2 to Tribol GR 100-2 PD • Fork lift accessory descriptions updated. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 11 Start of robot in cold environments on page 98 added. • Updated information regarding disconnecting and reconnecting battery cable to serial measurement board. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 12 Information about myABB Business Portal added. • Added Nickel in Environmental information. • Added article numbers for cooling fan cabling between robot base and control cabinet. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 13: Product Documentation
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.
Page 14 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 15: How To Read The Product Manual
Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
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Page 17: Safety
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 complete system, nor does it cover all peripheral equipment that can influence the safety of the entire system.
Page 18 Grippers/end effectors must be designed so that they retain work pieces in the event of a power failure or a disturbance to the controller. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 19 1.1.1 Limitation of liability Continued Unauthorized modifications of the originally delivered robot are prohibited. Without the consent of ABB it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength could be affected. CAUTION Ensure that a gripper is prevented from dropping a work piece, if such is used.
Page 20: Protective Stop And Emergency Stop
1.1.2 Protective stop and emergency stop 1.1.2 Protective stop and emergency stop Overview The protective stops and emergency stops are described in the product manual for the controller. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 21: Safety Actions
1.2 Safety actions 1.2.1 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the manipulator or controller. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 22: Emergency Release Of The Robot Axes
When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 23: Make Sure That The Main Power Has Been Switched Off
Wait for 5 minutes to let the capacitors discharge after the power has been switched off. DANGER Even if the main switch is switched off, the capacitors can cause electric shock if not given the time to discharge. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 24: Safety Risks
Corrective maintenance 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. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 25 ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the robot.
Page 26: Moving Robots Are Potentially Lethal
The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 27: First Test Run May Cause Injury Or Damage
If maintenance or repair has been done, pay special attention to the function of the part that was serviced. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 29: Enabling Device And Hold-To-Run Functionality
How to operate the hold-to-run function for IRC5 is described in Operating manual - IRC5 with FlexPendant. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 30: Risks Associated With Live Electric Parts
The power supply for the motors (up to 800 VDC). • The user connections for tools or other parts of the installation (max. 230 VAC). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 31 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. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 32: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limit- ing resistor. Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 33: Hot Parts May Cause Burns
Wait until the potentially hot component has cooled if it is to be removed or handled in any other way. Do not put anything on hot metal surfaces, e.g. paper or plastic. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 34: Safety Risks Related To Pneumatic/Hydraulic Systems
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. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 35: Brake Testing
3 Inspect and verify that the axis maintains its position. If the robot does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 36: Safety Risks During Handling Of Batteries
Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 37: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)
Possible pressure build-up in gearbox Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 38 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 39: Safety Signals And Symbols
ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. xx0200000023 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 40 Significance NOTE Describes important facts and conditions. xx0100000004 Describes where to find additional information or how to do an operation in an easier way. xx0100000098 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 41: Safety Symbols On Product Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 42 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 43 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 44 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 45 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 46 Shut off with handle Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 47: Installation And Commissioning
If the IRB 8700 is connected to power, always make sure that the robot is connected to protective earth before starting any installation work. For more information see: • Product manual - IRC5 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 48: Unpacking
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.
Page 49 These forces and torques are extreme values that are rarely encountered during operation. The values also never reach their maximum at the same time! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 50 Storage conditions, robot The table shows the allowed storage conditions for the robot: Parameter Value Minimum ambient temperature -25°C (-13°F) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 51 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Foundry Plus IP67 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 52: Working Range
Working range axis 5 and axis 6 for LeanID, option 780-4 Allowed working area for axis 6 related to axis 5 position is shown in the figure. xx1300001587 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 53 Continued Illustration, working range IRB 8700 - 550/4.20 This illustration shows the unrestricted working range of the robot. R1174 4157 xx1400002880 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 54 2 Installation and commissioning 2.2.2 Working range Continued Illustration, working range IRB 8700 - 800/3.50 This illustration shows the unrestricted working range of the robot. R928 3487 xx1400002879 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 55: Risk Of Tipping/Stability
Axis-2 -65° Axis-3 2° Axis-4 90° Axis-5 -90° Axis-6 0° WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 56: Main Dimensions
2.2.4 Main dimensions 2.2.4 Main dimensions Illustration LeanID IRB 8700 - 550/4.2 2175 IRB 8700 - 800/3.5 1010 R 340 1475 1530 1621 R 955 xx1400002868 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 57: On-Site Installation
If not, there is a risk that the truck and the robot will tip over, resulting in possible injury or damage. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 58 DressPack cable package can stay fitted as long as the tool has been removed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 59 Attaching the fork lift accessory set Action Note CAUTION Each fork lift accessory pocket weights 18 kg. Use caution when handling them. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 61 DressPack cable package can stay lifting the robot with the fork lift accessory set. fitted as long as the tool has been removed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 63 Unscrew the remaining screws (4 pcs) that secure the robot to the foundation. xx1500002296 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 64 Use caution and move the robot with low speed to its new location. Note If the robot shall be stored or later be further transported, make sure to follow appropriate safety measures. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 65: Attaching The Robot And Removing The Fork Lift Accessory Set
650 Nm DANGER DO NOT power up the robot until it is secured to the foundation with all 12 attachment screws. xx1500002296 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 66 Attach the protection plugs in the holes for the fork lift accessory set. Keep the fork lift accessory set together with the manual "Directions for use, Fork lift accessory set IRB 8700". Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 67: Lifting The Base Plate
Required equipment Equipment Article number Note Lifting eye, M24 1 pc Lifting slings 1 pc Length: approx. 2 m Hole configuration xx1400002587 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 68 Use caution and lift the base plate. CAUTION Lift and move the base plate very slowly. If the base plate starts to swing it is a risk for injuries or damage. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 69: Securing The Base Plate
A, B, C, D Common tolerance zone (accuracy all over the base plate from one contact surface to the other). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 70 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1400002594 Orienting grooves (4 pcs) Levelling bolts, attachment holes M20 through (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 71 Make sure the foundation is levelled. CAUTION The base plate weighs 760 kg! All lifting ac- cessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 72 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 73: Lifting The Robot With Roundslings
To reach the length of 2.1 m, use roundslings 2.5 m and shorten them to 2.1 m. Lifting chains with shorteners is an alternative. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 74 All lifting accessories used must be sized accordingly. Fit lifting eyes to the holes on frame and counter weight respectively. xx1400002590 A Lifting eye: M24 (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 75 WARNING Personnel must not, under any circum- stances, be present under the suspended load. Use caution and raise the overhead crane to lift the robot. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 76: Returning Of The Abb Pallet
The steel pallet is the property of ABB Note The steel pallet the robot is delivered on, is the property of ABB. It must therefore be returned within the specified time, after the arrival of the robot system. If the pallet is not returned, it will be invoiced.
Page 77: Manually Releasing The Brakes
A and R1.MP-B. How to supply power to the con- nectors is described in Supplying power to connect- or R1.MP on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 78 Both R1.MP-A and R1.MP-B contacts are 0V (pin 12 MP-A) used when relasing the brakes on axis-1, -2, and -3. MP-B 24V (pin 11 MP-B) xx1500001989 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 79 Supply 24V on pin 11 R1.MP-B. Note Only R1.MP-B contact is used when relas- ing the brakes on axis-4, -5, and -6. MP-B 24V (pin 11) 0V (pin 12) xx1500001990 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 80: Orienting And Securing The Robot
2 X 45° 30 ±0,5 0,3 D E H R500 SECTION K-K SECTION D-D xx1700000972 Description Section Holes for guide pins (x2) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 81 4 mm flat washer Tightening torque: 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 82 Attachment screws on holes. page Note Lightly lubricate screws before assembly! Tighten bolts in a crosswise pattern to ensure that the base is not distorted. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 83: Loads Fitted To The Robot, Stopping Time And Braking Distances
The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification for the robot. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 84: Fitting Equipment
R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 500 kg) xx1400002873 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 85 M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the axis-3 extension. xx1400002874 Mass center xx1400002875 Center of gravity 50 kg Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 86 Holes for fitting extra equipment Upper arm 3x M10 3x M8 4x M12 R152,5 4x M8 A - A xx1400002876 Holes located on both sides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 87 3x M8 12 D - D C - C 3x M8 12 E - E xx1500000869 Measure from center axis 6 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 88 234 (3x M10) 368 (4x M10) 388 (4x M10) 4x M10 18 4x M10 A - A B - B xx1400002877 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 89 1 X 45° SECTION C-C + 0,040 160 H7 0,02 A SECTION B-B xx1400002878 Fastener quality Use suitable screws and tightening torque for your application. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 90: Restricting The Working Range
This section describes how to install hardware that restricts the working range. Note Adjustments must also be made in the robot configuration software (system parameters). References to relevant manuals are included in the installation procedures. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 91: Mechanically Restricting The Working Range Of Axis 1
Min. angle 17° positive direction Max. angle 73° Min. angle 32° negative direction negative direction Min. angle 122° negative direction xx1400002593 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 92 • hydraulic pressure supply to the robot • air pressure supply to the robot Before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 93 Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 94: Electrical Connections
R1.MP-B to the robot motors. Robot cable, signals Transfers resolver data from R1.SMB and power supply to the serial measurement board. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 95 Harness - cooling, 22 m 3HAC022723-005 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Harness - cooling, 30 m 3HAC022723-006 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 96: Installation Of Options
The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 97: Installing The Motor Cooling Fans
2.6.2 Installing the motor cooling fans 2.6.2 Installing the motor cooling fans Installation information All required installation information is enclosed with the fan packages sent from ABB Service. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 98: Start Of Robot In Cold Environments
If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 99: Maintenance
If the IRB 8700 is connected to power, always make sure that the IRB 8700 is connected to protective earth before starting any maintenance work. For more information see: • Product manual - IRC5 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 100: Maintenance Schedule And Expected Component Life
40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.
