ABB IRB 365 Product Manual

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ROBOTICS

Product manual

IRB 365

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Troubleshooting

Summary of Contents for ABB IRB 365

Page 1 ROBOTICS Product manual IRB 365...
Page 2 Trace back information: Workspace 22B version a6 Checked in 2022-06-10 Skribenta version 5.5.019...
Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Expected component life ................. Inspection activities ................... 4.3.1 Inspecting the upper arms ................ 4.3.2 Inspecting the telescopic shafts ..............4.3.3 Inspecting the lower arms ................. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 6 Introduction ...................... Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 7 Table of contents 10 Spare part lists 10.1 Spare part lists and illustrations ................Index Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
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Page 9: Overview Of This Manual
The robot described in this manual has the following protection types: • Standard Product manual scope The manual covers all variants and designs of the IRB 365. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
Page 10 Technical reference manual - System parameters 3HAC050948-001 This manual contains all safety instructions from the product manuals for the manipulators and the controllers. Revisions Revision Description First edition. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 11: 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 12 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 13: 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
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Page 15: Safety
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
Page 16: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 17: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 18 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 19: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 20 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 21 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 22 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 23 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 24 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 25: Robot Stopping Functions
The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - OmniCore C30 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 26: Safety During Installation And Commissioning
When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 27 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 28 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 29: Safety During Operation
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 31 Operating temperatures are listed in Operating conditions, robot on page See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 32 WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 33: 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 34: Brake Testing
For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 35: Safety During Troubleshooting
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Page 36: Safety During Decommissioning
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 37: Technical Data
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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 38 The table shows the allowed storage conditions for the robot: Parameter Value Minimum ambient temperature -25°C Maximum ambient temperature 60°C Maximum ambient temperature (less than 24 hrs) 90°C Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 39 Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 40: Working Range
This illustration shows the unrestricted working range of the robot. Z = 0 0° xx2200000476 Dimensions Variant IRB 365 1.5/1100 1181 1031 -42° +72° Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 42: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 43: Installation And Commissioning
Safety on page 15 before performing any installation work. Note Always connect the IRB 365 and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...
Page 44: 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 45: On-Site Installation
Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the IRB 365. Action Note Transport the manipulator to its intended location.
Page 46: Minimum Required Free Space Above The Robot
Access way beside the robot If a platform is not possible the service personnel need to be able to stand beside the robot according to the figure. xx2000000671 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 47: Securing The Robot Frame
Requirements, foundation on having installed and secured the frame to the page floor/foundation. Illustration of leveling the ro- bot frame on page Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 48 The robot anchoring points in the frame must achieve required values for the foundation requirements to run the robot safely. See Requirements, foundation on page xx2000000601 Spirit level Fastening bolts that withstand requirements for current foundation Shim Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 49: Orienting, Assembling And Securing The Manipulator
3 Installation and commissioning 3.3.4 Orienting, assembling and securing the manipulator 3.3.4 Orienting, assembling and securing the manipulator Overview of the assembly order The IRB 365 is delivered in sub-assemblies which are assembled in the following order: Assembly order Illustration Install the base unit.
Page 50 Pliers for parallel arms 3HAC6194-1 Used to push the parallel arms apart. xx0700000555 Required service parts Consumable Article number Note Cleaning agent Isopropanol Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 51 Use shims if necessary. See specification in Requirements, foundation on page Assembling and installing The IRB 365 is delivered in sub-assemblies. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A...
