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ABB M2000A Manuals
Manuals and User Guides for ABB M2000A. We have
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ABB M2000A manuals available for free PDF download: Product Manual, Technical Reference Manual, Reference Manual
ABB M2000A Product Manual (480 pages)
Brand:
ABB
| Category:
Robotics
| Size: 19.51 MB
Table of Contents
Table of Contents
5
Overview of this Manual
11
Product Documentation, M2000/M2000A
16
Product Documentation, M2004
17
How to Read the Product Manual
19
1 Safety
21
Introduction to Safety Information
21
General Safety Information
22
Safety in the Manipulator System
22
Safety Risks
23
Safety Risks During Installation and Service Work on Manipulators
23
CAUTION - Hot Parts May Cause Burns
25
Safety Risks Related to Tools/Work Pieces
26
Safety Risks Related to Pneumatic/Hydraulic Systems
27
Safety Risks During Operational Disturbances
28
Risks Associated with Live Electric Parts
29
Safety Actions
31
Safety Fence Dimensions
31
Fire Extinguishing
32
Emergency Release of the Manipulator's Arm
33
Brake Testing
34
Risk of Disabling Function "Reduced Speed 250 MM/S
35
Safe Use of the Flexpendant
36
Work Inside the Manipulator's Working Range
37
Signal Lamp (Optional)
38
Safety Stops
39
What Is an Emergency Stop
39
Safety Related Instructions
41
Safety Signals in the Manual
41
Safety Symbols on Manipulator Labels
43
DANGER - Moving Manipulators Are Potentially Lethal
48
DANGER - First Test Run May Cause Injury or Damage
49
WARNING - the Brake Release Buttons May be Jammed after Service Work
50
WARNING - the Unit Is Sensitive to ESD
51
WARNING - Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
53
2 Installation and Commissioning
55
Introduction
55
Robot Transportation Precautions
56
Securing the Robot
63
Unpacking
65
Pre-Installation Procedure
65
Working Range, IRB 7600 - 150/3.5
68
Working Range, IRB 7600 - 340/2.8
69
Working Range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
70
Working Range, IRB 7600 - 500/2.3
71
Risk of Tipping/Stability
72
On-Site Installation
73
Lifting Robot with Fork Lift
73
Lifting Robot with Lifting Slings
81
Lifting Robot with Roundslings
83
Manually Releasing the Brakes
85
Manually Releasing the Brakes, External Brake Release Unit
88
Lifting the Base Plate
91
Securing the Base Plate
92
Orienting and Securing the Robot
96
Fitting Equipment on Robot
99
Installation of Base Spacers (Option)
104
Installation of Cooling Fan for Motors, Axes 1-3 (Option)
106
Installation of Foundry Plus Cable Guard (Option No. 908-1)
114
Loads
115
Restricting the Working Range
116
Introduction
116
Mechanically Restricting the Working Range of Axis 1
117
Mechanically Restricting the Working Range of Axis 2
119
Mechanically Restricting the Working Range of Axis 3
121
Installation of Position Switches (Option)
124
Electrical Connections
135
Robot Cabling and Connection Points
135
Making Robot Ready for Operation (Foundry Prime)
138
Additional Installation Procedure
138
Commissioning (Foundry Prime)
141
3 Maintenance
143
Introduction
143
Maintenance Schedule and Expected Life
144
Specification of Maintenance Intervals
144
Maintenance Schedule
145
Expected Component Life
151
Inspection Activities
152
Inspection, Oil Level Gearbox Axis 1
152
Inspection, Oil Level Gearbox Axis 2
155
Inspection, Oil Level Gearbox Axis 3
158
Inspection, Oil Level Gearbox Axis 4
160
Inspection, Oil Level, Gearbox Axis 5
163
Inspection, Oil Level Gearbox Axis 6
166
Inspection, Balancing Device
170
Inspection, Cable Harness
176
Inspecting, Mechanical Stop Pin, Axis 1
179
Inspection, Mechanical Stop, Axes 1, 2 and 3
181
Inspection, Damper Axes 2-5
183
Inspection, Position Switch Axes 1, 2 and 3
185
Inspection, Information Labels
189
Inspection, UL-Lamp
191
Inspection of Air Hoses (Foundry Prime)
193