Page 101: Maintenance Schedule
Inspecting the balancing device Inspecting the balancing devices on page 123 Inspecting the robot harness Inspecting the cable harness on page 126 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 102 Depending on application and the operating environment, an overhaul may be necessary after 40,000 hours. To get a correct assessment of the robot's status and about which parts that needs to be overhauled or replaced, contact your local ABB Customer Service office. Product manual - IRB 8700 3HAC052853-001 Revision: F ©...
Page 103: Expected Component Life
Deviations from this cycle will result in differences in expected life! The SIS for an IRC5 system is described in the Operating manual - Service Information System. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 104: Inspection Activities
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 105 Further information about how to drain or fill with oil is found in sec- tion Changing oil, axis-1 gearbox on page 141. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 106 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 107: Inspecting The Oil Level In Axis-2 And 3 Gearboxes
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 108 Open the inspection plug. xx1500001995 Inspect the oil level. Required oil level is a few millimeters below the lower edge of the inspection hole. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 109 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 110: Inspecting The Oil Level In Axis-4 Primary Gearbox
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 111 Open the inspection plug. xx1500001998 Inspect the oil level. Required oil level is a few millimeters below the lower edge of the inspection hole. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 112 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 113: Inspecting The Oil Level In Axis-4 Secondary Gearbox
Inspecting the oil level in axis-4 secondary gearbox Action Note Jog axis-2 to -60° position approximately. Jog axis-3 to +10° position approximately. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 114 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 115: Inspecting The Oil Level In Axis-5 Gearbox
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 116 Changing oil, axis-5 gearbox on page 164. Refit the oil plug. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 117 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 118: Inspecting The Oil Level In Axis-6 Gearbox
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 119 Use caution when the oil plug is opened, in order to let out the excess pressure. Open the combined inspection and ventilation plug. xx1700001289 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 120 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 121: Inspecting The Transparent Plugs
A few drops of oil inside can normally be released from the hub. But if oil increases, this is not the case. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 122 Add an extra 2 mm shim between the hub and the radial sealing to eliminate the problem In a clean environment the transparent oil plugs can be removed. Do not remove the transparent oil plugs in other than clean environments! Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 123: Inspecting The Balancing Devices
The figure also shows the inspection points, further described in the instructions. xx1500002076 Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 124 Inspect the area around the lock nut and V-ring at the upper and lower ear for leakage. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 125 Keep the areas around the balancing devices clean and free from objects, such as service tools etc. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 126: Inspecting The Cable Harness
Make sure the cabling is not dam- aged in any way, between the cable brackets in these areas. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 127 Ensure that the cables are undam- aged. Remove any objects that may cause possible cable chafing! Replace the cable harness if wear, cracks or other damage is detected! Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 128: Inspecting The Information Labels
These figures show the location of the information labels to be inspected. The symbols are described in section Safety symbols on product labels on page Illustration 1 SECTION A-A xx1700000986 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 129 SECTION B-B Axis 2-3 SECTION D-D xx1700000979 Description Illustration Calibration label Warning label Risk of crush injuries. xx1700000980 Oil specification label Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 130 Brake release buttons xx1700000983 Complete oil specification Warning label Tip risk when loosening bolts xx1700000981 Grease specification label Instruction plate Heat xx1700000984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 131 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 839. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 132: Inspecting The Axis-1 Mechanical Stop Pin
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 133 If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 134: Inspecting The Additional Mechanical Stops
Attachment screw and washer (4+4 pcs) • Document for mechanical stop pin Standard toolkit Content is defined in section Standard toolkit on page 833. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 135 Article number is specified in be replaced. Required equipment on page 134. Correct attachment screws: • M16x90 quality 12.9 Gleitmo 603 (2 pcs per additional mechanical stop) Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 136: Inspecting The Fork Lift Accessories
The fork lift accessory is fitted to the robot as shown in the figure. xx1400002588 CE label Fork lift pocket (4 pcs) Attachment screws MC6S 20x60 8.8 (2x4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 137 If any damage is detected, the fork lift pockets and Article number is specified in attachment screws must be replaced. Required equipment on page 134. Attachment screws: M20x60 quality steel 8.8-A3F Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 138: Inspecting The Signal Lamp (Option)
If so, replace it. page 138. • inspecting cable connections. • inspecting the cabling. Replace the cabling if a fault is detected. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 139: Inspecting Dampers
3HAC12991-1 (7 pcs) Attachment screws: M6x20 (1x7 pcs) Damper, wrist: 3HAC050601-001 (2 pcs) Attachment screws: M6x16 (2+2 pcs) Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 140: Replacement/Changing Activities
Before starting any inspection, maintenance, or changing activities of lubrication, always contact the local ABB Service organization for more information. For ABB personnel: Always check ABB Library for the latest revision of the manual Technical reference manual - Lubrication in gearboxes, in order to always get the latest information of updates about lubrication in gearboxes.
Page 141: Changing Oil, Axis-1 Gearbox
Article number Note Oil collecting vessel The capacity of the vessel must be sufficient to take the complete amount of oil. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 142 If the ventilation hole is closed when the oil dispenser is in use, there is a risk of damaging vital parts in the gear. xx1500001993 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 143 Remove the oil filling nipple, put the protect- ive cap on and put the oil filling hose into the connection box. xx1600001405 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 144 Before proceeding, please read the safety information in the section Safety risks during work with gearbox lub- ricants (oil or grease) on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 145 Required oil level: 58 mm ± 5 mm below the sealing surface of the oil plug. Remove the oil dispenser. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 146 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 147: Changing Oil In Axis-2 And Axis-3 Gearbox
Standard toolkit on page 833. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 148 If the ventilation hole is not open when the oil dispenser is working, there is a risk of damaging vital parts in the gear! xx1500001994 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 149 Remove the oil dispenser and refit the protection cap to the nipple of the oil draining plug. xx1500002014 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 150 (oil or grease) on page Remove the ventilation plug. Note The ventilation plug is opened to let out air during the filling process. xx1500001994 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 151 More information is found in Inspecting the oil level in axis-2 and 3 gearboxes on page 107. xx1500001995 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 152 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 153: Changing Oil, Axis-4 Primary Gearbox
Standard toolkit on page 833. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 154 If the ventilation hole is not open when the oil dispenser is working, there is a risk of damaging vital parts in the gear! xx1500002017 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 155 Remove the oil dispenser and refit the protection cap to the nipple of the oil draining plug. xx1500002016 Refit the ventilation plug. Tightening torque: 24 Nm. xx1500002017 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 157 110. xx1500002018 Remove the oil dispenser and refit the protection cap to the nipple of the oil filling plug. xx1500002016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 158 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 159: Changing Oil, Axis-4 Secondary Gearbox
Standard toolkit on page 833. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 160 Remove the oil plug from the drain hole and let the oil run into the vessel. xx1500002020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 161 Before proceeding, please read the safety information in the section Safety risks during work with gearbox lub- ricants (oil or grease) on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 162 Inspecting the oil level in axis-4 sec- ondary gearbox on page 113. Refit the oil plugs. Tightening torque: 24 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 163 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 164: Changing Oil, Axis-5 Gearbox
The capacity of the vessel must be sufficient to take the complete amount of oil. Standard toolkit Content is defined in section Standard toolkit on page 833. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 166 • Axis-2: as far forward as possible • Axis-3: 0° • Axis-4: -60° approximately • Axis-5: 0° • Axis-6: no significance Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 167 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 168: Changing Oil, Axis-6 Gearbox
Draining the axis-6 gearbox Action Note Jog the robot to a comfortable working position in regard of getting access to the axis-6 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 169 Remove the oil plug from the combined filling/inspection/ventilation hole. Note The plug is opened to speed up the drain- age. xx1500002034 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 170 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 171 Inspect the oil level by slowly jogging the axis-5 further 7° to approximately +82° totally. CAUTION Excessive oil can be spilled! xx1700001290 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 172 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 173: Replacing The Smb Battery
Required tools Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 833. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 174 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB- ap- proved equivalent. WARNING A used battery is hazardous material and shall be disposed of in a safe way. See section...
Page 175 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 176: Lubrication Activities
Equipment, etc. Article number Note Grease 3HAC042534-001 Tribol GR 100-0 PD, 50 ml Used for lubrication of the spherical roller bearing. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 177 Inspect the bearings after a few days run- ning. Some of the refilled grease may have emerged from the bearing. Wipe clean from residual grease. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 178: Lubricating The Cross Roller Bearing
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 179 Inspect the cross roller bearing after a few days running. Some of the refilled grease may have emerged from the bearing. Wipe clean from residual grease. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 180: Cleaning Activities
Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 181 3 Maintenance 3.6.1 Cleaning the IRB 8700 Continued • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. • Do not remove any covers or other protective devices before cleaning the robot.
Page 182 Cooling fans Inspect the air supply inlet of the the motor cooling fans. Clean to remove any contamination that could hinder the air supply. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 183: Repair
Each procedure contains all the information required to perform the activity, for example spare parts numbers, required special tools, and materials. WARNING Repair activities not described in this chapter must only be carried out by ABB. Otherwise damage to the mechanics and electronics may occur. Required equipment The details of the equipment required to perform a specific repair activity are listed in the respective procedures.
