ABB IRB 6710 Manuals

Manuals and User Guides for ABB IRB 6710. We have 1 ABB IRB 6710 manual available for free PDF download: Product Manual

ABB IRB 6710 Product Manual (640 pages)

Brand: ABB | Category: Robotics | Size: 38.04 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
28
Safety During Maintenance and Repair
29
Emergency Release of the Robot Axes
32
Brake Testing
33
Safety During Troubleshooting
34
Safety During Decommissioning
35
Manipulator Description
37
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
48
Installation and Commissioning
49
Introduction to Installation and Commissioning
49
Unpacking
50
Pre-Installation Procedure
50
Risk of Tipping/Stability
51
On-Site Installation
53
Brief Installation Procedure
53
Installing a Base Plate
54
Lifting the Robot
62
Lifting Robot with Lifting Accessory (Recommended Lifting Method)
62
Lifting the Robot with Fork Lift
64
Lifting the Robot with Roundslings
65
Orienting and Securing the Robot
69
Manually Releasing the Brakes
72
Loads Fitted to the Robot, Stopping Time and Braking Distances
74
Fitting Equipment on the Robot (Robot Dimensions)
75
Working Range Alterations
85
Adjusting the Working Range
85
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
86
Extended Working Range, Axis 1 (Option)
89
Electrical Connections
91
Robot Cabling and Connection Points
91
Test Run after Installation, Maintenance, or Repair
94
Maintenance
95
Introduction
95
Maintenance Schedule and Expected Component Life
96
Specification of Maintenance Intervals
96
Maintenance Schedule
97
Expected Component Life
99
Inspection Activities
100
Inspecting the Motor Seal
100
Inspecting the Balancing Device
102
Inspecting the Cable Harness
106
Inspecting the Dampers
109
Inspecting the Information Labels
111
Inspecting the Axis-1 Mechanical Stop
114
Inspecting the Oil Level in Axis-1 Gearbox
116
Inspecting the Oil Level in Axis-2 Gearbox
120
Inspecting the Oil Level in Axis-3 Gearbox
123
Inspecting the Oil Level in Axis-4 Gearbox
127
Inspecting the Oil Level in Axis-5 Gearbox
130
Inspecting the Oil Level in Axis-6 Gearbox
133
Replacement/Changing Activities
136
Type of Lubrication in Gearboxes
136
Changing the Oil in Axis-1 Gearbox
138
Changing the Oil in Axis-2 Gearbox
144
Changing the Oil in Axis-3 Gearbox
149
Changing the Oil in Axis-4 Gearbox
154
Changing the Oil in Axis-5 Gearbox
159
Changing the Oil in Axis-6 Gearbox
163
Replacing the SMB Battery
168
Lubrication Activities
171
Lubricating the Spherical Roller Bearing, Balancing Device
171
Cleaning Activities
173
Cleaning the IRB 6710
173
Repair
177
Introduction
177
General Procedures
178
Performing a Leak-Down Test
178
Mounting Instructions for Bearings
179
Mounting Instructions for Sealings
181
Cut the Paint or Surface on the Robot before Replacing Parts
185
Balancing Device
186
Replacing the Balancing Device
186
Replacing Spherical Roller Bearing, Balancing Device Link Ear
204
Replacing the Rear Bearings on the Balancing Device
219
Axes 3 and 4
231
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
231
Wrist
260
Replacing the Wrist
260
Replacing the Turning Disc
281
Electronic Parts
286
Removing the Cable Harness
286
Refitting the Cable Harness
308
Replacing the Brake Release Unit
335
Replacing the SMB Unit
342
Motors
348
Replacing the Axis-1 Motor
348
Replacing the Axis-2 Motor
363
Replacing the Axis-3 Motor
379
Replacing the Axis-4 Motor
392
Replacing the Axis-5 Motor
405
Replacing the Axis-6 Motor
418
Gears
429
Replacing the Axis-1 Gearbox
429
Replacing the Axis-2 Gearbox
475
Replacing the Axis-3 Gearbox
518
Replacing the Axis-6 Gearbox
569
Calibration
585
Introduction to Calibration
585
Introduction and Calibration Terminology
585
Calibration Methods
586
When to Calibrate
588
Synchronization Marks and Axis Movement Directions
589
Synchronization Marks and Synchronization Position for Axes
589
Calibration Movement Directions for All Axes
591
Updating Revolution Counters
592
Updating Revolution Counters on Omnicore Robots
592
Calibrating with Axis Calibration Method
594
Description of Axis Calibration
594
Calibration Tools for Axis Calibration
597
Installation Locations for the Calibration Tools
599
Axis Calibration - Running the Calibration Procedure
601
Reference Calibration
605
Verifying the Calibration
607
Checking the Synchronization Position
608
Troubleshooting
609
Introduction to Troubleshooting
609
Oil and Grease Stains on Motors and Gearboxes
611
Mechanical Noise or Dissonance
612
Manipulator Collapses on Power down
613
Decommissioning
615
Introduction to Decommissioning
615
Environmental Information
616
Scrapping of Robot
618
Decommissioning of Balancing Device
619
Reference Information
621
Introduction
621
Applicable Standards
622
Unit Conversion
623
Screw Joints
624
Weight Specifications
627
Standard Toolkit
628
Special Tools
629
Lifting Accessories and Lifting Instructions
633

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ABB IRB 6710 Product Manual (640 pages)

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