Changing/Replacement Activities
194
Type of Oil
194
Determining Oil Type
195
Which Type of Oil Does the Gearbox Contain
195
Labels on the Robot
197
Article Numbers and Volumes, Alternative Kyodo Yushi TMO 150
199
Mixed Types of Oil May Cause Severe Damage
199
Rinsing Gearbox
200
Equipment
200
Oil Change, Gearbox Axis 1
201
Oil Change, Gearbox Axis 2
205
Oil Change, Gearbox, Axis 3
208
Oil Change, Gearbox, Axis 4
211
Oil Change, Gearbox, Axis 5
214
Oil Change, Gearbox Axis 6
217
Replacing SMB Battery
220
Lubrication Activities
223
Lubrication of Spherical Roller Bearing, Balancing Device
223
Rust Preventive Measures, Bearing Axis 1 (Foundry Prime)
225
Rust Preventive Measures, Sealing Axis 4 (Foundry Prime)
228
Rust Preventive Measures, Support Bearing in Wrist (Foundry Prime)
231
Cleaning Activities
233
Flushing a Contaminated Gearbox
233
Cleaning, Robot
235
Service Information System, M2000
237
Using the SIS System
237
Description of Service Information System (SIS)
238
SIS System Parameters
240
Setting the SIS Parameters
242
Reading the SIS Output Logs
244
Exporting the SIS Data
245
4 Repair
247
Introduction
247
General Procedures
248
Performing a Leak-Down Test
248
Mounting Instructions for Bearings
249
Mounting Instructions for Seals
251
Complete Robot
253
Replacement of Cable Harness, Axes 1-4
253
Replacement of Cable Harness, Axes 5-6
262
Replacement of Complete Arm System
265
Replacement of Air Nipple and Hose (Foundry Prime)
270
Upper and Lower Arm
277
Replacing Turning Disk
277
Replacement of Complete Wrist Unit
281
Replacement of Complete Upper Arm
285
Replacement of Complete Lower Arm
290
Frame and Base
299
Replacement of SMB Unit
299
Replacement of Brake Release Unit
303
Replacement of Balancing Device
309
Replacement of Spherical Roller Bearing, Balancing Device
318
Unloading the Balancing Device Using Hydraulic Press Tool
322
Restoring the Balancing Device Using a Hydraulic Press Tool
326
Motors
329
Replacement of Motor, Axis 1
329
Replacement of Motor Axis 2
335
Replacement of Motor, Axis 3
343
Replacement of Motor, Axis 4
350
Replacement of Motor, Axis 5
357
Replacement of Motor, Axis 6
361
Gearboxes
367
Replacement of Gearbox, Axis 1
367
Replacement of Gearbox, Axis 2
375
Replacement of Gearbox, Axis 3
382
Replacement of Gearbox, Axis 4
388
Replacement of Gearbox, Axis 5
393
Replacement of Gearbox, Axis 6
399
5 Calibration Information
405
Introduction
405
Calibration Methods
406
Calibration Scale and Correct Axis Position
408
Calibration Movement Directions for All Axes
409
Updating Revolution Counters
410
Checking the Calibration Position
414
6 Decommissioning
417
Environmental Information
417
Decommissioning of Balancing Device
418
7 Reference Information
421
Introduction
421
Applicable Safety Standards
422
Unit Conversion
424
Screw Joints
425
Weight Specifications
428
Standard Toolkit
429
Special Tools
430
Lifting Accessories and Lifting Instructions
433
8 Spare Part / Part List
435
Introduction
435
Spare Parts
436
Introduction
436
Spare Part List
437
Part List
439
Introduction
439
Rebuilding Parts
440
Part List, Overview
441
Mechanical Stop Axis 1, 3HAC12812-2
443
Base Incl Frame Axis 1, 3HAC12304-1
444
Axis 3-4, 3HAC13063-1 (IRB 7600 - 150/3.5, - 325/3.1, -340/2.8, -400/2.55, -500/2.55)
445
Axis 3-4, 3HAC13063-2 (IRB 7600 - 500/2.3)
448
Axis 3-4, Foundry, 3HAC13063-4 (IRB 7600 -150/3.5, - 325/3.1, - 340/2.8, - 400/2.55, - 500/2.55)
449
Axis 3-4 Foundry, 3HAC13063-5 (IRB 7600 - 500/2.3)
450
Wrist, 3HAC16628-4 / 3HAC16628-3
451
Material Set Robot, 3HAC13079-1
457
Material Set Axis 1-2, 3HAC13077-1
458
Material Set Balancing Device, 3HAC13082-1
461
Arm Extension Set, 956 MM, 3HAC12311-1 (IRB 7600 - 150/3.5)
462
Arm Extension Set, 250 MM, 3HAC12311-2 (IRB 7600 - 340/2,8)
463
9 Exploded Views
465
Introduction
465
Base Incl. Frame
466
Frame-Lower Arm 1