Page 52 Make sure the round slings do not rub against any sharp edges. WARNING Personnel must not, under any circumstances, be present under the suspended load. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 53 8.8 with Yield Strength 640 MPa (3 pcs) Washers: 17x25x3 coated stainless steel Note Do not damage the robot cabling. xx2000000469 xx2000000470 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 54 Releasing the brakes on page 62 button and move the upper arms to calibration position. xx2200000021 Disconnect the 24V supply from the R1.MP con- nector. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 55 Do not tighten the mounting clamps screws before refitting the lower arms. xx2100000759 Tighten mounting clamping screws. Tightening torque: 10 Nm xx2100000729 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 56 Be careful not to damage the ball bearing cups xx2100000722 Fit the center base cover. xx2100000732 Calibration Action Note Update the revolution counters. Updating revolution counters on OmniCore robots on page 210. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 57: Test Run After Installation, Maintenance, Or Repair
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 58: 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. See Product specification - Robot stopping distances according to ISO 10218-1. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 59: Brake Release Unit
The figure shows a routed cable from the brake release unit to the SMB battery compartment located on top of the base unit. xx2100002498 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 60 Place the equipment in a manner that makes it obvious which manipulator it is connected to. There must be no doubt on which manipulator is affected when activating the button. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 61 3 Installation and commissioning 3.3.7 Brake release unit Continued Technical specification Function Data Signal 24V DC Current 13A continuously Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 62: Manually Releasing The Brakes
Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 63 If they are mixed up, damage can be caused to internal electrical components. xx2100000785 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 64: 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 65: Fitting Equipment On The Robot (Robot Dimensions)
3.3.10 Fitting equipment on the robot (robot dimensions) Robot dimensions The figure shows the dimension of the robot. Z = 0 1261 xx2200000423 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 66 3.3.10 Fitting equipment on the robot (robot dimensions) Continued 20 H7 SECTION D-D 319,5 xx2200000433 Mechanical interface of the tool flange xx2100000962 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 67 TCPO. This point load needs to be added to the calculation of the users normal tool load and declared in used tool data. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 68: Electrical Connections
Robot cable, power Power cable length Article number Power cable 3 m 3HAC079766-008 Power cable 7 m 3HAC079766-001 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 69 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 70 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. xx2200000123 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 71: Maintenance
Note If the IRB 365 is connected to power, always make sure that the IRB 365 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
Page 72: Maintenance Schedule And Expected Component Life
4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 365: • Calendar time: specified in months regardless of whether the system is running or not.
Page 73: Maintenance Schedule
The ball bearing cups is to be replaced every 12 months or every 3800 hours which ever comes first iv The slide bearings is to be replaced every 12 months or every 3000 hours which ever comes first Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 74: Expected Component Life
The expected life of a specific component of the robot can vary greatly depending on how hard it is run. Expected component life Component Expected life Note Gearboxes 20,000 hours Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 75: Inspection Activities
4 Maintenance 4.3.1 Inspecting the upper arms 4.3 Inspection activities 4.3.1 Inspecting the upper arms Location of the upper arm The figure shows an 5-axis IRB 365. xx2100000720 Required tools and equipment Equipment Article number Note Image Standard toolkit Content is defined in sec-...
Page 77 Be careful not to damage the ball bearing cups xx2100000721 Repeat the procedure in the lower end of the lower arms, on the delta unit. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 78 4 Maintenance 4.3.1 Inspecting the upper arms Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 79: Inspecting The Telescopic Shafts
4 Maintenance 4.3.2 Inspecting the telescopic shafts 4.3.2 Inspecting the telescopic shafts Location of the telescopic shafts The figure shows an 5-axis IRB 365. xx2100000730 Required tools and equipment Equipment Article number Note Image Standard toolkit Content is defined in sec-...
Page 80 Make sure not to over extend the length of tele- scope shafts due to slide bearing damage xx2100000747 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 81 (axis 5). xx2100000736 Loosen the two attachment screws on the mounting clamp in the upper end of the telescopic shaft. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 82 Remove the telescopic shaft for axes 4 and 5. xx2100000733 Loosen the attachment screw, and remove the conical connection from the telescopic shaft for axis 5. xx2100000751 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 83 Check the screws and the joints on the telescope Tightening torque bearing housing. 7 Nm Add Loctite 243 if replacing any screw. xx2100000773 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 84 Check the universal joints for any damage or cracks. If damage or cracks are detected, replace the complete joint. xx2100000753 xx2100000754 xx2100000755 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 85 Refit the two telescopic shafts on the motor axis 4 and 5. xx2100000750 Tighten mounting clamping screws. Tightening torque: 10 Nm Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 86 (axis 4). 10 Nm Add Loctite 638 on the conical surfaces and Loc- tite 243 on the threads xx2100000748 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 87 Add Loctite 638 on the conical surfaces and Loc- tite 243 on the threads xx2100000736 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 88: Inspecting The Lower Arms
4 Maintenance 4.3.3 Inspecting the lower arms 4.3.3 Inspecting the lower arms Location of the lower arms The figure shows an 5-axis IRB 365. xx2100000719 Required tools and equipment Equipment Article number Note Image Standard toolkit Content is defined in sec-...
