ABB IRT 710 Product Manual

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ROBOTICS

Product manual

IRT 710

Table of Contents

Summary of Contents for ABB IRT 710

Page 1 ROBOTICS Product manual IRT 710...
Page 2 Trace back information: Workspace Systems version a40 Checked in 2023-10-18 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
Track motion IRT 710 overview ..............3.4.2 Track motion IRT 710 layout ..............3.4.3 Lifting with lifting accessories ..............3.4.3.1 Lifting and moving track motion IRT 710 .......... Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 6 3.4.7 Assembling the track motion IRT 710 ............3.4.7.1 Assembling the sections ............... 3.4.7.2 Recommendations for floor mounting ..........3.4.7.3 Geometric alignment of track motion IRT 710 ........3.4.8 Assembling the pedestal (option) ............... 3.4.9 Assembly of the manipulator ..............
Page 7 Scrapping of robot ..................... Reference information Introduction ...................... Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 8 Table of contents Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................10 Circuit diagrams Index Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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 IRT 710. 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 Updated creating and downloading a system procedures. • Added harness outlet chapter. • Updated IRB 6660 with 500 mm riser. • Updated illustrations throughout the manual accordingly. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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Page 15: Safety
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the IRT 710 (hereinafter, the Product) will not cause injury or damage even if all safety instructions are complied with.
Page 16 Unauthorized modifications of the originally delivered product/system are prohibited. Without the consent of ABB it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength could be affected.
Page 17: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 18: Safeguarded Space
If the recalculated value ≤ 500mm, then S should be set as 500 mm. Note The used light curtain should follow type 4 from IEC61496 standards. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 19 If the recalculated value ≤ 500mm, then S should be set as 500 mm. Note The interlock device should follow the dual channel requirements. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 20 200 mm. Note The height of the fence should be at least or higher than 2200 mm. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 21 1 Safety 1.1.3 Safeguarded space Continued Note The height of the opening between the ground and the bottom of the fence should no exceed 180 mm. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 22: Safety Actions
1 Safety 1.2.1 Personal protective equipment 1.2 Safety actions 1.2.1 Personal protective equipment Note Always wear non-slip safety shoes for any commissioning/maintenance/repair procedure. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 23: Fire Extinguishing
1.2.2 Fire extinguishing 1.2.2 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the Product or controller. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 24: Emergency Release
When releasing the holding brakes, the Product parts may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the Product. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 25: Make Sure That The Main Power Has Been Switched Off
Wait for 5 minutes to let the capacitors discharge after the power has been switched off. DANGER Even if the main switch is switched off, the capacitors can cause electric shock if not given the time to discharge. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 26: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 27 Product and as a result of that affect the active or passive safety operation. 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 Product.
Page 28: Moving Equipment Is Potentially Lethal
The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the Product before pressing the start button. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 29: First Test Run May Cause Injury Or Damage
If maintenance or repair has been done, pay special attention to the function of the part that was serviced. Collision risks CAUTION When programming the movements of the Product, always identify potential collision risks before the first test run. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 30: Work Inside The Working Range Of The Product
Product will move unexpectedly when its parts are moved using the three-position enabling device or during other work inside the working range of the Product. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 31: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 32: Risks Associated With Live Electric Parts
A danger of low voltage is associated with the Product in: • The power supply for the motors. • The user connections for tools or other parts of the installation. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 33 Tools, material handling devices, etc., may be live even if the Product system is in the OFF position. Power supply cables which are in motion during the working process may be damaged. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 34: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 35: Brake Testing
For Products with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 36: Safety Risks During Handling Of Batteries
Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 37: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)
Possible pressure build-up in gearbox Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 38 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 39: Safety Signals And Symbols
Signal word used to indicate important facts and conditions. Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 40: Safety Symbols On Product Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 41 Brake release Pressing this button will release the brakes. This means that the parts of the Product can fall down. xx0900000808 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 42 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Brake release buttons xx0900000820 xx1000001140 Lifting bolt xx0900000821 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 43 Used in combination with Do not disassemble symbol. xx0900000825 Pressure Warns that this part is pressurized. Usually contains additional text with the pressure level. xx0900000826 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 44 Warns that stepping on these parts can cause damage to the parts. xx1400002648 Must wear safety helmet xx1800002608 Must wear non-slip safety shoes xx2200001149 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 45 1 Safety 1.4.2 Safety symbols on product labels Continued Symbol Description No entering Warns that entering the working areas can cause injuries or damages. xx1800002609 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 46: Product Stopping Functions
After emergency stop triggered Check the rectangular rail where the robot stopped for: • no "step" while passing the rectangular rail junction; xx2200001185 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 47 1 Safety 1.5 Product stopping functions Continued • no gap between the rectangular rail and section. xx2200001192 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 48: Safety During Installation And Commissioning
Lock and tag shall be considered. Harnesses between controller and manipulator shall be fixed and protected to avoid tripping and wear. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 49 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 50: Safety During Operation
Unexpected movement of product WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 51 Note The robot should avoid the arm to be totally straightened horizontally or vertically during high-speed movement. This may lead to unexpected hazards. xx2200001196 xx2200001197 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 53 Operating temperatures are listed in Operating conditions on page See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 54 Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Related information See also the safety information related to installation and operation. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 55: Emergency Release Of The Product Axes
When releasing the holding brakes, the Product axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 56: Safety During Troubleshooting
The product 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 product and robot system specific hazards.
Page 57: Safety During Decommissioning
Decommissioning on page 361. Unexpected movement of product WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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Page 59: Technical Data
1000 xx2200001281 Value of N is equal to the number of sections. Valid if the length is N + 0.5 m Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 60 Overall height differ- ence ≤ 10 mm Mechanical stops There are no adjustable mechanical stops on the IRT 710. This needs to be considered while doing a risk assessment of the complete installation, the track can however be order in different lengths.
Page 61 CP/CS harness, welding cables, media pipes and etc. There are three types carriages used in IRT 710. For more information, see 710 carriage overview on page The following table takes the large robot carriage weight into count.
Page 62 10212 10837 8261 9293 8858 9933 10478 11103 23.5 8369 9401 8966 10041 10586 11223 8595 9670 9189 10307 10852 11489 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 63 15678 14533 16339 16908 17569 Note The weight does not include additional options, tools and other equipment fitted on the robot. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 64 Max. Transfer Load 3,000 kg Note The payloads listed above are estimated for a wide range of IRT 710 applications. Robot payload is specified in the Product Specification for the robot. Airborne noise level The sound pressure level outside the working space.