Page 184: General Procedures
Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 185: Mounting Instructions For Bearings
Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 186 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. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 187: Mounting Instructions For Seals
Never hammer directly on the seal as this may result in leakage. Make sure no grease left on the robot surface. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 188 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, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
Page 189: Cut The Paint Or Surface On The Robot Before Replacing Parts
Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 190: The Brake Release Buttons May Be Jammed After Service Work
If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 191: Attaching Lifting Accessories
Lifting capacity: 2,000 kg Lifting eye 3HAC16131-1 Fender washer Outer diameter: minimum 26 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 192 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 193 Attach a roundsling looped to the wrist and Roundsling 3 m: Lifting capacity: 2,000 kg to an overhead crane (or similar). xx1500002714 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 194 4.3.1 Attaching lifting accessories to the upper arm Continued Action Note Stretch the lifting accessories to take the weight of the upper arm. xx1500002724 Adjust the lifting accessories, if needed. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 195: Attaching Lifting Accessories To The Wrist
The figure show IRB 6700, but the principle is the same. Required tools and equipment Equipment, etc. Article number Note Roundsling 2.5 m Lifting capacity: 2,000 kg Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 196 Use a Mobile platform ladder (or similar) to Mobile platform ladder attach the lifting accessories. DANGER Never use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 197 (or similar). xx1400000730 Stretch the lifting accessories to take the weight of the wrist. Adjust the lifting accessories, if needed. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 198: Cable Harness
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 199 Retrieving access to the wrist cabling Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 200 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 201 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 202 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 203 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 204 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 205 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 206 Unscrew the nut holding the bracket inside the upper arm. Note The nut is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 207 Disconnecting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 208 Disconnect R1.MP-A and R1.MP-B. xx1500003083 Disconnect R1.SMB. Sparkplug wrench Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Remove the two earth cables. xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 209 Cut the cable ties that secure the axis-2 Axis-2 motor cable and axis-3 motor cables to the cable fixing brackets. xx1500003091 Axis-3 motor cable xx1500003090 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 210 If not already done, unscrew the screws that hold the two cable brackets inside the lower arm. Note The screws are reached from the outside. xx1500002695 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 211 ESD on page 32 Open the small battery cover on the SMB cover, dis- connect the battery cable and remove the battery. xx1300000829 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 212 If needed, disconnect the brake release unit (connect- ors X8, X9 and X10). xx1300000670 Remove the screws with washers that hold bracket with the SMB unit. xx1300000730 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 213 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section unit is sensitive to ESD on page 32 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 214 Use caution and pull out the cable harness from the SMB recess. xx1500003089 Concluding procedure Action Note Use caution and remove the cable harness from the robot. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 215: Refitting The Cable Harness
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 216 Tightening torque: 6 Nm xx1500003088 Use caution and run the cable harness through the hole in the frame and out to the base plate. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 217 Screws M6x20 stainless steel (4 pcs) Make sure the signal cable R1.SMB runs under the oil hose and above the R1.MP cables, through the base. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 218 Make sure the cable harness is rotated one revolution between the upper and lower bracket inside the lower arm, when refitted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 219 The screws are reached from the outside. xx1500002695 Refit upper and lower cable guides. xx1600000075 The figure show the positions of the cable guides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 221 Refitting the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 222 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 223 Get a hold of the battery cable in the recess for the battery and reconnect. Place the battery in the recess. xx1300000829 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 224 Run the cables to axis-2 motor through the hole on the left side of the frame. xx1600000079 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 225 Connecting the axis-1, axis-2, axis-3 and axis-4 motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 226 O-ring: 3HAC054692-002 Refit the o-ring. CAUTION When refitting the motor cover, make sure none of the cables inside will be damaged! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 227 Refit the cable clamp inside the upper arm. Nut: M6 Note The nut is attached from the outside. xx1500002720 Refit the protection cover. Attachment screw: M8 xx1500002719 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 228 The three washers are pressed into the holes in the gasket. Make sure all three washers are fitted. xx1500003094 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 229 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 230 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 231 The screw that secure the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 232 Note Replace if damaged. xx1500003095 CAUTION Make sure not to damage the cables inside the motor when refitting the motor cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 233 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 234 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 235: Replacing The Smb
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 236 Disconnecting and removing the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 237 Disconnect the battery cable by pressing down the upper lip of the R2.G connector to release the lock while pulling the connector upwards. xx1300000728 xx1700000993 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 238 The unit is sensitive to ESD on page 32 Connect the battery cable to the SMB unit. Make sure the lock snaps into place during refit- ting. xx1300000729 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 239 Take a hold of the SMB cover and pull the battery cable out through the recess for the battery. xx1300000834 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 240 Attachment screws: M6x16 8.8 (2 pcs) Tightening torque: 6 Nm Concluding procedure Action Note Update the revolution counter. Updating revolution counters on page 801. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 241 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 242: Replacing The Brake Release Unit
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 243 The battery can stay connected, to avoid needing to synchronize the robot. CAUTION Carefully put the SMB cover down to avoid damaging the battery cable connectors. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 244 Unscrew the attachment screws securing the brake release unit bracket. Remove the bracket with the brake release unit fitted. xx1300000744 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 245 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 246 190! Refit the push button guard to the SMB cover. Attachment screws: M5x16 8.8 (6 pcs) xx1300000743 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 247 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 248: Upper And Lower Arms
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 249 Molykote 1000 To be used on attachment screws. Scotch-Brite Abrasive cleaning hand pads. To be used to clean the axis-4 shafts. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 251 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 252 Use this procedure to remove both balancing devices. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 253 Stretch the lifting accessories to take the weight of the balancing device. Remove upper and lower KM-nuts, V-rings and support rings. xx1500001973 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 254 This will prevent the balancing device from starting to move unexpectedly. If both balancing devices shall be removed, remove the other in the same way. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 255 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 256 +90° or -90° position as possible, depend- ing on what repair work is being done. Note Not needed if only replacing the axis-6 unit. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 257 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 258 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 259 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 260 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 261 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 262 Unscrew the nut holding the bracket inside the upper arm. Note The nut is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 263 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 264 Attach a roundsling looped to the wrist and Roundsling 3 m: Lifting capacity: 2,000 kg to an overhead crane (or similar). xx1500002714 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 265 Remove the attachment screw with washer that secure the rod shaft. xx1400002600 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 266 Apply the press tool parts (Assembly tool, Assembly tool: 3HAC051000-001 Press plate and Round plate). Press plate: 3HAC050949-001 Round plate: Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 267 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 268 In order to release the brakes, connect the 24 VDC power supply. Connect connector R2.MP2: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 269 Note Continue the removal on the same side until the shaft is removed completely. Leave the other shaft fitted for now! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 270 Attach the Glycerine adapter. Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage. xx1600000081 Remove the small VK cover. xx1500002729 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 271 002 delivered with the tool. CAUTION Do not stand close to the robot on any side when the shaft is being removed. xx1600000077 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 272 Attaching lifting accessories to the upper arm complete Action Note CAUTION The complete upper arm weighs 900 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 273 Attach a roundsling looped to the Lifting Roundsling 2.5 m: Lifting capacity: 2,000 eye and to an overhead crane (or similar). xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 274 Remove residues of Loctite and other contamination from the shafts and in the holes where the shafts will be refitted. xx1500002731 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 275 Scotch-brite abrasive cleaning hand pad pad and rub the contact surfaces in the holes for the shafts, outer ring of bearings and sealing rings. xx1500002750 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 276 Start the refitting of the shafts on the axis-2 side! Action Note Fill the bearing with grease. Tribol GR 100-2 PD Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 277 Use caution and lift the shaft into mounting position. Note Do not touch the surfaces cleaned with Isopropanol. xx1500002731 Wipe the Glycerine adapter connection Glycerine adapter meticulously clean. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 278 Tighten the adjustment nut. Tightening torque: 20 Nm Attach a Dial gauge and put it in zero posi- Dial gauge tion. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 279 Refitting the KM nut - axis-3 side Note Start refitting KM nut on the axis-3 side! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 280 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Wipe clean the KM nut. xx1600000193 Wipe clean the o-ring in the KM nut. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 281 Attach the attachment of the dial gauge in Dial gauge value: 0.38 mm. the holes on the axis-3 side, with the dial gauge against the axis-2 side. xx1700000970 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 282 Do not remove or add another shim! Inspect the pre-mounted gamma sealing on the KM nut. xx1600000083 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 283 Secure the axis-2 KM nut with the Sleeve Sleeve KM nut D=152 L=220: 3HAC038174- KM nut, until the dial gauge shows 0.38 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 285 Apply the press tool parts (Assembly tool, Press plate and Round plate). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 286 Attachment screw: M10x16 8.8 screw and secure shaft. Loctite 243 xx1400002600 Remove the four M10x50 screws and refit the protection plugs (4+4 pcs). xx1500001961 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 287 Refit the cable clamp on the axis-3 bracket. xx1500002718 Refit the cable clamp on the axis-3 bracket, between axis-4 motor and arm housing. xx1500003092 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 288 Make sure all three washers are fitted. xx1500003094 Refit the cover. xx1500002722 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 289 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 290 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 291 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 292 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 293 Turn on the power, use caution and jog axis-5 slowly to +90° position. CAUTION Make sure not to touch or damage any of the axis-6 motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 294 The attachment screw that secure the car- rier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 295 The resolver cable shall be placed under- neath the motor cable. xx1300000488 Inspect the gasket. Gasket, 3HAC033489-001 Note Replace if damaged. xx1200001095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 296 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 297 Apply some grease on shafts and in bear- Grease ing holes. Note Do not apply any grease on the threads for the KM-nut. xx1500002304 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 298 Note Make sure the bearings are axially centered in the balancing device ears, before putting them on the shafts. xx1500002306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 299 Apply locking liquid on the threads of the Locking liquid: Loctite 243 lock nuts. xx1500002307 Inspect that the bearings are axially centered in the balancing device ears. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 300 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 301 Clean the wrist cover from residues of sealant and other contamination. Make sure the contact surface on the wrist cover is undamaged. xx1600000046 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 302 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 303: Replacing The Wrist