Page 89 SeeReplacing ball bearing cup on if damage. page 120 If damage or cracks are detected, replace the Replacing the lower arms on lower arm. page 117. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 90: Replacement/Changing Activities
The battery is located as shown in the figure. xx2100000842 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 91 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 92 • Battery cable connector R2.G. xx2100000957 Remove the SMB battery. Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 93 Note Do not overtighten to avoid damaging the sealing. xx2100000843 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 94: Lubrication Activities
4 Maintenance 4.5 Lubrication activities 4.5 Lubrication activities Lubrication Motors and gears on the IRB365 are lifetime lubricated and maintenance-free. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 95: Cleaning Activities
4.6.1 Cleaning the IRB 365 General To secure high uptime it is important that the IRB 365 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 365.
Page 96: Standard Cleaning
4.6.2 Standard cleaning 4.6.2 Standard cleaning Overview The standard version of IRB 365 is not manufactured for wash down applications, and must not be cleaned with water. Note If some part of a standard version robot is stainless the robot must still be cleaned as a standard version robot.
Page 97: Repair
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 365, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 98: Definition Of Spare Part Levels
5.2 Definition of spare part levels 5.2 Definition of spare part levels Spare part level ABB spare parts are categorized into two levels, L1 and L2. Always check the part level before conducting a service work on a spare part. •...
Page 99: Base
The manipulator harness is located as shown in the figure. xx2100001811 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 100 Removing the manipulator harness 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 101 Remove the sealing plate by removing the four screws on motor axis 1, 2 and 3. xx2100001814 Remove motor cover from motor axis 4 and 5. xx2100001418 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 102 Remove the attachment screws on the SMB box top cover. xx2100002738 Pull the manipulator harness out of the SMB box. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 103 • Battery cable connector R2.G. xx2100000957 Remove the SMB battery. Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 104 Refitting the manipulator harness 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 105 5.3.1 Replacing the manipulator harness Continued Action Note Refit the connector to the bracket and tighten two Tightening torque: screws. 10 Nm xx2100002806 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 106 Add Loctite 5700 thread sealant on the two screws. Refit the brake release sealing plate on the SMB box top cover. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 107 Refit the manipulator harness in the SMB box. xx2100002742 Tighten the attachment screws on the SMB box Tightening torque: top cover. 10 Nm xx2100002738 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 108 Reconnect the white connector and the yellow connector on the motor top. xx2200000212 Refit the motor cover to motor axis 4 and 5. 6 Nm xx2100001418 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 109 Refit the motor cover axis 1, 2 and 3. Tightening torque: 2 Nm xx2100000725 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 110 5 Repair 5.3.1 Replacing the manipulator harness Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 111: Replacing The Smb Unit
The SMB unit is located as shown in the figure. xx2100001812 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 112 When handling the computer outside of the con- troller, use the wrist strap button located on the side of the computer. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 113 Cut cable straps and remove the screen grounding plate disconnect cable harness. xx2100001977 Disconnect the battery cable • Battery cable connector R2.G. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 114 Fit the new SMB unit on the bracket and tighten Tightening torque: 4 nuts. 3 Nm xx2100002813 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 115 Tighten the attachment screws on the SMB box Tighten torque: top cover. 10 Nm xx2100002751 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 116 5 Repair 5.3.2 Replacing the SMB unit Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 117: Upper And Lower Arms
The lower arms are located as shown in the figure. xx2100000719 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 118 Removing the lower arm Action Note CAUTION Make sure that all supplies for electrical power are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 119 Unscrew the joint ball counter clockwise xx2100000781 Add Loctite 243 to the joint ball Tightening torque Screw the joint ball clockwise 12 Nm Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 120 Be careful not to damage the ball bearing cups xx2100000721 Repeat the procedure in the lower end of the lower arms, on the delta unit. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 121 5 Repair 5.4.1 Replacing the lower arms Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 122: Replacing The Upper Arms