Page 65 A power consumption measurement of a track motion with manipulator could be done with a simulated cycle in RobotStu- dio. See Operating manual - RobotStudio. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 66: Working Range
6006 Standard> -309 6197 6506 Mirrored -309 6197 6506 Standard> -309 6697 7006 Standard> -309 7197 7506 Mirrored -309 7197 7506 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 67 Standard> -309 17697 18006 Standard> -309 18197 18506 Mirrored -309 18197 18506 20.5 Standard> -309 18697 19006 Standard> -309 19197 19506 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 68 -309 29197 29506 31.5 Standard> -309 29697 30006 Standard> -309 30197 30506 Mirrored -309 30197 30506 32.5 Standard> -309 30697 31006 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 69 38506 40.5 Standard> -309 38697 39006 Double carriages Please check the layout of work range attached file and dimension information. xx2200000402 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 70 7236 10.5 Standard -309 7427 Standard -7539 7736 Standard -309 7927 Standard -8039 8236 Standard -309 7927 Mirrored -309 7927 8236 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 71 15927 16236 Mirrored -16039 Mirrored -309 15927 16236 19.5 Standard -309 16427 Standard -16539 16736 Standard -309 16927 Standard -17039 17236 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 72 25236 Standard -309 24927 Mirrored -309 24927 25236 Mirrored -25039 Mirrored -309 24927 25236 28.5 Standard -309 25427 Standard -25539 25736 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 73 -33539 33736 Standard -309 33927 Standard -34039 34236 Standard -309 33927 Mirrored -309 33927 34236 Mirrored -34039 Mirrored -309 33927 34236 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 74 Please check the layout of work range attached file and dimension information. xx2200000403 Description 813 mm B minim- 1270 mm Stroke Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 75 Standard -1039 11427 12466 Standard -309 12657 Standard -12769 Standard -1039 11927 12966 Standard -12769 Standard -309 12657 Standard -12039 12966 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 76 -23039 23966 28.5 Standard -309 24157 Standard -24269 Standard -1039 23427 24466 Standard -309 24657 Standard -24769 Standard -1039 23927 24966 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 77 -1039 34927 35966 Standard -35769 Standard -309 35657 Standard -35039 35966 40.5 Standard -309 36157 Standard -36269 Standard -1039 35427 36466 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 78 Please check the layout of work range attached file and dimension information. xx2200000404 Description 813 mm B minim- 1270 mm Stroke Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 79 -309 13387 Standard -13499 Standard -1039 12657 Standard -12769 13696 Mirrored -13499 Mirrored -309 13387 Mirrored -12769 Mirrored -1039 12657 13696 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 80 -309 24887 Standard -24999 Standard -1039 24157 Standard -24269 25196 Standard -309 25387 Standard -25499 Standard -1039 24657 Standard -24769 25696 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 81 Mirrored -309 34387 Mirrored -33769 Mirrored -1039 33657 34696 40.5 Standard -309 34887 Standard -34999 Standard -1039 34157 Standard -34269 35196 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 82: Information Labels
SECTION A-A xx2200000872 Item Description ABB Logo Rating Label Lifting Label NO SHOCK Warning Label Instruction Plate Electric shock Warning Label High Temperature Warning Label Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 83: Irt 710 Terms
Maximum stroke of the carriage. SMB Box The Serial Measurement Board Box, a control box which in- cludes the SMB card for the IRT 710 axis as well as the resolver position backup battery. The Serial Measurement Board is a integrated circuit board used to measure and store the position of each robot axes.
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Page 85: Installation And Commissioning
Safety on page 15 before performing any installation work. Note Always connect the IRT 710 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 86: Overview Of Installation And Commissioning Procedure
Lift the track motion. Lifting track motion using lifting slings. Assemble the track motion. Assembling the track motion IRT 710 on page 120 Assembling the pedestal (option). Assembling the pedestal (option) on page 139 Assemble the manipulator.
Page 87: Unpacking
Clean the unit with a lint-free cloth, if necessary. Note Do not clean any of the pre lubricated parts of the track motion IRT 710. Make sure that the lifting accessory used (if required) is suitable to handle the weight...
Page 88 3.3.1 Pre-installation procedure Continued Number of sections on pallets If the complete track motion IRT 710 consists of more than 6 sections, the delivery is divided on several pallets. The table below specifies the number of sections on each pallet.
Page 89: Acceptance Inspection
Variant: IRT 710-XX/X Carriage type Carriage number Length R, T 1, 2, 3, 4 3, 3.5, 4,...40 xx2200000408 *: R represents Robot; T represents Transfer. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 90: Storage
The chain can either be folded so that the chain is lying on itself or laid on its side. xx1300000884 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 91 For complete chains with or without strapping in place or strapping in place and the strapping plate not connected to the chain, the chain can be rolled up and stored lying on its side xx1300000885 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 92: On-Site Installation
3 Installation and commissioning 3.4.1 Track motion IRT 710 overview 3.4 On-site installation 3.4.1 Track motion IRT 710 overview IRT 710 overview xx2200000409 Section Carriage Rectangular Rail Internal cable chain Cover bracket Track cover Terminal cover External cable chain cover...
Page 93 3 Installation and commissioning 3.4.1 Track motion IRT 710 overview Continued IRT 710 carriage overview xx2200000410 Motor Reducer 90 mm Cam roller holder unit 110 mm Cam roller holder unit Scraper unit Cable drawer Lubrication system Weight, Carriages Carriage type...
Page 94 3 Installation and commissioning 3.4.1 Track motion IRT 710 overview Continued Large robot carriage mounting plate , IRB 7600, 760, 6700, 6660, 6650S, 6620, 660, 460 The large robot carriage mounting plate is used for IRB 7600, 760, 6700, 6660, 6650S, 6620, 660 and 460.
Page 95 3 Installation and commissioning 3.4.1 Track motion IRT 710 overview Continued Medium robot carriage mounting plate, IRB 4600, 4400 The medium robot carriage mounting plate is used for IRB 4600 and 4400. 90° per step xx2200000607 45° per step xx2200000608...
Page 96 3 Installation and commissioning 3.4.1 Track motion IRT 710 overview Continued Transfer carriage mounting plate Use the hole configuration when designing fixures to be used on the transfer carriage. The figure below shows the dimensions in mm. xx2200000609 Easily damaged parts on the track motion Do not step on the locations marked in the figure since they are easily damaged.