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 304 Preparations before removing the wrist Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 305 Retrieving access to the wrist cabling Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 306 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 307 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 308 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 309 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 310 Do not attach the roundsling around the axis-5 gearbox! xx1300000673 The figure show the IRB 6700 but the prin- ciple is the same. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 311 Lubricate the guide pins with some grease to make the wrist slide better. xx1500003103 Remove the remaining attachment screws. xx1500003104 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 312 Use these procedures to refit the wrist. Preparations before refitting the wrist Action Note Clean the contact surfaces on wrist and arm tube flange. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 313 The figure show the IRB 6700 but the prin- ciple is the same. Note Make sure the roundsling is stretched, so it can carry the weight of the wrist. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 314 Use caution and slide the wrist into fitting position against the arm tube flange. CAUTION Make sure not to damage any parts of the cable harness. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 315 Remove the lifting accessories. Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1500002717 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 316 Replace if damaged. xx1200001070 CAUTION When refitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 317 The result will be damage to the cable harness. Use caution and push the carrier into posi- tion. xx1300001113 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 318 Attachment screws: M6x16 (2 pcs) ment screws. xx1300000484 Reconnect the connectors to the axis-6 motor. Note Place the resolver cable underneath the motor cable. xx1300000488 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 319 Make sure not to damage the cables inside the motor when refitting the motor cover. Refit the motor cover. Attachment screws: M5x20 (5 pcs) xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 320 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 321 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 322: Replacing The Axis-6 Unit
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 323 Preparations before removing the axis-6 unit Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 324 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 325 +90° or -90° position as possible, depend- ing on what repair work is being done. Note Not needed if only replacing the axis-6 unit. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 326 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 327 To release the brakes, connect the 24 VDC 24 VDC power supply power supply. Connect to R2.MP6-connector: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 328 Attaching lifting accessories to the axis-6 unit Action Note CAUTION The axis-6 unit weighs 165 kg. All lifting accessories must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 329 Slowly rotate the axis-6 unit upwards until the first three (of 21) screws are possible to remove. xx1600000195 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 330 This is done to be able to reach the attach- that secure the bearing. ment screws that secure the axis-6 unit. xx1600000197 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 331 CAUTION Be very careful not to damage the motor (if still fitted). The axis-6 must never rest on the motor. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 332 Refit the o-rings in the grooves. Lubricate the o-ring with some grease for a better fitting in the groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 333 When the last screws are attached, the axis-5 shall be as close as possible to +90° position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 334 Note Make sure that all 21 screws are attached and secured before removing the lifting accessories and continuing the procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 335 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Make sure the o-ring is undamaged. O-ring, 3HAB3772-107 Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 336 2 = 24V • pin 5 = 0V CAUTION Parting/mating motor pinion and hub, may damage the splines if excessive force is used! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 337 Screw dimension: M8x25 quality 12.9 Make sure that the gasket is fitted correctly. Gleitmo (4 pcs) xx1200001090 Disconnect the 24 V DC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 338 Secure the cable bracket with its attach- Attachment screws: M6x16 (2 pcs) ment screws. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 339 Make sure not to damage the cables inside the motor when refitting the motor cover. Refit the motor cover. Attachment screws: M5x20 (5 pcs) xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 340 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 341 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 342: Replacing The Turning Disc
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 343 Unscrew the 27 M12x40 screws and washers that secure the turning disk. xx1500002318 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 344 Use these procedures to refit the turning disk. Refitting the turning disk Action Note Wipe clean the contact surfaces. xx1500002319 Make sure the sealing ring is fitted. xx1500002984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 345 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 346: Replacing The Process Turning Disc
The process turning disk is located as shown in the figure. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700on ABB Library. Spare part Article number Note...
Page 347 Secure the process turning disk with its Attachment screws: M12x40 12.9 Gleitmo attachment screws and washers. 603 (22 pcs) Tightening torque: 120 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 348 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 349: Replacing The Complete Lower Arm
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700on ABB Library. Spare part Article number Note Lower arm...
Page 350 Used to secure the parallel arm against the lower arm Standard toolkit Content is defined in section Standard toolkit on page 833. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 351 Preparations before removing the lower arm Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 352 If used, remove the plastic plugs covering the holes for the lifting eyes. Note Keep the plastic plugs. They shall be refit- ted. xx1500001980 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 353 Unscrew the attachment screws with Attachment screws: M16x70 (10 pcs) washers, that hold the counterweight. xx1500001981 Use caution, lift the counterweight off. xx1500001982 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 354 Use this procedure to unload both balancing devices. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 355 Then, alternately little by little, attach the screws at least another five mil- limeters. The pressure is now unloaded. xx1500002309 Screw M16x80 (2 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 356 (or similar). xx1500001983 Stretch the lifting accessories to take the weight of the balancing device. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 357 Turn a pallet upside down and place the balancing device in the opening for the trucks forks. This will prevent the balancing device from starting to move unexpectedly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 358 Unscrew and remove screws, that secure the axis-3 gearbox to the parallel arm, now possible to reach. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 359 Axis 3: +65° (horizontal to the foundation) • Axis 4: +90° • Axis 5: -90° • Axis 6: no significance. xx1700001306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 360 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 361 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 362 Attach a roundsling looped to the wrist and Roundsling 3 m: Lifting capacity: 2,000 kg to an overhead crane (or similar). xx1500002714 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 363 Remove the attachment screw with washer that secure the rod shaft. xx1400002600 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 364 Apply the press tool parts (Assembly tool, Assembly tool: 3HAC051000-001 Press plate and Round plate). Press plate: 3HAC050949-001 Round plate: Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 365 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 366 +90° or -90° position as possible, depend- ing on what repair work is being done. Note Not needed if only replacing the axis-6 unit. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 367 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 368 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 369 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 370 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 371 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 372 Unscrew the nut holding the bracket inside the upper arm. Note The nut is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 373 Removing the cable harness in the lower arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 374 The figure show the positions of the cable guides. Use caution and remove the cable harness from the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 375 Remove grease and other contamination from the axis-2 and axis-3 shaft ends and around the KM nuts, on both sides. xx1500002725 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 376 Continue the removal on the same side until the shaft is removed completely. Leave the other shaft fitted for now! Remove gamma sealing and sealing ring. xx1500002728 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 377 Attach the Glycerine adapter. Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage. xx1600000081 Remove the small VK cover. xx1500002729 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 378 002 delivered with the tool. CAUTION Do not stand close to the robot on any side when the shaft is being removed. xx1600000077 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 379 Removing the parallel rod, lower end Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 380 Keep the protection plug. It shall be refitted when the work is done. xx1500001968 Apply the press tool parts (Assembly tool, Press plate and Round plate). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 381 Left side Right side Thrust washer Cover washer Use caution and lift the parallel rod off. xx1500002745 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 382 Roundsling 2 m: Lifting capacity: 2,000 kg to an overhead crane (or similar), with the robot in the current position. xx1500002708 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 383 There is no need to disconnect the motor cables to axis-1, 2 and 3 motors or to the SMB unit. xx1500002372 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 384 To release the brakes on axis-3, connect the 24 VDC power supply. Connect to connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 385 Secure with the ratchet belt. Remove the 24 VDC power supply. Remove the lifting accessory from the par- allel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 386 (or simil- ar). Attach the roundsling through the holes, in the upper end of the lower arm. xx1500002733 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 388 (or simil- ar). Attach the roundsling through the hole in the upper end of the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 389 Note Lift the lower arm assembly to a vertical position. xx1500002739 Move the lower arm assembly into mount- ing position. xx1500002700 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 390 Secure the attached screws that secure the Tightening torque: 300 Nm lower arm to the axis-2 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 391 Secure the attached screws that secure the Tightening torque: 300 Nm parallel arm to the axis-3 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 392 Roundsling 2 m: Lifting capacity: 2,000 kg xx1500002742 Remove the Endless ratchet lashing belt. xx1500002743 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 393 Attach a roundsling to the lower arm. Roundsling 2 m: Lifting capacity: 2,000 kg xx1500002747 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 394 Remove the 24 VDC power supply. Remove the lifting accessories. Refitting the axis-1 bracket Action Note Refit the axis-1 cable bracket with the screws. xx1500002372 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 395 Apply corrosion protection on both sides Mercasol of the bearings, and on all machined sur- faces on the parallel rod. xx1500002100 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 396 Attach a roundsling to the parallel rod and Roundsling 1 m: Lifting capacity: 1,000 kg to an overhead crane (or similar). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 397 Make sure that the washers are on the correct sides of the bearing. xx1500002098 Left side Thrust washer Right side Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 398 Refit the protection plug. xx1500001968 Apply locking liquid on the screw and se- Attachment screw: M10x16 8.8 cure the shaft. Loctite 243 xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 399 Attach a roundsling looped to the Lifting Roundsling 2.5 m: Lifting capacity: 2,000 eye and to an overhead crane (or similar). xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 400 Remove residues of Loctite and other contamination from the shafts and in the holes where the shafts will be refitted. xx1500002731 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 401 Scotch-brite abrasive cleaning hand pad pad and rub the contact surfaces in the holes for the shafts, outer ring of bearings and sealing rings. xx1500002750 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 402 Start the refitting of the shafts on the axis-2 side! Action Note Fill the bearing with grease. Tribol GR 100-2 PD Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 403 Use caution and lift the shaft into mounting position. Note Do not touch the surfaces cleaned with Isopropanol. xx1500002731 Wipe the Glycerine adapter connection Glycerine adapter meticulously clean. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 404 Tighten the adjustment nut. Tightening torque: 20 Nm Attach a Dial gauge and put it in zero posi- Dial gauge tion. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 405 Refitting the KM nut - axis-3 side Note Start refitting KM nut on the axis-3 side! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 406 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Wipe clean the KM nut. xx1600000193 Wipe clean the o-ring in the KM nut. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 407 Attach the attachment of the dial gauge in Dial gauge value: 0.38 mm. the holes on the axis-3 side, with the dial gauge against the axis-2 side. xx1700000970 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 408 Do not remove or add another shim! Inspect the pre-mounted gamma sealing on the KM nut. xx1600000083 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 409 Secure the axis-2 KM nut with the Sleeve Sleeve KM nut D=152 L=220: 3HAC038174- KM nut, until the dial gauge shows 0.38 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 410 The screws are reached from the outside. xx1500002695 Refit upper and lower cable guides. xx1600000075 The figure show the positions of the cable guides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 411 Refit the cable clamp on the axis-3 bracket. xx1500002718 Refit the cable clamp on the axis-3 bracket, between axis-4 motor and arm housing. xx1500003092 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 412 Make sure all three washers are fitted. xx1500003094 Refit the cover. xx1500002722 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 413 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 414 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 415 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 416 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 417 Turn on the power, use caution and jog axis-5 slowly to +90° position. CAUTION Make sure not to touch or damage any of the axis-6 motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 418 The attachment screw that secure the car- rier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 419 The resolver cable shall be placed under- neath the motor cable. xx1300000488 Inspect the gasket. Gasket, 3HAC033489-001 Note Replace if damaged. xx1200001095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 420 Secure the attachment screws. Attachment screws: M16x70 12.9 Gleitmo Tightening torque: 300 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 421 Make sure that the washers are on the correct sides of the bearing. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 422 Apply the press tool parts (Assembly tool, Press plate and Round plate). Use caution and press the shaft in. xx1700001307 Refit the protection plug. xx1500001967 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 423 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 424 Apply some grease on shafts and in bear- Grease ing holes. Note Do not apply any grease on the threads for the KM-nut. xx1500002304 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 425 Note Make sure the bearings are axially centered in the balancing device ears, before putting them on the shafts. xx1500002306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 426 Apply locking liquid on the threads of the Locking liquid: Loctite 243 lock nuts. xx1500002307 Inspect that the bearings are axially centered in the balancing device ears. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 427 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 429 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 contact surface between parallel arm and counterweight, xx1600000049 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 430 Axis Calibration is described in Calibrating with Axis Calibration method on page 805. General calibration information is included in section Calibration on page 795. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 431 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 432: Replacing The Parallel Arm
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 433 Hydraulic cylinder 3HAC11731-1 To be used with the press tool. Hydraulic pump 80 MPa 3HAC13086-1 To be used with the hydraulic cylinder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 434 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 435 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 436 Stretch the lifting accessory to take the weight of the counterweight. Unscrew the attachment screws with Attachment screws: M16x70 (10 pcs) washers, that hold the counterweight. xx1500001981 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 437 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 438 Apply some Molykote on threads and at Apply Molykote on colored areas. the bottom end of two fully threaded screws. xx1500002303 Screws M16x80 fully threaded Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 439 Do not use the robot as a ladder. xx1500001985 CAUTION The balancing device weights 200 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 440 If needed, use a Crowbar (small), to care- fully help pressing the balancing device out. A suitable bearing puller is another al- ternative. xx1500002735 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 441 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 442 Note The screws are reached from the outside. xx1500002694 xx1500002695 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 443 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 444 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 445 Attach a roundsling looped to the wrist and Roundsling 3 m: Lifting capacity: 2,000 kg to an overhead crane (or similar). xx1500002714 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 446 Remove the attachment screw with washer that secure the rod shaft. xx1400002600 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 447 Apply the press tool parts (Assembly tool, Assembly tool: 3HAC051000-001 Press plate and Round plate). Press plate: 3HAC050949-001 Round plate: Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 448 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 449 +90° or -90° position as possible, depend- ing on what repair work is being done. Note Not needed if only replacing the axis-6 unit. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 450 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 451 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 452 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 453 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 454 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 455 Unscrew the nut holding the bracket inside the upper arm. Note The nut is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 456 Removing the cable harness in the lower arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 457 The figure show the positions of the cable guides. Use caution and remove the cable harness from the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 458 Remove grease and other contamination from the axis-2 and axis-3 shaft ends and around the KM nuts, on both sides. xx1500002725 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 459 Continue the removal on the same side until the shaft is removed completely. Leave the other shaft fitted for now! Remove gamma sealing and sealing ring. xx1500002728 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 460 Attach the Glycerine adapter. Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage. xx1600000081 Remove the small VK cover. xx1500002729 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 461 002 delivered with the tool. CAUTION Do not stand close to the robot on any side when the shaft is being removed. xx1600000077 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 462 Removing the parallel rod, lower end Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 463 Keep the protection plug. It shall be refitted when the work is done. xx1500001968 Apply the press tool parts (Assembly tool, Press plate and Round plate). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 464 Left side Right side Thrust washer Cover washer Use caution and lift the parallel rod off. xx1500002745 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 465 Roundsling 2 m: Lifting capacity: 2,000 kg to an overhead crane (or similar), with the robot in the current position. xx1500002708 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 466 There is no need to disconnect the motor cables to axis-1, 2 and 3 motors or to the SMB unit. xx1500002372 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 467 To release the brakes on axis-3, connect the 24 VDC power supply. Connect to connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 468 Secure with the ratchet belt. Remove the 24 VDC power supply. Remove the lifting accessory from the par- allel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 469 (or simil- ar). Attach the roundsling through the holes, in the upper end of the lower arm. xx1500002733 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 471 Use the press tool and disassemble the Press tool: parallel arm from the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 472 Wipe clean all contact surfaces from residues of corrosion protection and other contamination. Apply new corrosion protection. Mercasol Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 473 Use caution and move the parallel arm into mounting position. xx1500002703 Use the press tool and assemble the paral- Press tool: lel arm and lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 474 Endless ratchet lashing belt to prevent the parallel arm from falling down uncontrolled, when the lower arm complete is lifted up. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 475 Lift the lower arm assembly to a vertical position. xx1500002739 Move the lower arm assembly into mount- ing position. xx1500002700 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 476 Secure the attached screws that secure the Tightening torque: 300 Nm lower arm to the axis-2 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 477 Secure the attached screws that secure the Tightening torque: 300 Nm parallel arm to the axis-3 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 478 Roundsling 2 m: Lifting capacity: 2,000 kg xx1500002742 Remove the Endless ratchet lashing belt. xx1500002743 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 479 Attach a roundsling to the lower arm. Roundsling 2 m: Lifting capacity: 2,000 kg xx1500002747 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 480 Remove the 24 VDC power supply. Remove the lifting accessories. Refitting the axis-1 bracket Action Note Refit the axis-1 cable bracket with the screws. xx1500002372 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 481 Apply corrosion protection on both sides Mercasol of the bearings, and on all machined sur- faces on the parallel rod. xx1500002100 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 482 Attach a roundsling to the parallel rod and Roundsling 1 m: Lifting capacity: 1,000 kg to an overhead crane (or similar). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 483 Make sure that the washers are on the correct sides of the bearing. xx1500002098 Left side Thrust washer Right side Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 484 Refit the protection plug. xx1500001968 Apply locking liquid on the screw and se- Attachment screw: M10x16 8.8 cure the shaft. Loctite 243 xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 485 Attach a roundsling looped to the Lifting Roundsling 2.5 m: Lifting capacity: 2,000 eye and to an overhead crane (or similar). xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 486 Remove residues of Loctite and other contamination from the shafts and in the holes where the shafts will be refitted. xx1500002731 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 487 Scotch-brite abrasive cleaning hand pad pad and rub the contact surfaces in the holes for the shafts, outer ring of bearings and sealing rings. xx1500002750 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 488 Start the refitting of the shafts on the axis-2 side! Action Note Fill the bearing with grease. Tribol GR 100-2 PD Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 489 Use caution and lift the shaft into mounting position. Note Do not touch the surfaces cleaned with Isopropanol. xx1500002731 Wipe the Glycerine adapter connection Glycerine adapter meticulously clean. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 490 Tighten the adjustment nut. Tightening torque: 20 Nm Attach a Dial gauge and put it in zero posi- Dial gauge tion. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 491 Refitting the KM nut - axis-3 side Note Start refitting KM nut on the axis-3 side! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 492 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Wipe clean the KM nut. xx1600000193 Wipe clean the o-ring in the KM nut. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 493 Attach the attachment of the dial gauge in Dial gauge value: 0.38 mm. the holes on the axis-3 side, with the dial gauge against the axis-2 side. xx1700000970 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 494 Do not remove or add another shim! Inspect the pre-mounted gamma sealing on the KM nut. xx1600000083 Inspect sealing ring. xx1600000084 Refit sealing ring. xx1600000084 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 495 Secure the axis-2 KM nut with the Sleeve Sleeve KM nut D=152 L=220: 3HAC038174- KM nut, until the dial gauge shows 0.38 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 496 The screws are reached from the outside. xx1500002695 Refit upper and lower cable guides. xx1600000075 The figure show the positions of the cable guides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 497 Refit the cable clamp on the axis-3 bracket. xx1500002718 Refit the cable clamp on the axis-3 bracket, between axis-4 motor and arm housing. xx1500003092 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 498 Make sure all three washers are fitted. xx1500003094 Refit the cover. xx1500002722 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 499 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 500 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 501 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 502 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 503 Turn on the power, use caution and jog axis-5 slowly to +90° position. CAUTION Make sure not to touch or damage any of the axis-6 motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 504 The attachment screw that secure the car- rier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 505 The resolver cable shall be placed under- neath the motor cable. xx1300000488 Inspect the gasket. Gasket, 3HAC033489-001 Note Replace if damaged. xx1200001095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 506 Refit the remaining screws that secure the lower arm and parallel arm to the axis-2 and axis-3 gearboxes. Secure the attachment screws. Tightening torque: 300 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 507 Make sure that the washers are on the correct sides of the bearing. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 508 Apply the press tool parts (Assembly tool, Press plate and Round plate). Use caution and press the shaft in. xx1700001307 Refit the protection plug. xx1500001967 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 509 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 510 Apply some grease on shafts and in bear- Grease ing holes. Note Do not apply any grease on the threads for the KM-nut. xx1500002304 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 511 Note Make sure the bearings are axially centered in the balancing device ears, before putting them on the shafts. xx1500002306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 512 Apply locking liquid on the threads of the Locking liquid: Loctite 243 lock nuts. xx1500002307 Inspect that the bearings are axially centered in the balancing device ears. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 513 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 515 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 contact surface between parallel arm and counterweight, xx1600000049 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 516 Axis Calibration is described in Calibrating with Axis Calibration method on page 805. General calibration information is included in section Calibration on page 795. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 517 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 518: Frame And Base
