ABB MU 80 Product Manual
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ABB MU 80 Product Manual

ABB MU 80 Product Manual

Robotics. motor units and gear units
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Summary of Contents for ABB MU 80

  • Page 1 ROBOTICS Product manual Motor Units and Gear Units...
  • Page 2 Trace back information: Workspace R18-2 version a15 Checked in 2018-10-30 Skribenta version 5.3.012...
  • Page 3 Product manual MU 80, MU 100, MU 200, MU 250, MU 300, MU 400 MTD 250, MTD 500, MTD 750, MTD 2000, MTD 5000 MID 500, MID 1000 IRC5 Document ID: 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • 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

    Loading configuration files .................. Dimensioning gear units ..................Tuning ......................Calibration Tuning the thermal supervision Maintenance Introduction ...................... Maintenance schedule ..................Inspecting cables ....................Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 6 10 Reference information 10.1 Applicable standards ..................10.2 Unit conversion ....................10.3 Spare parts and exploded views ................10.4 Circuit diagrams ....................Index Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 7: Overview Of This Manual

    Repair personnel. Prerequisites 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. Product manual scope The manual covers covers all variants and designs of the motor units and gear units.
  • Page 8 Caution about removing metal residues added in sections about SMB boards. • Updated list of applicable standards. • Added MU 80. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 9 Changed cable routing for motor power cables on gear unit GU MTD750. • Updated description about assembling transmission elements, see Assembly by pressing on the pinion on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 10 This page is intentionally left blank...

  • Page 11: 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 12 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 of the robot could be affected.

  • Page 13: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 14: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 15: Make Sure That The Main Power Has Been Switched Off

    Note Switch off all main power switches in a MultiMove system. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 16: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 17 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 18: Moving Robots Are Potentially Lethal

    Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 19: First Test Run May Cause Injury Or Damage

    Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before the first test run. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 20: Work Inside The Working Range Of The Robot

    Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 21: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 22: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 23 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 24: The Unit Is Sensitive To Esd

    Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 25: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 26: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 27: Safety Risks During Handling Of Batteries

    Do not short circuit, recharge, puncture, incinerate, crush, immerse, force discharge or expose to temperatures above the declared operating temperature range of the product. Risk of fire or explosion. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 28: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)

    Possible pressure build-up in gearbox Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 29 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 30: Safety Signals And Symbols

    ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 31 Describes important facts and conditions. Describes where to find additional information or how to do an operation in an easier way. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 32: Safety Symbols On Product Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 33 Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 34 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 35 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 36 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 37 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
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  • Page 39: Product Overview

    The axis selector (optional) is mounted inside the IRC5 controller and makes it possible to cut the power for selected connected external units. The function is controlled by instructions in the robot program. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 40: Motor Units

    2 Product overview 2.2 Motor units 2.2 Motor units Introduction The motor units are specially designed for ABB's robots and can be used for peripherals requiring servo steered motors that are synchronized with the robot movements. MU variants The following motor unit variants are available: •...

  • Page 41: Gear Units

    Drive Module with modified cable harness (optional) Technical data Gear unit Weight [kg] MTD 250 MTD 500 MTD 750 MTD 2000 MTD 5000 MID 500 MID 1000 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 42: Basic Approach

    Related information Application manual - Additional axes and stand alone controller. Operating manual - IRC5 with FlexPendant. Operating manual - RobotStudio. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 43: Scenarios

    • SMB box connected to the IRC5 controller • Two motor units connected to SMB box xx1000001197 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 44 SMB box connected to the IRC5 controller • Three gear units connected to one SMB box xx1000001199 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 45 SMB box connected to the IRC5 controller • Two gear units connected to one SMB box xx1000001200 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 46 One SMB box connected to IRC5 drive module • Three motor units connected to the IRC5 drive module through the SMB box xx1000001201 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 47: Installation

    Positive electric rotation R ->S ->T -> (U, V, W) results in positive mechanical rotation defined as clockwise direction, seen from the drive shaft side. See illustration below. xx0400001171 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 48 SMB box. Mark the cables. Test the brake release buttons. Testing the brake release buttons on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 49 3.1 Installing motor units Continued CAUTION Make sure that the thermal supervision is properly tuned, see Tuning the thermal supervision on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 50: Installing Gear Units

    WARNING The gear unit is heavy. Always use prop- erly sized lifting accessories. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 51 CAUTION Make sure that the thermal supervision is properly tuned, see Tuning the thermal supervision on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 52 Recommendations for MID units The station interchange units have endless rotation and are delivered without a locking mechanism. ABB recommends using a pneumatic, externally operated locking pin for locking, to reduce the risk of collision with the end stop. This also relieves the pressure on the station interchange unit.

  • Page 53: Fastening Cables

    The key pin in plug SMB bus cable (3HAC2493-1, 2530-1, 2566-1) must be removed when connecting to XS41 or XS41.2 in the IRC5 controller. Extended cables for MU 80 MU 80 provides extended power and signal cables. xx1700001371 Continues on next page...
  • Page 54 Always refer to the tables below to prepare new connectors. Extended power cable xx1700001372 MP (M23) The following table lists the materials used for making new connector MP. The materials are delivered with the MU 80. Item Component article number Qty. 3HAC026336-004...
  • Page 55 3 Installation 3.3 Fastening cables Continued Extended signal cable xx1700001373 FB(M23) The following table lists the materials used for making new connector FB. The materials are delivered with the MU 80. Item Component article number Qty. 3HAC6996-8 3HAC6962-3 Prepared Responsible Department...
  • Page 56 The minimum length between the fastening points is 900mm if the cable will be twisted ±180°. xx1000001398 Fastening points or connectors Minimum length is 900mm Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 57 3 Installation 3.3 Fastening cables Continued Fastening straps Do not over-tighten cables when fastening them with straps. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 58: Handling Of Motors