Page 97: Track Motion Irt 710 Layout
3 Installation and commissioning 3.4.2 Track motion IRT 710 layout 3.4.2 Track motion IRT 710 layout The arrow in the illustration refers to the rack side. One carriage xx2200000610 Two carriages xx2200000611 Three carriages xx2200000612 Four carriages xx2200000613 Continues on next page...
Page 98 3 Installation and commissioning 3.4.2 Track motion IRT 710 layout Continued Direction of travel Standard mounting xx2200001151 Mirrored mounting xx2200001152 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 99: Lifting With Lifting Accessories
Read through the safety instructions carefully, before the track motion IRT 710 is unpacked and installed. WARNING Never lift the track motion IRT 710 in sections longer than 6.5 meters. To prevent damage only use the lifting position according to the tables in Lifting...
Page 100 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Lifting position The illustration shows the lifting position on the track motion IRT 710 where the lifting straps should be placed. Car- Length Carriage and lifting position...
Page 101 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Car- Length Carriage and lifting position riage xx2200000646 xx2200000647 xx2200000648 xx2200000649 xx2200000650 xx2200000651 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 102 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Car- Length Carriage and lifting position riage xx2200000652 xx2200000653 xx2200000654 xx2200000655 xx2200000656 xx2200000657 xx2200000658 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 103 Length Carriage and lifting position riage xx2200000659 Lifting using fork lift Proceed as follows to lift the track motion IRT 710 using the fork lift. xx2200000789 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 104 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Lifting using an overhead crane Proceed as follows to lift the track motion IRT 710 using an overhead crane. xx2200000790 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B ©...
Page 105 Continued Moving the track motion using roller dollies Lift the IRT 710 according to lifting instructions, and place roller dollies under the stand’s ground plates. Depending on the lenght of the track motion, the number of roller dollies varies. See table for information.
Page 106 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued The type of roller dolly and the placement of the two types is shown in the following illustration and table. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B ©...
Page 107 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 108 Identification plate on page The weight of the IRT 710 depends on its type, length, and number of carriages. The total weight can be determined with the following formulas: Weight, robot on page 61...
Page 109 3 Installation and commissioning 3.4.3.1 Lifting and moving track motion IRT 710 Continued Action Note Remove the bundled packing tape (if the product is fastened). Raise the overhead crane to lift the product. Product manual - IRT 710 3HKA00000186299-001 Revision: B...
Page 110: Foundation
The concrete compressive strength can be tested according to the European norm EN 206-1. When IRT 710 is mounted on the steel platform, M16 class 12.9 screws are required. Depth of thread must be min. 30 mm. Inclination and flatness The levelling of the track is done by screwing / unscrewing the M60 screws.
Page 111 This is not a standard option in list, any request can reach the sales office for help. The following images show the two types base plate of the IRT 710. For general condition 1...
Page 112 3 Installation and commissioning 3.4.4 Foundation Continued 18.5 4-C10 xx2200001282 For general condition 2 xx2200001200 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 113 2-M16 2x4-C5 4-C10 xx2200001283 Robot capabilities The following table shows the robot capabilities of the IRT 710. Standard pedestals are generally allowed between the robot but their height is limited and dependent on the type of robot. 3HKA00000190345 xx2200000661 3HKA00000190346...
Page 114 4400 4600 3HKA00000190345 213 kg √ √ √ √ √ √ √ √ 3HKA00000190346 288 kg √ √ √ √ √ Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 115 Robot Pedestal Height Weight 7600 6660 6650S 6700 6620 4400 4600 3HKA00000190348 220 kg √ √ 3HKA00000190349 276 kg √ √ 3HKA00000190350 331 kg √ Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 116: Screw Joints
Screw class Class 12.9 screw is recommended by ABB for certain screw joints. These screws are high grade quality and extremely resistant to fatigue. Whenever used, this is specified in the instructions, and in such cases, no other type of replacement screw...
Page 117: Moving The Carriage Manually
Press in the brake release button (A) shows in the With SMB figure. xx2200001255 Without SMB xx2200001256 Push the carriage by hand to the desired location. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 118 If there is no voltage to the motor, 24V DC can be connected direct to the SMB box. Action Unplug the Motor power cable from the SMB box that runs to the IRT 710 motor. Using pins, connect the +24VCC to the G pin (see figure). Continues on next page...
Page 119 Note Mating connectors are not offered. xx1800001870 WARNING The motor breaks on the IRT 710 are phase dependent. Fault connection can cause damage to vital parts. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 120: Assembling The Track Motion Irt 710
3.4.7 Assembling the track motion IRT 710 3.4.7.1 Assembling the sections General The IRT 710 should be assembled as set out in the procedure below. Detailed descriptions of each stage can be found in the following sections. Required spare parts Note The spare part numbers that are listed in the table can be out of date.
Page 121 Rail Tool(A:Non-rack side 3HKA00000189982; B:Rack side 3HKA00000189983) xx2200001179 Rack clamps (3HAW107700357) xx2200001171 Rack Mounting block (3HAWL000011) xx2200001170 Calibration pin (3HKA00000190563) xx2200000667 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 122 The following table describes all necessary steps to achieve a correct assembly of the IRT 710 track: Action Note/Illustration Markup on a clean floor for the IRT 710. Markup also the position of each cross member. Position the preassembled carriage & track sec- tion on the floor at the predetermined position.
Page 123 3.4.7.1 Assembling the sections Continued Action Note/Illustration Level the track module with the M60 screws. See Geometric alignment of track motion IRT 710 on page 133. Note Ensure the geometric alignment of the IRT 710 with an optical level or a laser tracker. Note that,...
Page 124 Loctite 243 on their thread. Tightening torque: 305 Nm Slightly tighten the rail screws and finalize the horizontal alignment of the IRT 710 as described Geometric alignment of track motion IRT 710 on page 133.
Page 125 Check that the chamfer is located in front of the side member step (check on preassembled sec- tion if you are not sure). xx2200000834 xx2200001170 xx2200001171 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 126 Nut: ISO 4032 M8 Class 8.8 (1 pcs) Tighten the nut. Washers: BN 792 M8 Washer (1 pcs) Tightening torque: 3 Nm Nut tightening torque: 25 Nm Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 127 Once again, release the carriage brake and push the carriage manually along the length of its stroke. Check that there is no interference between the covers and the carriage. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 128: Recommendations For Floor Mounting
3.4.7.2 Recommendations for floor mounting Mounting bolts Chemical anchor bolts are recommended to secure the track motion IRT 710 to the floor. However, the mounting bolts are not supplied since they must be selected on the basis of the material the foundation is made of.