The upper arm is located as shown in the figure. xx2100000720 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 123 Removing the lower arm Action Note CAUTION Make sure that all supplies for electrical power are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 124 Remove the lower arms. Removing the upper arm Action Note CAUTION Make sure that all supplies for electrical power are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 125 Refitting the upper arm Use these procedures to refit the upper arm. Refitting the upper arm Action Note Add Loctite 243 to all screws. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 126 Repeat the procedure in the lower end of the lower arms, on the delta unit. DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 127 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 128: Replacing The Telescopic Shafts And Shaft Components
The figure shows an 5-axis IRB 365. xx2100000730 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 129 Make sure not to over extend the length of tele- scope shafts due to slide bearing damage xx2100000747 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 130 (axis 5). xx2100000736 Loosen the two attachment screws on the mounting clamp in the upper end of the telescopic shaft. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 131 Remove the telescopic shaft for axes 4 and 5. xx2100000733 Loosen the attachment screw, and remove the conical connection from the telescopic shaft for axis 5. xx2100000751 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 132 Refit the two telescopic shafts on the motor axis 4 and 5. xx2100000750 Tighten mounting clamping screws. Tightening torque: 10 Nm Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 133 (axis 4). 10 Nm Add Loctite 638 on the conical surfaces and Loc- tite 243 on the threads xx2100000748 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 134 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 135 Content is defined in section Standard toolkit on page 228. Required consumables Consumable Article number Note Locking liquid 3HAB7116-1 Loctite 243 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 136 Loosen the two attachment screws on the tele- scope bearing housing, and pull the slide bearing out and replace. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 137 Add Loctite 243 on the screws. Tightening torque: Tighten the two attachment screws on the tele- 10 Nm scope bearing housing. xx2100000773 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 138 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 139 5.4.3 Replacing the telescopic shafts and shaft components Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 140: Replacing The Delta Unit
The figure shows an 5-axis IRB 365. xx2200000124 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 141 Remove any loads or tools attached to the tilt arm. Removing the lower arm Action Note CAUTION Make sure that all supplies for electrical power are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 142 Make sure that all supplies for electrical power are turned off. Place a hand to support the weight of the delta unit from below. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 143 Use light force with mallet if necessary. xx2200000206 Refitting the delta unit Use these procedures to refit the delta unit. Refitting the delta unit Action Note Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 144 Refit the two attachment screws with washers for Tightening torque: telescopic shaft (axis 5). 1.6 Nm xx2100000770 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 145 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 146: Replacing The Tilt Arm
The tilt arm is located as shown in the figure. xx2100000774 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 147 Removing the tilt arm Action Note CAUTION Make sure that all supplies for electrical power are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 148 Use these procedures to refit the tilt arm. Refitting the tilt arm Action Note Fit the both tilt arm parts on the through shaft. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 149 Tightening torque: 7 Nm. Tighten the tilt arm part attachment screws. xx2100000780 Concluding procedure Action Note Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 150 5 Repair 5.4.5 Replacing the tilt arm Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 151: Motors And Gears
The motor is located as shown in the figure. xx2100000966 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Rot AC Motor M105.1 w.
Page 152 To secure no accidental movement and engage- ment of drive power, set robot into manual mode and also engage the emergency stop on the FlexPendant. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 153 Remove motor cover and screw. xx2100000725 Remove the protection plug in adapter plate. xx2100000969 Look into the hole in adapter plate. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 154 Loosen the hex cap screw for motor shaft. xx2100002382 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 155 Remove the motor including the bracket by sliding it out on the guide pins and lift it off. xx1900001834 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 156 Refitting the 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 157 Clean the mating surface with isopropanol. Fit the attachment screws and washers. Tighten by hand. Do not tighten with a torque yet. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 158 Tighten the four motor attachment screws. 17 Nm Connect the two cable connectors on motor. xx2100000967 WARNING Turn on all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 159 Be careful not to damage the ball bearing cups. xx2100000721 Repeat the procedure in the lower end of the lower arms, on the delta unit. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 160 Calibrate the robot. Calibration information on page 199. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 161: Replacing The Axis-4 And Axis-5 Motor
The motor is located as shown in the figure. xx2100001425 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Rot AC motor M104 w.