    This method is not applicable for MU 100 since it does not have a flange on the motor shaft. xx1300000317 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 59 Make sure that the contact surfaces between the motor and the dolly distribute the press force evenly. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 60 Make sure not to press on the resolver. Note This method is not applicable for MU 80 since it does not have a connection box and the back cover of the motor is not allowed to be opened. Continues on next page...
  • Page 61 10 kN MU 200 20 kN MU 250 20 kN MU 300 20 kN MU 400 30 kN Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 62 Use lifting accessories that are accordingly sized for the motor. When lifting the motor with roundslings, never place the sling around the motor shaft. xx1300000231 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 63: Testing The Brake Release Buttons

    Press the brake release button. When the brake is released, the axis should be possible to move. Verify that the correct motor brake was released. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 64: Insulation In Arc Welding Stations

    The weld return cable has contact with protective earth, in this case a cable channel made of metal. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 65 Cable channel made of metal Power source SMB box galvanically insulated from the weld circuit Motor unit’s protective earth connected to the weld circuit Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 66: Installing Non Abb Brake Release Buttons

    Installing non ABB brake release buttons Use connection BRAKE PB. See the connections in the circuit diagram, Circuit diagram - Motor Units and Gear Units. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 67: Changing The Cable Harness In The Controller

    Remove the cable harness for the XS.7 contact. Refit the new cable harness. Circuit diagram - Motor Units and Gear Units Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 68 This page is intentionally left blank...

  • Page 69: Configuration

    • Type of unit • Drive unit and drive module (system parameters Drive Unit and Drive Module) Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 70 Tune the motor. Tuning on page Configuration files and standard system parameters are described in Technical reference manual - System parameters. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 71: Dimensioning Gear Units

    1,950 MID 1000 5,000 Related information Dimensioning of motors is described in Application manual - Additional axes and stand alone controller. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 72: Tuning

    1 Testrun without loads to verify if tuning is needed. 2 Testrun with loads. 3 If needed, tune the configuration data and repeat steps 1-2. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 73: Calibration

    On the FlexPendant ABB menu, tap Calibration. Tap Rev. Counters and then tap Update Revolution Counters. Tap to select the axis and then tap Update. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 74 This page is intentionally left blank...

  • Page 75: Tuning The Thermal Supervision

    6 Tuning the thermal supervision Thermal supervision The motor units (except MU 80 and MU 100) and the gear units are protected from overload by a thermal supervision. If the motor temperature is close to the defined maximum temperature then the system shows a warning. If the maximum temperature is exceeded then the unit will stop.
  • Page 76 Related information Technical reference manual - System parameters Application manual - TuneMaster Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 77: Maintenance

    For more information see: • Product manual - IRC5 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 78: Maintenance Schedule

    2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime can be extended with a battery shutdown service routine. See Operating manual - IRC5 with FlexPendant for instructions. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 79: Inspecting Cables

    Check the connectors. Check that all brackets and straps are properly at- tached. Replace the cables if wear, cracks, or damage is detected. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 80: Inspecting Mu250 Drain Holes

    • A: Drain hole with glass cover • B: Drain hole with stop screw • C: Drain hole with stop screw Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 81: Replacing Smb Battery

    See Operating manual - IRC5 with FlexPendant for instructions. WARNING See instructions for batteries, Safety risks during handling of batteries on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 82 It is important that the SMB unit uses the correct battery. Make sure to order the correct spare parts. Do not replace the battery contact! Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 83 Fit the new battery and connect the battery cable. Close the SMB box. Update the revolution counters. Calibration on page Dispose of the old battery. Environmental information on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 84: Cleaning The Motor Units And Gear Units

    Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. •...

  • Page 85: Lubricating The Current Collector

    Grease gun Lubricating the current collector Action Information Lubricate the current collector using a grease gun. Note Amount of grease: 12 ml. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 86 This page is intentionally left blank...

  • Page 87: Repair

    Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 88: Replacing Smb Board

    Disconnect the cables. Remove the screws holding the plate. Keep the toothed washers. Pull out the plate. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 89 Cross tighten the screws to make sure the sealing is tight. Connect the cables and close the cover. Update the revolution counters. Calibration on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 90: Repair In The Motor Connection Box

    Motor connection box The motor connection box can be opened to replace equipment. Note MU 80 does not have a connection box. Note When assembling the connection box to the motor or the top cover to the connection box, make sure that the o-ring is in the groove.

  • Page 91: Decommissioning

    Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 92 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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 93: Reference Information

    EN 614-1:2006 + A1:2009 Safety of machinery - Ergonomic design principles - Part 1: Terminology and general principles Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 94 Continued Standard Description EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 95: Unit Conversion

    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 - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 96: Spare Parts And Exploded Views

    DVD. Article number for Product manual, spare parts - Motor Units and Gear Units is 3HAC040278-001. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.

  • Page 97: Circuit Diagrams

    3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 6620 3HAC025090-001 Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 98 Circuit diagram - IRB 910SC 3HAC056159-002 Other hardware Product Article numbers for circuit diagrams Circuit diagram - Motor Units and Gear Units 3HAC039887-001 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 99 71 nation specific regulations, 11 disassembling motor, 62 neodymium disposal, 91 enabling device, 21 NiCad environmental information, 91 disposal, 91 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 100 40 safety signals weld current, 47, 50 in manual, 30 safety standards, 93 zero position, 73 safety zones, 12 screws Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: K © Copyright 2011 -2018 ABB. All rights reserved.
  • Page 102 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 2011 -2018 ABB. All rights reserved. Specifications subject to change without notice.

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