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 519 Removing the counterweight Action Note CAUTION The counterweight weighs 1200 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 520 Stretch the lifting accessory to take the weight of the counterweight. Unscrew the attachment screws with Attachment screws: M16x70 (10 pcs) washers, that hold the counterweight. xx1500001981 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 522 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 contact surface between parallel arm and counterweight, xx1600000049 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 523 Tightening torque: 300 Nm xx1500001981 Remove lifting accessories; lifting chains and the lifting eyes. If used, refit the plastic plugs in the holes for the lifting eyes. xx1500001980 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 524: Replacing The Mechanical Stop Pin
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 525 Removing the mechanical stop pin Action Note CAUTION The mechanical stop pin weighs 13 kg. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 526 Hold the stop pin with one hand and re- move the piece of wood (or similar) with the other hand. xx1500002299 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 527 If not, turn on the power, use caution and jog axis-1 to that position. xx1500002093 Clean the stop pin, as well as the hole for Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 528 Apply locking liquid (Loctite 243) on the set Locking liquid: Loctite 243 screw. xx1500002090 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 529 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 530: Replacing The Parallel Rod
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 531 Use these procedures to remove the parallel rod. Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 533 Attachment screws: M10x80 (4 pcs) xx1500002300 Remove the protection plug. Note Keep the protection plug. It shall be refitted when the work is done. xx1500001967 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 534 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 535 If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Action Note CAUTION The parallel rod weighs 55 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 536 Keep the protection plug. It shall be refitted when the work is done. xx1500001968 Apply the press tool parts (Assembly tool, Press plate and Round plate). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 537 Left side Right side Thrust washer Cover washer Use caution and lift the parallel rod off. xx1500002745 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 538 Preparations before refitting the parallel rod, lower end Action Note Remove the strap which was used to keep bearing, thrust washer and cover washer in position. xx1500002744 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 539 Put back the thrust washer (left side) and cover washer (right side). xx1500002098 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 540 Place the lower end at mounting position and apply the press tool parts (Assembly tool, Press plate and Round plate). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 542 Preparations before refitting the parallel rod, upper end Action Note Remove the strap, which was used to keep bearing, thrust washer and cover washer in position. xx1500002097 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 543 Apply some grease on shafts and in holes of both sides of parallel rod. xx1500002293 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 544 Make sure that the washers are on the correct sides of the bearing. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 545 Apply the press tool parts (Assembly tool, Press plate and Round plate). Use caution and press the shaft in. xx1700001307 Refit the protection plug. xx1500001967 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 546 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 547: Unloading And Restoring The Balancing Device
Axis-3 balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 548 Unloading the pressure of the balancing device Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 549 Then, alternately little by little, attach the screws at least another five mil- limeters. The pressure is now unloaded. xx1500002309 Screw M16x80 (2 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 550 Remove the screws. Refit the M16x35 screws in the holes on Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 551 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 552: Replacing The Balancing Devices
Axis-3 balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 553 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 554 Apply some Molykote on threads and at Apply Molykote on colored areas. the bottom end of two fully threaded screws. xx1500002303 Screws M16x80 fully threaded Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 555 Do not use the robot as a ladder. xx1500001985 CAUTION The balancing device weights 200 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 556 If needed, use a Crowbar (small), to care- fully help pressing the balancing device out. A suitable bearing puller is another al- ternative. xx1500002735 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 557 Mobile platform ladder to reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 558 Mobile platform ladder to reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 559 Make sure that the spacer ring with V-ring and the support ring are placed correctly on the shafts before the balancing device is put on the shafts. xx1500001975 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 560 Tightening torque: 120 Nm lock nuts. Note Make sure that the V-ring and support ring is fitted correctly. xx1500001973 Remove the lifting accessories. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 561 Restore the pressure of the balancing device by unscrewing the two M16x80 screws alternately little by little. xx1500002308 Remove the screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 562 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 563: Motors
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 564 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 565 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 566 Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 567 If needed, use removal tools to help re- Removal tool M12: 3HAC14631-1 move the motor. Always use removal tools in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 568 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 569 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Apply flange sealant on the motor flange. Flange sealant: Loctite 574 xx1500002357 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 570 To release the brakes, connect the 24 VDC power supply as described in the list. Connect to R2.MP1-connector: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 571 Perform a leak-down test (if not already Performing a leak-down test on done). page 184. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 572 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 573 Axis Calibration is described in Calibrating with Axis Calibration method on page 805. General calibration information is included in section Calibration on page 795. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 574 Make sure all safety requirements are met when performing the first test run. These are further described in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 575: Replacing The Axis-2 And Axis-3 Motors
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 576 If no previous reference values exist, and routine on page 806. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 577 Failure to secure the weight of the lower arm, will cause the lower arm to fall when the brakes of the axis-2 motor are released. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 579 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 580 Connect to connector R2.MP2 (axis-2 mo- tor) or R2.MP3 (axis 3-motor): • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 581 Let the motor rest on the guide pins. xx1500002325 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 582 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Inspect the o-ring. O-ring, 3HAB3772-107 Note Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 583 Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. CAUTION The motor weighs 27 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 584 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 585 Tightening torque: 50 Nm. Use a bits extender in order to reach the Screw dimension: M10x40 quality 12.9 screws. Gleitmo (4 pcs) xx1500002323 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 586 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 587 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 588 Valid for replacement of the axis-3 motor. Refit the plastic plug in parallel arm. xx1500002365 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 589 Make sure all safety requirements are met when performing the first test run. These are further described in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 590: Replacing The Axis-4 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 591 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 592 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 593 Use caution and pull out the motor cables. Removing the axis-4 motor Action Note CAUTION Use caution when releasing the brakes! Axis-4 can move unexpectedly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 594 All lifting accessories used must be sized accordingly! Attach the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 595 Also wipe clean the o-ring groove. Make sure the o-ring is undamaged. O-ring, 3HAB3772-107 Note Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 596 Always use guide pins in pairs. Lifting accessory, motor: 3HAC15534-1 CAUTION The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 597 • Make sure that the direction of the cable exit is facing the correct way. Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 598 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 599 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 600 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 601: Replacing The Axis-5 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Color Article number...
Page 602 Preparations before removing the axis-5 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 603 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 604 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 605 The motor shall be refitted in the same position. xx1500002717 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 606 The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Attach the lifting accessory to the motor. Lifting accessory, motor: 3HAC14459-1 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 607 Preparations before refitting the axis-5 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 608 O-ring: 3HAB3772-107 Note Replace if damaged. Lubricate the o-ring with some grease. Make sure the o-ring is seated in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 609 The motor weighs 27 kg. All lifting accessories used must be sized accordingly! Attach the lifting accessory and lift the motor up. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 610 • the direction of the cable exit is fa- cing the correct way. xx1200001018 Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 611 Disconnect the 24 VDC power supply. Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1500002717 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 612 Replace if damaged. xx1200001070 CAUTION When refitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 613 Place the cable harness in a way so it will not be damaged when the wrist cover is fitted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 614 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 615: Replacing The Axis-6 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 616 Preparations before removing the axis-6 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 617 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 618 +90° or -90° position as possible, depend- ing on what repair work is being done. Note Not needed if only replacing the axis-6 unit. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 619 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 620 To release the brakes, connect the 24 VDC 24 VDC power supply power supply. Connect to R2.MP6-connector: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 621 Remove the motor by lifting it straight up from the gear. Make sure the motor pinion is not dam- aged. xx1500003098 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 622 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 623 +90°. Use caution and push the cable harness in through the wrist recess. xx1500003099 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 624 Secure the cable bracket. Attachment screws: M6x12 (2 pcs) xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 625 If not, apply 1 gram of grease. xx1500002346 CAUTION Whenever parting/mating motor pinion and hub, the splines may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 626 Make sure the motor pinion is properly mated into the hub. Make sure the motor pinion is not dam- aged. xx1500003102 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 627 Place the resolver cable underneath the motor cable. xx1300000488 Make sure the gasket on the motor cover is undamaged. Note Replace if damaged. xx1500003095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 628 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 wrist cover flange. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 629 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 630: Gearboxes
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 631 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 632 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 633 Preparations before refitting the hub Action Note Wipe the hub clean. Inspect the hole where the hub shall be refitted. Wipe clean if needed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 634 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 635 The number of attachment screws differ • Axis-5 = 6 pcs depending on gearbox. • Axis-6 = 4 pcs Secure the hub. Tightening torque: 14 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 636 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 637: Replacing The Axis-1 Gearbox