Page 129 Securing a section Action Note/Illustration Position the sections on the floor. xx2200000669 Adjust the horizontality of the IRT 710 with the M60 levelling screw. Check that all the levelling screws are touching the floor. Tighten the M60 nuts. Continues on next page...
Page 130 3.4.7.2 Recommendations for floor mounting Continued Installation of chemical anchors Please respect the following procedure for chemical anchors installation. No mechanical anchors allowed. Chemical anchors used in IRT 710 is HILTI M16x125 anchors. Action Note Drill the hole with rotary hammer and set the depth gauge to the correct drilling depth.
Page 131 The screwed-on setting tool may be removed only after the time 't ' has elapsed. xx1700001673 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 132 It is of the utmost importance that all screw joints be tightened with the correct torque. Failure to do so may result in damage to the equipment or personal. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 133: Geometric Alignment Of Track Motion Irt 710
3.4.7.3 Geometric alignment of track motion IRT 710 Instruction The geometric alignment of the IRT 710 should be done based on the position of the linear rails. This section details how to adjust the IRT 710 using a laser tracker. Tool list Tool Illustration Absolute Tracker.
Page 134 3 Installation and commissioning 3.4.7.3 Geometric alignment of track motion IRT 710 Continued Alignment in Z direction The figure shows the possible variation along the Z-axis. The track should be laser aligned to within 0.1 mm from the origin per meter, along the entire X-axis.
Page 135 3.4.7.3 Geometric alignment of track motion IRT 710 Continued Action Note/Illustration Measure the level of the IRT 710 linear rails at The magnetic base attached to the different locations of the IRT 710. Measurements reflector must be in contact with should be made on both sides of each section.
Page 136 3 Installation and commissioning 3.4.7.3 Geometric alignment of track motion IRT 710 Continued Action Note/Illustration Two special tools are used in adjusting the linear rails on linear movement direction. For track without base plate: xx2200001201 For track with base plate:...
Page 137 It is recommended to use one of adjust the levelling screws until all the measured the highest points of the IRT 710 points, on both sides of the IRT 710, are at the as reference: It is easier to bring same level.
Page 138 3 Installation and commissioning 3.4.7.3 Geometric alignment of track motion IRT 710 Continued Action Note/Illustration Check the rails alignment according to Track alignment in different directions on page 133. Release the carriage brake and push the carriage manually along. If the linear rails are correctly aligned, you should sense no "...
Page 139: Assembling The Pedestal (Option)
Lifting eye, M16 (3 pcs) xx2200000798 Lift the pedestal to the mounting position using Weight is specified in Weight, ped- lifting slings. estal on page Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 140 If a IRB 4400/IRB 4600 need be turned 90 ° in any direction, the pedestal must also be rotated in the same direction due to the fact that the guide pins only fit the manip- ulator base according to the illustration. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 141: Assembly Of The Manipulator
3.4.9 Assembly of the manipulator Overview When the IRT 710 is carrying an IRB robot it behaves like an integrated 7th axis. The robot should be ordered with an additional drive unit (907-1) for the IRT 710 motor, and optionally a resolver connection for 7th axis on the robot base (864-1).
Page 142 The illustration described the manipulator installation orientation 0°, 90°,180° and 270° on robot base and it deduced the manipulator installation orientation 45°, 135°,225° and 315° from this. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 143: Electrical Installation
Description The IRT 710 has an internal cable chain which carries flexible movement cables. The IRT 710 motor can be controlled through an external SMB box, or through the integrated SMB card of a manipulator. Static cables connect to the IRC5 controller.
Page 144 Spare parts on page 377. Robot cables If the IRT 710 is ordered prepared for a manipulator, the cable chain should contain the suitable flexible movement cables for the robot. Robot floor cables should be ordered with the robot. It is important to indicate the robot mounting orientation in the order form in order to get the correct robot cable length.
Page 145: Specifications Of The Movement Cables
3.5.2 Specifications of the movement cables Movement cables diameter and weight The internal cable chain usually contains the IRT 710 motor power and resolver cables. When additional cables are used, it is important to ensure that they can all fit in. In particular, if a number n of cables are used, you must make sure that: •...
Page 146: Installation Of The Cable Chain
3.5.3 Installation of the cable chain WARNING The IRT 710 cable chain is delivered assembled in the IRT 710. If the cable chain and/or its content must be modified upon installation, make sure that the following recommendations are strictly followed. Improper installation of the cable chain will result in premature wear or damages of the chain and the flexible cables.
Page 147 The cables should be firmly attached on the tie- wrap plate at the end of the cable chain on the carriage side. xx2200000877 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 148 Note/Illustration The cable chain should be perfectly aligned with the IRT 710 chain tray. In order to achieve a cor- rect alignment, it is recommended to fix both ends of the chain when the carriage is at the end of its stroke, and the chain is entirely unrolled in the duct.
Page 150: Smb Box
Description The IRT 710 motor is controlled by IRC5 controller through an ABB Serial Measurement Board. For IRT 710 used to move a manipulator, it is possible to connect the motor resolver to the manipulator’s integrated SMB board (robot option). If there is no robot, or if the robot is not equipped with a resolver socket...
Page 151 3 Installation and commissioning 3.5.4 SMB box Continued 3-axis SMB box xx2200000793 xx2200000794 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 152 3 Installation and commissioning 3.5.4 SMB box Continued 6-axis SMB box xx2200000791 xx2200000792 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 153 3 Installation and commissioning 3.5.4 SMB box Continued Note Check that there is enough space to install the SMB box during layout design. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 154: Connectors On Irc5 Controller
XS.7 Customer power/signals external connection XS.13/XS.5 Customer options XS.10 Customer options XS.11 Customer options XS.12 Customer safety signals Network connection XP.28 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 155 3 Installation and commissioning 3.5.5 Connectors on IRC5 controller Continued Description Reference on the cir- cuit diagram Additional axes SMB connection XS.41 Robot SMB connection XS.2 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 156: Connectors On Drive Module
A4.XX: Customer options A4.XX: Customer options Communication cabling between Control/Drive Module Communication cabling between Control/Drive Module A4.XS41: Additional axes SMB connection A4.XS2: Robot SMB connection Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 157: Assembly The Cable Of The Additional Axes Smb
Disconnect all electrical supply before installation of the cable. Location of the cable xx1100000710 Connecting the cable Action Note Connect the cable harness MS2 XS41 to the connector A42.X5. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 158: Grounding Point
There are two grounding/bonding points on both sides of the carriage. The grounding/bonding point is used for potential equalizing between control cabinet, track motion and any peripheral devices. xx2200000678 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 159 3.5.8 Grounding point Continued Grounding point for track motion stand There is also M8 grounding/bonding points for the track motion stand, located at the mechanical stop. xx2200001186 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 160: Cables Connections
3.5.9 Cables connections Instruction If the IRT 710 motor is controlled through a robot integrated SMB card, the IRT 710 resolver cable should be connected to the robot base, the IRT 710 movement power cable should be connected to the IRT 710 static power cable and the IRT 710 static power cable should be connected to the XS7 socket on the IRC5 controller.