Page 162 To secure no accidental movement and engage- ment of drive power, set robot into manual mode and also engage the emergency stop on the FlexPendant. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 163 Push the brake release button to release telescop- ic arm. xx2100002687 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 164 Disconnect the white connector and the yellow connector on the motor top. xx2200000212 Remove the two screws and remove the cover with cable glands. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 165 Use a lint-free cloth. xx2100002700 Remove the four attachment screws with washers. xx2000001082 Fit guide pins in opposite holes. xx2000001084 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 166 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Note Clean the mating surface with isopropanol. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 167 Clean the mating surface with isopropanol. xx2000001083 Add Loctite 243 to all screws. Tightening torque: Secure the unit with attachment screws and 7 Nm washers. xx2100001421 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 168 Refit connection box and the M6-screws. Tightening torque: 12 Nm xx2100002700 Refit the cover with cable glands and the two M5- 3.5 Nm screws. xx2100001419 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 169 Refit the motor cover and M5-screws. Tightening torque: 6 Nm xx2100001418 WARNING Turn on all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 170 Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 171 5 Repair 5.5.2 Replacing the axis-4 and axis-5 motor Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 172: Replacing The Axis-1, Axis 2 And Axis-3 Gear Unit
The gearbox is located as shown in the figure. xx2100001427 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 173 To secure no accidental movement and engage- ment of drive power, set robot into manual mode and also engage the emergency stop on the FlexPendant. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 174 Remove motor cover and screw. xx2100000725 Remove the protection plug in adapter plate. xx2100000969 Look into the hole in adapter plate. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 175 Loosen the hex cap screw for motor shaft. xx2100002382 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 176 Remove the motor including the bracket by sliding it out on the guide pins and lift it off. xx1900001834 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 177 Refitting the gear 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 178 Add Loctite 243 to the four attachment screws. Refit the adapter plate and tighten the four attach- Tightening torque: ment screws with washers. 4.55 Nm xx2100001428 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 179 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Note Clean the mating surface with isopropanol. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 180 Clean the mating surface with isopropanol. Fit the attachment screws and washers. Tighten by hand. Do not tighten with a torque yet. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 181 Tighten the four motor attachment screws. 17 Nm Connect the two cable connectors on motor. xx2100000967 WARNING Turn on all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 182 Be careful not to damage the ball bearing cups. xx2100000721 Repeat the procedure in the lower end of the lower arms, on the delta unit. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 183 Calibrate the robot. Calibration information on page 199. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 184: Replacing The Axis-4 And Axis-5 Gear Unit
The gear unit is located as shown in the figure. xx2100001426 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 365 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 185 Loosen the upper mounting clamps for telescopic shaft Action Note WARNING Make sure that all supplies for hydraulic pressure and air pressure are turned off. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 186 Loosen the two attachment screws on the mounting clamp in the upper end of the telescopic shaft. xx2100000729 Removing the motor Action Note Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 187 Push the brake release button to release telescop- ic arm. xx2100002687 WARNING Turn off all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 188 Disconnect the white connector and the yellow connector on the motor top. xx2200000212 Remove the two screws and remove the cover with cable glands. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 189 Use a lint-free cloth. xx2100002700 Remove the four attachment screws with washers. xx2000001082 Fit guide pins in opposite holes. xx2000001084 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 190 Use caution and lift the motor straight up to get the pinion parted from the gear. xx2000001083 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 191 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Add Loctite 243 to the four attachment screws. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 192 Refit the mounting clamp in the upper end of the Tightening torque: telescopic shaft and tighten the two attachment 10 Nm screws. xx2100000729 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 193 If not already fitted, fit two guide pins to the motor attachment holes. xx2000001088 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 194 Clean with isopropanol. Add transclear into the groove for the o-ring. Refit connection box and the M6-screws. Tightening torque: 12 Nm xx2100002700 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 195 Refit the motor cover and M5-screws. Tightening torque: 6 Nm xx2100001418 WARNING Turn on all: • electric power supply Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 196 Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Calibrate the robot. Calibration information on page 199. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 197 5.5.4 Replacing the axis-4 and axis-5 gear unit Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 198 This page is intentionally left blank...