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 638 Castrol Molub. Alloy 777-1 NG, 5 ml. To be used on hub splines to prevent from fretting corrosion. Locking liquid 3HAB7116-1 Loctite 243 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 639 Remove any tool or other equipment fitted on the turning disc. Begin draining the oil. Draining the axis-1 gearbox on page 142. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 641 Remove the stop pin by sliding it down, out off its hole and moving it slightly forwards. xx1500002089 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 642 Never use the robot as ladder. Use a Mobile platform ladder (or similar) to reach. xx1400002590 A Lifting eye: M24 (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 643 B Roundsling 2 m: Lifting capacity: 2,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Stretch the lifting accessories to take the weight of the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 644 Disconnecting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 645 Disconnect R1.MP-A and R1.MP-B. xx1500003083 Disconnect R1.SMB. Sparkplug wrench Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Remove the two earth cables. xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 646 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 647 Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 648 If needed, use removal tools to help re- Removal tool M12: 3HAC14631-1 move the motor. Always use removal tools in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 649 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 650 Lift out the hub carefully. xx1500002326 Separating base, including gearbox, from the arm system Action Note Remove the plastic plugs covering the M16x110 screws. xx1500003118 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 652 4 m. xx1500003121 Remove the guide pins before the arm system is put down. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 653 Attach the lifting accessories to the axis-1 gearbox. Stretch the lifting accessory (chain) to take the weight of the axis-1 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 654 Use caution and lift the gearbox off. xx1500003123 Make sure not to loose the small o-ring between base and gearbox. xx1500003124 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 655 Let only one hand stay underneath the hanging gearbox while cleaning. Fitting the axis-1 gearbox Action Note Clean the groove for the small o-ring. xx1600000042 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 656 Person two: working beside the ro- bot, working with the torque wrench. xx1500003122 Remove the guide pins and attach the re- maining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 657 If the lifting accessories have been removed from the arm system, refit them accordingly: Action Note CAUTION The complete armsystem weighs 4,300 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 658 B Roundsling 2 m: Lifting capacity: 2,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Stretch the lifting accessories and adjust if needed to make the lift level. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 659 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 sealing surface for the cross roller bearing on the base. xx1600000045 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 660 One of the guide pins shall be matched against the hole closest to the small dowel pin in the bas. xx1700000932 xx1700000933 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 661 • Person two: working beside the ro- bot, working with the torque wrench. xx1500003120 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 662 Person two: working beside the ro- bot, working with the torque wrench. xx1500003119 Remove the guide pins and attach the re- maining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 663 Preparations before refitting the hub Action Note Wipe the hub clean. Inspect the hole where the hub shall be refitted. Wipe clean if needed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 664 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 665 The number of attachment screws differ • Axis-5 = 6 pcs depending on gearbox. • Axis-6 = 4 pcs Secure the hub. Tightening torque: 14 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 666 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 667 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC14459-1. Fit the rotation tool. Rotation tool: 3HAC7887-1 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 668 • Make sure that the direction of the cable gland exit is facing the correct way. xx1500002084 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 669 If the lifting accessories have been removed from the arm system, refit them accordingly: Action Note CAUTION The complete armsystem weighs 4,300 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 670 A Lifting chains with shortener (2 pcs) B Roundsling 2 m: Lifting capacity: 2,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 671 Refitting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 673 Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Refit the two earth cables. Attachment screw: M6x16 stainless steel A2-70 xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 674 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 675 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 677 Tightening torque: 35 Nm set screw. Concluding procedure Action Note Refill oil in the gearbox. Changing oil, axis-1 gearbox on page 141. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 678 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 679: Replacing The Axis-2 Gearbox
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note Reduction gear RV 900N incl.
Page 680 Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Locking liquid 3HAB7116-1 Loctite 243 Flange sealant 12340011-116 Loctite 574 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 681 Preparations Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 682 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 683 Remove the screws in area 1. xx1500003110 Preparations before jogging the robot into calibration position Action Note Turn the power to the robot on. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 684 Keep the plastic plugs. It shall be refitted after the work is done. xx1500002320 xx1500002335 Jog axis-3 to the area shown in the figure. xx1500002367 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 685 Jog the robot to calibration position. xx1500002310 Secure the axis-2 with a lock screw. Tightening torque: 100 Nm Lock screw, quality 12.9, M20x150 xx1500002322 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 686 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 687 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 688 Disconnecting the axis-2 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 689 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 690 Use a bits extender in order to reach the screws. xx1500002323 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 691 Removing the hub Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 692 Fit two screws in opposite holes of the hub Attachment screws: M6x110 (2 pcs) and use them as removal tools. xx1500002081 Lift out the hub carefully. xx1500002326 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 693 Always use guide pins in pairs. xx1500002336 Find area 2. xx1500002975 Remove the attachment screws in area 2. xx1500003111 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 694 Note Find area 3. xx1500002975 Remove the attachment screws that secure the gearbox to the lower arm in area 3. xx1500003112 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 695 Put some paper (or similar) to absorb the surplus oil. Use caution and move the motor flange out over the guide pins. xx1500002314 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 696 Mounting set gear (axis 2 and 3), holes. 3HAC059801-001 Fasten the set collars. xx1600001553 Attach three screws in a triangle and use them as removal tools. xx1500002337 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 697 Attaching lifting accessories and removal of gearbox Action Note CAUTION The gearbox weighs 160 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 698 Attach the roundslings to an overhead crane (or similar) and raise to take the weight of the gearbox. Remove the set collars. Lift the gearbox off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 699 Use caution and lift the gearbox up and let it rest on its side. CAUTION Make sure the gearbox is resting in a stable position. xx1500002342 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 700 Apply some grease on the thin chamfer on Grease the lower arm. xx1500002340 Apply some grease on the thin chamfer on Grease the gearbox. xx1500002341 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 701 Attach the lifting accessory to the gearbox. Lifting accessory, gearbox: 3HAC054404- Attach a roundsling to the lifting accessory. Roundsling 2 m: Lifting capacity: 2,000 kg (2 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 702 Note Make sure that the sealing ring is attached cor- rectly on the gearbox. xx1500002350 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 703 Note The six-hole washers are needed for protection of the gearbox surface, when the screws are at- tached. xx1500002368 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 704 Do not torque the screws at this point. xx1500003112 Attaching the axis-2 gearbox to lower arm - screws in area 2 Action Note Find area 2. xx1500002975 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 705 Remove the three M16x130 screws and six-hole washers, previously attached in a triangle. xx1500002347 Clean the contact surfaces on gearbox and motor flange. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 706 Note Make sure that the three holes in the gearbox are covered when the four six-hole washers are fitted. xx1600000068 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 707 Tightening torque: 300 Nm tachment screws now possible to reach. • Start with area 3, • finish with area 2. xx1500002339 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 708 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 709 The number of attachment screws differ • Axis-5 = 6 pcs depending on gearbox. • Axis-6 = 4 pcs Secure the hub. Tightening torque: 14 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 710 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 711 Attach the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Note Make sure the cable exit hole is turned the correct way. xx1200001120 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 712 Tightening torque: 50 Nm. Use a bits extender in order to reach the Screw dimension: M10x40 quality 12.9 screws. Gleitmo (4 pcs) xx1200001117 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 713 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 714 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 715 Refit the M16x35 screws in the holes on Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Removing lock screws Action Note Turn on the power. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 716 • Axis 2: 0° • Axis 3: +66° • Axis 4: 0° • Axis 5: 0° • Axis 6: No significance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 717 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 718: Replacing The Axis-3 Gearbox
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note...
Page 719 Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Locking liquid 3HAB7116-1 Loctite 243 Flange sealant 12340011-116 Loctite 574 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 720 These positions are described in the procedures. Preparations Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 721 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 722 If not, there is a potential risk that a severe accident will happen. Find area 1. xx1500002974 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 723 If not, there is a potential risk that a severe will accident happen. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 724 Preparations before jogging the robot into calibration position Action Note Turn the power to the robot on. Jog axis-2 to within the area shown in the figure. xx1500002334 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 725 Keep the plastic plug. It shall be refitted after the work is done. xx1500002320 xx1500002335 Jog axis-3 to the area shown in the figure. xx1500002367 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 726 Jog the robot to calibration position. xx1500002310 Secure the axis-2 with a lock screw. Tightening torque: 100 Nm Lock screw, quality 12.9, M20x150 xx1500002322 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 727 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 728 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 729 Disconnecting the axis-3 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 730 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 731 Use a bits extender in order to reach the screws. xx1600000069 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15512-1 Always use guide pins in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 732 Disconnect the 24 VDC power supply. Remove the motor by sliding it out on the guide pins and then lifting it away. xx1600000071 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 733 Fit two screws in opposite holes of the hub Attachment screws: M6x110 (2 pcs) and use them as removal tools. xx1500002081 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 734 Removing the axis-3 gearbox from parallel arm, step 3 - screws area 3 Action Note Find area 3. xx1500002974 Remove the attachment screws in area 3. xx1500003116 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 735 Fit guide pins in the holes. Mounting set gear (axis 2 and 3), 3HAC059801-001 Remove the remaining attachment screws and the six-hole washers (4 pcs). xx1500002359 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 736 Attach two additional guide pins in opposite Mounting set gear (axis 2 and 3), holes, below the present ones. 3HAC059801-001 xx1600001553 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 737 Attach the lifting accessories. Lifting accessory, gearbox: 3HAC054404- xx1600001554 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 738 Removal and refitting must be performed with the robot in more than one position. These positions are described in the procedures. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 739 Make sure the gearbox is resting in a stable position. xx1500002342 Fit a new sealing ring. Sealing ring 3HAC052423-001 xx1600000067 Clean the contact surfaces between gear- box and frame. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 740 Grease the gearbox. xx1500002341 Fit guide pins as shown in the figure. Mounting set gear (axis 2 and 3), 3HAC059801-001 xx1500002361 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 741 (2 pcs) Attach the roundslings to an overhead crane (or similar) and raise to take the weight of the gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 742 If the hole pattern does not match, carefully turn the small gear in the gearbox very slowly, in order to find the hole pattern. xx1500002345 xx1500002344 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 743 Attaching the axis-3 gearbox to parallel arm - screws in area 3 Action Note Find area 3. xx1500002974 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 744 Do not torque the screws at this point! xx1500003116 Lower arm is hidden in this figure, to get a better view. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 745 See figure. xx1500002354 Lift the motor flange onto the guide pins. xx1500002314 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 746 Use this procedure to secure the axis-3 gearbox, together with the motor flange, to the frame. Action Note Secure motor flange together with the gearbox, Tightening torque: 300 Nm to the frame. xx1500002373 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 747 Make sure the o-ring on the hub is undam- aged. Note Replace if damaged. xx1500002039 Apply some grease on the o-ring for a bet- ter fitting. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 748 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 749 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 750 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Apply flange sealant on the motor flange. Flange sealant: Loctite 574 xx1500002357 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 751 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 752 Tightening torque: 50 Nm. xx1200001117 Performing a leak-down test Action Note Perform a leak-dowm test. Performing a leak-down test on page 184. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 753 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 754 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 755 Refit the M16x35 screws in the holes on Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Removing lock screws Action Note Turn on the power. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 756 • Axis 2: -65° • Axis 3: 0° • Axis 4: 0° • Axis 5: 0° • Axis 6: No significance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 758 Attachment screws: M16x70 12.9 Gleitmo Tightening torque: 300 Nm xx1500003114 Lower arm is hidden in this figure, to get a better view. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 759 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 760: Replacing The Axis-4 Primary Gearbox
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note Reduction Gear RV-500N-236.36...