Page 161 3 Installation and commissioning 3.5.9 Cables connections Continued Description Note/Illustration xx2200000791 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 162 For all signal sockets on the SMB box that are unused, a PTC plug is required. This plug bridges pin 7 and 8. xx2000002544 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 163 Ensure that the movement cables are properly connected to the mo- tor. xx2200000867 Power cable Signal cable The wiring diagrams are described in section Circuit diagrams on page 379. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 164: Harness Outlet
With external cable chain on the rack side of the track External cable chain With external cable chain on the non-rack side of the track External cable chain Harness outlet xx2300001399 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 165 Otherwise the replacement of the harness will be very difficult due to the constriction of the space. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 166 With external cable chain on the non-rack side of the track Carriage 1 Carriage 2 Outlet 1 Outlet 2 External cable chain Harness outlet xx2300001401 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 167 With external cable chain on the non-rack side of the track Carriage 1 Carriage 2 Outlet 1 Outlet 2 External cable chain Harness outlet xx2300001402 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 168 The harness of the carriage 2 should go out from the outlet on the (N/2 +1) section of the track. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 169 Outlet 1 Outlet 2 Carriage 1 Carriage 3 Carriage 4 Carriage 2 Outlet 3 Outlet 4 External cable chain Harness outlet xx2300001405 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 170 With external cable chain on the non-rack side of the track Carriage 1 Carriage 3 Carriage 4 Carriage 2 Outlet 1 Outlet 2 Outlet 3 Outlet 4 External cable chain Harness outlet xx2300001406 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 171: Inspection Points Of Cable Chain Prior To Start-Up
Tray joints arranged flush and unobstructed? Cable tray running parallel to the moving end guide? Glide bars don’t move. Screw holding glide bars at least one every two meters? Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 172: Software Installation
For example motion type, robot orientation, pedestal, length etc. Complete the Installation Manager wizard. Apply the changes to the system and restart the controller. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 173 Verify that the selected robot orientation on the track motion matches the physical configuration, see Direction of travel on page For more detailed instructions on using the Installation Manager, see Operating manual - RobotStudio. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 174: Updating The Revolution Counter On The Track Motion
3.6.2 Updating the revolution counter on the track motion 3.6.2 Updating the revolution counter on the track motion General For more details, see Calibration on page 335. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 175: Lubrication
3.7.1 Activating the automatic lubrication system 3.7 Lubrication 3.7.1 Activating the automatic lubrication system There are two types of automatic lubrication system can be used in IRT 710. One is HPS, and the other is EPS. Power sup- 4.5 battery...
Page 176 The grease is pushed in the piping by the pump; a valve is sequencing the distribution to each port. The automatic lubrication system needs to be activated before using the IRT 710. Once the system has been activated, it delivers the exact quantity of grease to each port at required time interval, during one year.
Page 177: Lubrication Feedback (Optional)
5 If the feedback value has not changed after 5 days, it indicates that the lubrication is abnormal. Please check the lubrication system and grease bag. xx2200000795 M12 Cable, 1,000 mm (Silver white) Sensor Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 178: Zone Division
The purpose of the zone division is to divide the track into zones. Read about SafeMove in the Product manual - IRC5. Document ID is specified in References on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 179: Maintenance
Note If the IRT 710 is connected to power, always make sure that the IRT 710 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
Page 180: 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 IRT 710: • Calendar time: specified in months regardless of whether the system is running or not.
Page 181: Maintenance Schedule
Inspecting the gearbox, back lash lash on page 200 Cleaning and lubricating the Cleaning and lubricating the gear racks gear racks on page 204 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 182 The battery is to be replaced at given maintenance interval or at battery low alert. The battery is to be replaced at given maintenance interval or at battery low alert. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 183: Expected Component Life
(12 meters per cycle) operat- ing 1,000 maximum load cycles a day. Gearboxes Over 20,000 hours Rack Over 10 years Rail 12 meters per cycle x 1,000,000 cycles Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 184: Inspection Activities
Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 via myABB Business Portal, www.abb.com/myABB. The figures show the location of the information labels to be inspected. The symbols...
Page 185 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Required spare parts on page 184. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 186: Inspecting The Lubrication System
These procedures include may be required. See refer- references to the tools re- ences to these procedures in quired. the step-by-step instructions below. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 187 Check that there is no oil leakage in the lubrication system. Check that the oil pack in the pump is not used up. Check that the lubrication system is work- ing normally. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 188: Inspecting The Cable Chain
Checking the emergency stop Action Note Allow the track motion to stop. Press in the emergency stop. Try to start the track motion. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 189 Loctite 243. and brackets. If found to be loose they need to be removed, have locking liquid applied to them and then be refitted and tightened. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 190: Inspecting The Levelling Screw
80 Nm (Chemical anchor bolts directly • If any loosen is detected, retighten connected to the foundation) 308 Nm (M16 bolts connected to the floor plate) Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 191 If visual wear is detected, replace with a new one. • If leveling screw is missing, install a new one and align the track motion. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 192: Inspecting The Rectangular Rails
Shell Gadus S2 V220 00 TOTAL Multis EP 0 Lubrication gun (if no automatic lubrication system). Use one of the three lubricants. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 193 Worn out or damaged rails can be caused by the robot stopping occasionally with overload in the track axis. xx2200000635 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 194: Inspecting The Cam Roller Units
110MM Cam roller holder unit 90MM Cam roller holder unit Required equipment Equipment, etc. Note Lint free cloth Lubricant Shell Retinax LX2 Lubrication gun Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 195 • any worn glued part. Worn out or damaged roller can be caused by the robot stopping occasionally with overload in the track axis. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 196: Inspecting The Felt Wiper
Note Lint free cloth Lubricant CASTROL Longtime PD0 Lubricant Shell Gadus S2 V220 00 Lubricant TOTAL Multis EP 0 Lubrication gun Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 197 If not, check whether the lubrication system is any grease on the rails. and the felt wiper are working properly or not. If not, replace the damaged parts. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 198: Inspecting The Cables And Connectors
Common causes of cable failure when operating in a cable chain: • Cables used are not designed for use in continuous flexing operation. • Cables are packed too tight inside the carrier cavities. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 199: Inspecting The Mechanical Stops
Use this procedure to inspect the mechanical stops. Action Note Visually inspect the mechanical stops for damage. If the mechanical stops are damaged, re- place them. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 200: Inspecting The Gearbox, Back Lash
Contamin- ated grease requires cleaning and re-oiling Check that there is no abnormal noise when running. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 201 • If any wear on the teeth is detect, check the backlash. Check the lubrication of the gearbox. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 202: Cleaning Activities
4.4.1 Cleaning the IRT 710 General To secure high uptime it is important that the IRT 710 is cleaned regularly. The frequency of cleaning depends on the environment in which the track works. Different cleaning methods are allowed depending on the type of protection of the IRT 710.