Page 199: Calibration Information
The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. The resolver values will change when parts affecting the calibration position are replaced on the robot, for example motors or parts of the transmission.
Page 200: Introduction And Calibration Terminology
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 201: Calibration Method
Arm in Technical reference manu- al - System parameters. Calibration methods The calibration method for the IRB 365 is different from other robots, and normal calibration methods are not applicable. Tool calibration A factory reset using tool calibration requires specific calibration equipment and is performed by ABB.
Page 202 The tool calibration method gives a better nominal kinematics and the modified cal_positions will help to get back to the same points when calibrating with Standard calibration. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 203: Calibration Movement Directions For All Axes
Manual movement directions xx2200000237 Description Description Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 204: Calibrating Axis 1-3
6.5 Calibrating axis 1-3 6.5 Calibrating axis 1-3 General This section is valid for IRB 365 all models. It describes how to perform the actual fine calibration of axis 1-3. If the robot needs to have a factory reset instead, contact ABB.
Page 206: Calibrating Axis 4-5
6.6 Calibrating axis 4-5 6.6 Calibrating axis 4-5 General This section is valid for IRB 365 all models. It describes how to perform the actual fine calibration of axis 4-5. If the robot needs to have a factory reset instead, contact ABB.
Page 208: Fine Calibration Procedure On Flexpendant
The calibration summary for the selected mechan- ical unit is displayed. On the right pane tap Calibration Methods. Tap Calibration Parameters. The calibration parameters are displayed. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 209 The axis is calibrated and the system returns to the list of available mechanical units. Tap OK. The fine calibration process is complete. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 210: Updating Revolution Counters On Omnicore Robots
The revolution counter for the selected axes is updated. CAUTION If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi- tioning, which in turn may cause damage or injury! Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 211: Troubleshooting
Check: been installed • the configuration files • connectors • options and their configuration • changes in the robot working space/movements. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 212 The robot has recently Check: been moved from one site • connections to another (an already • software versions working robot) Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 213: Mechanical Noise Or Dissonance
Make sure the bearings are fitted correctly. Tighten the screws if a heat sink, fan, or metal sheet is loose. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 214: Manipulator Collapses On Power Down
Remove the motor from the gearbox to in- If found faulty, the motor must be replaced spect it from the drive side. as a complete unit. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 215: Robot Is Jammed
If step 1-3 has been performed and the manipulat- or is still stuck, apply other risk reduction to avoid hazardous release of stored energy. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 216 This page is intentionally left blank...
Page 217: Decommissioning
These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 218: Environmental Information
8.2 Environmental information 8.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
Page 219 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 220: Scrapping Of Robot
• A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 221: Reference Information
9.1 Introduction 9 Reference information 9.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 222: Applicable Standards
Industrial robots and robot Systems - General safety require- ments EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 223: 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 224: Screw Joints
9.4 Screw joints 9.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 225 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 226 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 227: 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 228: 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 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 229: Special Tools
Special tools Note If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 230 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal tools Pliers for parallel 3HAC6194-1 Used to push the parallel arms apart. arms xx0700000555 Continues on next page Product manual - IRB 365 3HAC079185-001 Revision: A ©...
Page 231: Lifting Accessories And Lifting Instructions
The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 232 This page is intentionally left blank...
Page 233 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.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRB 365 3HAC079185-001 Revision: A...
Page 234 This page is intentionally left blank...
Page 235 27 disposal, 218 FlexPendant noise, 213 updating revolution counters, 210 foundation requirements, 38 oil, 30 free space above robot, 46 disposal, 218 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 236 218 storing on FlexPendant, 210 updating revolution counters, 210 updating, 210 users risk of burns, 30 requirements, 16 robot dimension, 65 labels, 19 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 237 Index validity and responsibility, 15 weight, 37 velocity base unit, 52 adjusting, 64 working range robot, 40 Product manual - IRB 365 3HAC079185-001 Revision: A © Copyright 2022 ABB. All rights reserved.
Page 240 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2022 ABB. All rights reserved. Specifications subject to change without notice.

ABB IRB 365 Product Manual

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