Page 761 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 762 Disconnecting the axis-4 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 763 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 764 Always use guide pins in pairs. CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 765 Unscrew the M6x30 hex socket head cap screws that secure the hub. Note Do not remove the M6x16 torx pan head screws. xx1500002038 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 766 Make a note of the position of the revolu- tion indicator on axis-4. Use a marker pen to indicate the position xx1500002985 of axis-4, before the indicator is removed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 767 Put some grease on the guide pins for a better fitting. xx1500002988 Unscrew the attachment screws holding (M12 and M16) the gear. xx1500002989 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 768 Underneath is a sealing which pre- vents oil from leaking through the screw holes that secure the axis-4 primary gear- box from the other side. xx1500002991 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 769 Apply some grease on the guide pins for a better fitting. Remove the remaining attachment screws and the six-hole washers (4 pcs). xx1500002994 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 770 Lifting accessory axis-4 primary gearbox: gearbox. If needed, use removal tools to press out the gearbox. Lift the gearbox off. xx1500002997 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 771 Clean the o-rings and o-ring grooves on the gearbox. xx1500003000 Inspect the o-rings. Note Replace if damaged. xx1500002999 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 772 Make sure that one of the M8 holes in the gearbox, will be at twelve o'clock when lifting the gearbox onto the guide pins. xx1500003072 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 773 Clean o-ring and o-ring groove on motor flange. xx1500003074 Inspect the o-ring. Note Replace if damaged. Put some grease on the o-ring and fit it into its groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 774 Attach 30 of the 32 attachment screws with the Attachment screws: M12x110 12.9 four six-hole washers. Gleitmo 603 (32 pcs) xx1500002994 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 775 Make sure the o-ring on the hub is undam- aged. Note Replace if damaged. xx1500002039 Apply some grease on the o-ring for a bet- ter fitting. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 776 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 777 Attach guide pins in opposite holes. Guide pins: 3HAC13056-2 M12x150 Guide pins: 3HAC13056-3 M12x200 Put some grease on the guide pins for a better fitting. xx1500003076 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 778 Attachment screws: M16x50 12.9 Gleitmo the nine M16x50 screws. Attach screws in a triangle. Tightening torque: 300 Nm xx1500003079 Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 779 Attachment screws: M12x40 12.9 Gleitmo 603 (27 pcs) xx1500003080 Secure the M16 screws. Tightening torque: 300 Nm Secure the M12 screws. Tightening torque: 120 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 780 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 781 Apply two guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. Put the motor onto the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 782 • Make sure that the direction of the cable exit is facing the correct way. xx1600000065 Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 783 Disconnect the 24 VDC power supply. Connecting the axis-4 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 784 Wipe clean o-ring and o-ring groove. Refit the o-ring. CAUTION When fitting the motor cover, make sure that none of the cables inside are damaged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 785 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 786: Replacing The Axis-6 Gearbox
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 8700 on ABB Library. Spare part Article number Note Reduction Gear RV-500N-236.36...
Page 787 Preparations before removing the gearbox Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 788 Unscrew the 27 M12x40 screws and washers that secure the turning disc. xx1500002318 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 789 Stretch the roundsling to take the weight of the process turning diss. Unscrew the 22 attachment screws and washers that secure the process turning disc. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 790 Unscrew the attachment screws that secure the axis-6 gearbox. xx1500002982 CAUTION Whenever parting/mating hub and gearbox, the splines may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 791 Wipe clean all contact surfaces. Fit a new sealing ring. Sealing ring 3HAC052423-001 xx1600000067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 792 Note Do not refit any of the M12x80 screws where the pin holder will be refitted with the M12x110 screws. xx1500002982 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 793 Wipe clean the contact surfaces and refit the axis-6 gearbox. xx1500002319 Make sure the sealing ring is fitted on the gearbox. xx1500002984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 794 Make sure all safety requirements are met when performing the first test run. These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 795: Calibration
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 796: Calibration Methods
Axis Calibration is a standard calibration method for calibration of IRB 8700 and is the most accurate method for the standard calibration. It is the recommended method in order to achieve proper performance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 797 Standard calibration also supports wrist exchange. References Article numbers for the calibration tools are listed in the section Special tools on page 834. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 798: When To Calibrate
The resolver values are changed If resolver values are changed, the robot must be recalibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.
Page 799: Synchronization Marks And Axis Movement Directions
Synchronization marks, IRB 8700 Axis 1 Axis 2 xx1500000945 xx1500000946 Axis 3 Axis 4 xx1500000947 xx1500000948 Axis 5 Axis 6 xx1500000949 xx1500000950 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 800: Calibration Movement Directions For All Axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the opposite direction! xx0200000089 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 802 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 803 Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Tap Manual Method (Advanced). xx1500000944 A screen is displayed, tap Rev. Counters. en0400000771 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 804 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 818. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 805: Calibrating With Axis Calibration Method
FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
Page 806 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 807: Calibration Tools For Axis Calibration
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
Page 808 It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
Page 809: Installation Locations For The Calibration Tools
A fixed calibration pin and a bushing for the movable calibration tool are located on each axis as follows. xx1500000786 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 810 Replace damaged parts with new, if needed. Spare part Article number Note Protection cover and plug set 3HAC056806-001 Contains replacement calibration pin covers and protective plugs for the bushing. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 811: Axis Calibration - Running The Calibration Procedure
WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
Page 812 Use this procedure to call for the Axis Calibration method on the FlexPendant. Action Note On the ABB menu, tap Calibration. xx1500000942 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 813 The three-position enabling device on the Press and hold the three-position enabling FlexPendant has been released during robot device and press Play. movement. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 814 Confirm unsynchronized state by pressing Ac- knowledge to continue Axis Calibration proced- ure. Restart Axis Calibration procedure by pressing Play. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 815 SafeMove generates the message "Unsynchron- ized time limit expired" (anytime). xx1500002482 Press OK to continue Axis Calibration procedure. Restart Axis Calibration procedure by pressing Play. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 816 Ensure that the sealing is not damaged. Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: 3HAC056806-001. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 817: Verifying The Calibration
Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Remove any calibration equipment from the robot. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 818: Checking The Synchronization Position
If they do not, up- ization position for axes on page 799 date the revolution counters. Updating revolution counters on page 801. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 819: Decommissioning
Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 820 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 821: Scrapping Of Robot
• When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 822: Decommissioning Of Balancing Device
The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 823 Use a cutting torch with a long shaft. Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
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Page 825: Reference Information
7.1 Introduction 7 Reference information 7.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 826: Applicable Standards
Terminology and general principles EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 827 Safety requirements for industrial robots and robot systems ANSI/UL 1740 Safety standard for robots and robotic equipment CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require- ments Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 828: Unit Conversion
1 kg 2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 829: Screw Joints
UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It features special surface treatment (Gleitmo as described below) and is extremely resistant to fatigue.
Page 830 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 831 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 832: Weight Specifications
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
Page 833: Standard Toolkit
Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 834: Special Tools
The list of special tools in this revision is not updated. A complete and updated list will be presented in the next revision. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 835 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Guide pins 3HAC15521-2 Guide pin, M10x150 3HAC13056-2 Guide pin, M12x150 3HAC13056-3 Guide pin, M12x200 3HAC13120-2 Guide pin, M16x150 3HAC13120-3 Guide pin, M16x200...
Page 836 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Roundsling 1.5 m Lifting capacity: 2,000 kg Roundsling 1 m Lifting capacity: 1,000 kg Press, puller and unloading tools 3HAC11731-1...
Page 837: Lifting Accessories And Lifting Instructions
This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
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Page 839: Spare Parts
Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.mypo- rtal.abb.com. Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
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Page 841 Circuit diagram - IRB 6400RF 3HAC8935-1 Circuit diagram - IRB 6600 type A 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 6600 type B 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 842 Circuit diagram - IRB 6700 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 14000 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 843 29 calibrating robot, 805 HRA, 18 calibration Absolute Accuracy type, 796 replacing, 630 rough, 801 humidity standard type, 796 operation, 51 verification, 817 storage, 50 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 844 39 replacing, 530 symbols, 39 pedestal symbols on robot, 41 installed on pedestal, 24 test run, 27 plastic working range, 28 disposal, 819 safety equipment Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 845 EN ISO, 826 start of robot in cold environments, 98 steel replacing, 432 disposal, 819 storage conditions, 50 symbols zero position safety, 39 checking, 818 Product manual - IRB 8700 3HAC052853-001 Revision: F © Copyright 2015-2018 ABB. All rights reserved.
Page 848 Robotics and Motion No. 4528 Kangxin Highway PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2015-2018 ABB. All rights reserved.

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