Page 203 Clean the cables if they have a crusty surface, for example from dry release agents. Mechanical stops Regularly clean the contact surface of the mechanical stops. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 204: Cleaning And Lubricating The Gear Racks
Action Note Remove the rack covers. Inspect the gear racks, clean if necessary. Use lint free cloth Use a brush to lubricate the gear rack. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 205: Cleaning And Lubricating The Rectangular Rails
Use this procedure to clean the rectangular rails. Action Note Remove the rail covers. Clean the rectangular rails with a lint free cloth. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 206 Note Lubricate the rectangular rails after clean- ing. WARNING The grease used causes serious eye irrita- tion and may cause an allergic skin reac- tion. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 207: Lubrication Activities
4.5 Lubrication activities 4.5.1 Adjusting the leveling Adjusting the leveling Follow the procedure in Geometric alignment of track motion IRT 710 on page 133 to adjust the leveling on the track motion. Product manual - IRT 710 3HKA00000186299-001 Revision: B...
Page 208: Automatic Lubrication System
EP (extreme pressure) additives. The base oil viscosity must be ISO VG68 to ISO VG 100. Grease doped with EP additives is absolutely necessary, due to high loads on blocks. Customers must use the following lubrication suggested by ABB or malfunction of the lubrication system may occur. Equipment Note...
Page 209 Checking grease level and inspect the pipes without lubrication feedback system The procedure below details how to check the grease level and inspect the pipes when the IRT 710 is installed without lubrication feedback system. Action Note/Illustration Locate the cartridge.
Page 210 3 pcs standard AA batteries). • The EPS system is working normally or not. If no, replace the cartridge. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 211 Installing a new grease cartridge Respect the following instructions to replace the grease cartridge: Action Note ® Open the Memolub as described before. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 212 Place the cartridge at the inlet of the pump. Check that the cartridge is correctly inserted in the inlet of the pump. xx1800001986 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 213 Memolub are working well. It is important that you run this test cycle only if a cartridge is in place, otherwise you'll fill-in the pump with air. xx1800001988 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 214: Replacement/Changing Activities
The principle for how to replace the battery is the same even if the location varies. xx2300001005 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 215 Place the new battery pack, plug the connector on the board, and secure the pack with straps. Close the SMB box, switch on the power. Update the revolution counters of the axis. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 216: Replacing The Grease Package And Battery
4.6.2 Replacing the grease package and battery Replacing the grease package and battery Follow the procedure in Memolub manual on page 211 to replace the grease package and battery. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 217: Replenishing Oil, Cam Roller Unit
Use the suggested dispenser or a similar one: • TaJima THY-401 (Use the flexible pipe) Consumable Material Note Lubricant Shell Retinax LX2 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 218 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 219: 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 IRT 710, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 220: Replacing The Carriage Parts
Motor Gearbox 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 221 Removing the covers Action Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 222 DANGER Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 223 Place the reducer uninstall tool unit under Reducer uninstall tool the drive unit. unit(3HKA00000192765) xx2200001166 Remove the four screws that hold the drive unit. xx2200000618 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 224 Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the stopper xx2200000623 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 225 Remove the motor. xx2200000619 Remove the four screws holding the gear- box to the bracket. xx2200000620 Remove the gearbox. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 226 Washers: BN 792 M10 Washer (4 pcs) Tightening torque: 83 Nm Align the gaps on the gearbox as illus- trated. xx2200000622 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 227 Tightening torque: 43 Nm gearbox. Loose the locking screw and retighten it according to the tightening torque. xx2200001190 Tightening torque: 79 Nm. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 228 For the weight of the carriage, refer to the identification plate of the track. xx2200001176 Align the drive unit with the carriage. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 229 Lock the pipe back to the drive unit with the screw. Reconnect the connectors on the motor. • MP (Power) • MR (Resolver) xx2200000621 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 230 For the weight of the carriage, refer to the identification plate of the track. Assemble the backlash adjust- ment tooling (3HKA00000189964) to the track. xx2200001167 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 231 Fit the dial gauge to the track. xx2200001188 Reset the dial gauge. Adjust the drive unit against the gear rack with the backlash adjust- ment tooling. xx2200000625 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 232 Refit the cover with its attachment screws on the bracket. xx2200000616 Screws: ISO 7380-2 M6x12 Class 10.9 (4 pcs) Tightening torque: 8 Nm Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 233 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 234: Replacing The Cam Roller Units
90MM Cam roller holder unit 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 235 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the product, before entering the safeguarded space. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 236 When the 90 mm cam roller unit is re- leased, it can be rotated with the finger. xx2200001177 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 237 During the operation, watch the seals at the ball bearing block: when you see the grease pouring out, you have applied enough grease. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 238 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 239 Removing the 90 cam roller unit Action Note If there is a robot on the track, jog the robot to the lifting position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 240 Rotate the cam roller nipple away from the rectangular rail. When the 90 mm cam roller unit is re- leased, it can be rotated with the finger. xx2200001177 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 241 During the operation, watch the seals at the ball bearing block: when you see the grease pouring out, you have applied enough grease. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 242 Tighten the cam roller unit with the holder tooling. Rotate the cam roller nipple close to the rectangular rail. xx2200001177 Tightening torque:15 Nm Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 243 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 244: Replacing The Scraper Parts
Scraper bracket 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 245 Removing the scrapers Action Note Disconnect the lubrication tube from the scraper kit. xx2200000816 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 246 Secure with the screws and washers. xx2200000818 Screws: ISO 4762 M6x16 Class 8.8 (2 pcs) Washers: BN 792 M6 Washer (2 pcs) Tightening torque: 10 Nm Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 247 Screws: ISO 4762 M8x30 Class 12.9 (3 pcs) Washers: BN 792 M8 Washer (3 pcs) Tightening torque: 43 Nm xx2300001004 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 248 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 249: Replacing The Lubrication Parts
Grease detection sensor 3HAWC116979 Distributor 6 ways 3HAWC116982 Polyamide tube 6x8 L=0.3M 1025 U08 R01 3HAWC116981 Polyamide tube 4x6 L=8M 1025P06 00 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 250 5.2.4 Replacing the lubrication parts Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 251 Disconnect the tubes. Unscrew to remove the pump unit. xx2200000821 If need repair the Memolub parts, see Memolub manual on page 211. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 252 If there is no enough space for the maintenance work, clean the surroundings. If there is any robot on the track, jog it to the lift- ing/transportation position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 253 Removing the grease detection sensor Action Note Disconnect the connector: • sensor Unscrew to remove the sensor. xx2200000822 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 254 If there is no enough space for the maintenance work, clean the surroundings. If there is any robot on the track, jog it to the lift- ing/transportation position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 255 Screws: ISO 4762 M6x20 Class 8.8 (2 pcs) Washers: BN 792 M6 Washer (2 pcs) Tightening torque: 10 Nm Connect the tubes. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 256 • air pressure supply to the product, before entering the safeguarded space. Removing the Y fitting Action Note Disconnect the tubes. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 257 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 258: Replacing The Track Parts
234. Replace all cam roller units, if any of the ball ele- ments are damaged. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 259: Replacing The Covers
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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B ©...
Page 260 Standard toolkit on page 372. Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Flange sealant Loctite 574 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 261: Replacing The Track Covers
Removing the track cover Action Note Remove the screws and covers. xx2200000616 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 262 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 263: Replacing The Terminal Covers
Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000829 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 264 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 265: Replacing The Rack Covers
Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000830 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 266 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 267: Replacing The Rectangular Rails
The rectangular rails are located as shown in the figure. xx2200000629 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Retangular rail L=0.5M kit...
Page 268 Action Note Remove the covers over the rectangular rails to change. Remove the rectangular rail by removing all the screws. xx2200000831 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 269 Slightly tighten the rail screws and finalize Screws: the horizontal alignment of the IRT 710 as For 0.5 m ISO 4762 M12x55 Class12.9 (7 described in Geometric alignment of track...
Page 270 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 271: Replacing The Racks
The racks are located as shown in the figure. xx2200000634 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Rack L=0.5M...
Page 272 Removing the rack Action Note Remove the covers over the racks to change. Remove the rack by remov- ing all the screws. xx2200000832 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 273 When the alignment is correct, Tightening torque: 43 Nm tighten the screws one by one, after applying Loctite 243 on their thread. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 274 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 275: Replacing The Mechanical Stops
The mechanical stops are located as shown in the figure. xx2200000632 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 276 Removing the mechanical stop Action Note If there is external chain chain bracket connected to the bumper kit, remove the screws. xx2200000843 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 277 Use this procedure to refit the mechanical stops. Refitting the mechanical stop Action Note Screw and tighten the bumper to the bracket. xx2200000836 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 278 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 279: Replacing The Cable Chain Parts
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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B ©...
Page 280 Standard toolkit on page 372. Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Flange sealant Loctite 574 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 281: Replacing The External Cable Chain Covers
Removing the external cable chain cover Action Note Remove the screws and covers. xx2200000838 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 282 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 283: Replacing The Cable Chain Terminal Covers
Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000839 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 284 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 285: Replacing The Cable Chain Parts
The cable chain parts are located as shown in the figure. xx2200000840 xx2200000844 Movable chain end Fixed chain end Inner cable chain link Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 286 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 IRT 710 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 287 Standard toolkit on page 372. Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Flange sealant Loctite 574 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 288: Replacing The Outer Cable Chain Link
Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 289 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 290 Insert the screwdriver into the outer cable chain link to pry it. xx2200000849 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 291 The side with the article number should always be facing down when the cable chain lay down. xx2200000853 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 292 5.4.2.1 Replacing the outer cable chain link Continued Action Note Press one side of the outer cable chain link back. xx2200000852 Press the other side back. xx2200000854 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 293 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 294 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 295: Replacing The Inner Cable Chain Link
Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 296 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 297 Insert the screwdriver into the outer cable chain link to pry it. xx2200000849 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 299 Refit the inner cable chain link and press the other side of the outer cable chain link to it. xx2200000854 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 300 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 301 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 302: Replacing The Vertical Separators
Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 303 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 304 Insert the vertical separators back to the plastic Cable layout on page 318 link bar according to cable layout. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 305 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 306 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 307: Replacing The Movable Chain End
Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 308 CAUTION Cooling water may run out. Protect the connectors from getting wet. Remove the screws locking the cable drawer. xx2200000878 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 309 Pull out the cable drawer. xx2200000879 xx2200000880 Loosen the two screws locking the movable chain end bracket to the carriage. xx2200000881 xx2200000882 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 310 Replacing the inner cable chain link chain end. on page 295 Replacing the outer cable chain link on page 288 Remove the movable chain end. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 311 Screws: ISO 4762 M12x35 Class 8.8 (2 pcs) Washers: BN 792 M12 Washer (2 pcs) Tightening torque: 83 Nm Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 312 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 313 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 314: Replacing The Fixed Chain End
Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 315 Remove the straps that ties the cabling to the cable chain. Loosen the screws locking the fixed chain end to the track. xx2200000888 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 316 Replacing the outer cable chain Refit the plastic link bars. link on page 288 Pull the cables from outer side and route the cable. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 317 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 318: Replacing The Cables In Cable Chain
5.4.2.6 Replacing the cables in cable chain 5.4.2.6 Replacing the cables in cable chain Cable layout xx2200000861 xx2200000862 Figure 5.1: Cable layout, with CPCS and Welding Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 319 CPCS cable Welding power cable Servo gun motor Track motor ProfiNet cable Note Take photos before any disassemble work on the cables. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 320 Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 321 Remove the straps that ties the cabling to the cable chain. Loosen the screws locking the fixed chain end to the track. xx2200000888 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 322 Disconnect the all connectors on the carriage to release all cables. CAUTION Cooling water may run out. Protect the connectors from getting wet. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 323 5.4.2.6 Replacing the cables in cable chain Continued Action Note Remove the screws locking the cable drawer. xx2200000878 Pull out the cable drawer. xx2200000879 xx2200000880 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 324 Release the bracket to make enough space for removing the movable chain end. xx2200000883 Remove the plastic link bars. xx2200000884 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 325 Pull out all cables from the cable drawer and take the movable chain end part of the cable chain to flip the cable chain over. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 326 Remove all the plastic link bars on the upper side. xx2200000890 xx2200000889 Pull the connector out from the cable drawer. xx2200000891 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 327 Pull out the cable from the opening on the track carefully. xx2200000894 Disconnect the cable connector on the other side. xx2200000895 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 328 If any part of the cable chain tray has been re- moved, use Loctite 243 when refitting parts. Also note that the NYLOC nuts can only be used once. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 329 Press the cable back to the cable chain. xx2200000899 If the cable chain has been flipped over, turn it back. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 330 If any part of the cable chain tray has been re- moved, use Loctite 243 when refitting parts. Also note that the NYLOC nuts can only be used once. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 331 Fix the cables with straps on the cable chain ac- cording to the photo taken before the replacement. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 332 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 333 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 334 DANGER Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 335: Calibration
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 336: Calibration Methods
Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRT 710. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
Page 337: When To Calibrate
The resolver values are changed If resolver values are changed, the track motion must be recalibrated using the calibration methods supplied by ABB. Calibrate the track motion carefully with standard calibration. The resolver values will change when parts affecting the calibration position are replaced on the track motion, for example motors or parts of the transmission.
Page 338: Synchronization Marks And Track Motion Movement Directions
The calibration bracket should touch the axis pin on the track and be aligned with the nearest axis synchronization mark at the same time. xx2200001157 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 339 Standard Carriage - Mirrored +1/ -1 First section from left/ First section from right Carriage moving direction Synchronization position Rack xx2200000394 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 340 Carriage - Mirrored Mirrored +1/ -1 First section from left/ First section from right Carriage moving direction Synchronization position Rack xx2200000395 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 341 Carriage - Carriage - Mirrored Mirrored Mirrored Mirrored +1/ -1 First section from left/ First section from right Carriage moving direction Synchronization position Rack xx2200000397 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 342: Updating Revolution Counters
Otherwise, the calibration summary page for the available mechanical unit is displayed. Select the mechanical unit for which revolution counter need to be updated. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 343 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 359. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 344: Updating Revolution Counters For Pin Calibration
Align the sharp edge of the moving part of the calibration marker with the line of the fixed part calibration marker. xx2300001300 Tap ABB on the top left of the FlexPendant. Tap Calibration. Select the desired mechanical unit. Tap Update revolution counters.
Page 345: Calibrating With Axis Calibration Method
6.4 Calibrating with Axis Calibration method Note Make sure that the poses of the robots and work objects are always the same before calibration. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 346: Description Of Axis Calibration
FlexPendant. WARNING Calibrating the track with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
Page 347 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 348: Calibration Tools For Axis Calibration
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the track with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
Page 349 • Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on calibration tool size). • Straightness within 0.005 mm. xx1500000951 Outer diameter Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 350: Installation Locations For The Calibration Tools
This section shows how the track is equipped with items for installation of calibration tools for Axis Calibration (fixed calibration pins and/or bushings). Installed calibration tools are not shown. xx2200001157 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 351: Axis Calibration - Running The Calibration Procedure
WARNING Calibrating the track with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the track and/or personnel. Equipment, etc.
Page 352 10 Choose whether to save the calibration data or not. Calibration of the track is not finished until the calibration data is saved, as last step of the calibration procedure. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 353 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 354 Remove the calibration pin from the track. Check the o-ring on the calibration pin. Replace if damaged or missing. Check the bushing on the track. Replace if damaged or missing. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 355: Reference Calibration
(step 5, see Brief introduction to Reference Calibration on page 355). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 356 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 358 Insert the calibration pin (3HAW107700354). A dowel pin diameter 8 mm can also be used. xx2200001161 Tap ABB on the top left of the FlexPendant Tap Calibration. Select the desired mechanical unit. Tap Fine calibration. Select the desired axis.
Page 359: Checking The Synchronization Position
Check that the synchronization marks for Synchronization marks and track mo- the axes align correctly. If they do not, up- tion movement directions on page 338. date the revolution counters. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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Page 361: Decommissioning
7 Decommissioning 7.1 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 362 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 363: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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Page 365: Reference Information
8.1 Introduction 8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 366: Applicable Standards
– Emission standard for industrial environments ISO 13732-1:2006 Ergonomics of the thermal environment - Part 1 IEC 60529:1989 + A2:2013 Degrees of protection provided by enclosures (IP code) Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 367: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 368: Screw Joints
8.4 Screw joints 8.4 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 369 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 370 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 371: 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 372: 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 Copper mallet Filler gauge Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 373: Special Tools
Rail Tool A:Non-rack side 3HKA00000189982 B:Rack side 3HKA00000189983 xx2200001179 Rack clamps 3HAW107700357 xx2200001171 Rack Mounting block 3HAWL000011 xx2200001170 Calibration pin 3HKA00000190563 xx2200000667 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 374 Tool for levelling screw nut tight- 3HAW060012015 ening xx2200001189 Reducer uninstall tool unit 3HKA00000192850 xx2200001165 Reducer backlash adjust tool 3HKA00000189964 xx2200001167 Continues on next page Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 375 8 Reference information 8.7 Special tools Continued Tool Article number Picture Cam roller adjust tool 3HKA00000189966 xx2200001169 Roller support block 3HKA00000186540 xx2200001191 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 376: 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 - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 377: Spare Parts
Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRT 710 3HKA00000186299-001 Revision: B...
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Page 379: Circuit Diagrams
Circuit diagram - Euromap 67, design 14 3HAC024120-005 Circuit diagram - Spot welding cabinet 3HAC057185-001 Track Product Article numbers for circuit diagrams IRT 710 Circuit Diagram 3HKA00000191004 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
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Page 381: Index
183 external safety devices, 27 pedestal installed on pedestal, 26, 48 fire extinguishing, 23, 49 personnel FlexPendant requirements, 17 jogging to calibration position, 359 plastic Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 382 32 working range hot parts, 34 robot, 66 installation, 26 oil change, 37 operational disturbance, 26 zero position service work, 26 checking, 359 Product manual - IRT 710 3HKA00000186299-001 Revision: B © Copyright 2023 ABB. All rights reserved.
Page 384 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 2023 ABB. All rights reserved. Specifications subject to change without notice.

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