467
Frame-Lower Arm 2
468
Upper Arm
469
Wrist Complete
470
10 Circuit Diagram
471
About Circuit Diagrams
471
Circuit Diagram 3HAC 025744-001
473
Validity of Circuit Diagram 3HAC 025744-1
473
Circuit Diagram 3HAC 13347-1
474
Validity of Circuit Diagram 3HAC 13347-1
474
Index
475
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ABB M2000A Product Manual (456 pages)
Brand:
ABB
| Category:
Robotics
| Size: 13.35 MB
Table of Contents
Table of Contents
5
Overview of this Manual
9
Product Manual, Spare Parts - IRB
13
Product Documentation, M2000/M2000A
16
Product Documentation, IRC5
17
How to Read the Product Manual
19
1 Safety
21
General Safety Information
21
Limitation of Liability
21
Protective Stop and Emergency Stop
24
Safety Actions
25
Fire Extinguishing
25
Emergency Release of the Robot Axes
26
Make Sure that the Main Power Has Been Switched off
27
Safety Risks
28
Safety Risks During Installation and Service Work on Robots
28
Moving Robots Are Potentially Lethal
30
First Test Run May Cause Injury or Damage
31
Work Inside the Working Range of the Robot
32
Enabling Device and Hold-To-Run Functionality
33
Risks Associated with Live Electric Parts
34
The Unit Is Sensitive to ESD
36
Hot Parts May Cause Burns
37
Safety Risks Related to Pneumatic/Hydraulic Systems
38
Brake Testing
39
Safety Risks During Handling of Batteries
40
Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
41
Safety Signals and Symbols
43
Safety Signals in the Manual
43
Safety Symbols on Product Labels
45
2 Installation and Commissioning
51
Introduction
51
Robot Transportation Precautions
52
Securing the Robot with a Transport Support
56
Unpacking
58
Pre-Installation Procedure
58
Working Range, IRB 7600 - 150/3.5
62
Working Range, IRB 7600 - 340/2.8
63
Working Range, IRB 7600 - 400/2.55, IRB 7600
64
Working Range, IRB 7600 - 500/2.3
65
Risk of Tipping/Stability
66
On-Site Installation
67
Lifting Robot with Fork Lift
67
Lifting Robot with Lifting Slings
73
Lifting Robot with Roundslings
75
Manually Releasing the Brakes
77
Lifting the Base Plate
79
Securing the Base Plate
80
Orienting and Securing the Robot
85
Fitting Equipment on Robot
88
Installation of Base Spacers (Option)
93
Extended Working Range, Axis 1 (Option 561-1)
95
Installation of Cooling Fan for Motors (Option)
96
Installation of Foundry Plus Cable Guard (Option No. 908-1)
102
Loads Fitted to the Robot, Stopping Time and Braking Distances
103
Signal Lamp (Option)
104
Restricting the Working Range
105
Axes with Restricted Working Range
105
Mechanically Restricting the Working Range of Axis 1
106
Mechanically Restricting the Working Range of Axis 2
108
Mechanically Restricting the Working Range of Axis 3
110
Installation of Position Switches (Option)
113
Electrical Connections
125
Robot Cabling and Connection Points
125
Start of Robot in Cold Environments
130
3 Maintenance
131
Introduction
131
Maintenance Schedule and Expected Life
132
Specification of Maintenance Intervals
132
Maintenance Schedule
133
Expected Component Life
137
Inspection Activities
138
Inspecting the Motor Seal
138
Inspecting the Oil Level in Axis-1 Gearbox
140
Inspecting the Oil Level in Axis-2 Gearbox
143
Inspecting the Oil Level in Axis-3 Gearbox
146
Inspecting the Oil Level in Axis-4 Gearbox
149
Inspecting the Oil Level in Axis-5 Gearbox
152
Inspecting the Oil Level in Axis-6 Gearbox
155
Inspecting the Balancing Device
158
Inspecting the Cable Harness
164
Inspecting the Axis-1 Mechanical Stop Pin
167
Inspecting the Mechanical Stops on Axes 1, 2, and 3
169
Inspecting the Damper on Axes 2 to 5
171
Inspecting the Position Switch on Axes 1, 2, and 3
173
Inspecting the Information Labels
177
Inspecting the UL Lamp
179
Changing/Replacement Activities
181
Type of Lubrication in Gearboxes
181
Changing Oil, Axis-1 Gearbox
183
Changing Oil, Axis-2 Gearbox
187
Changing Oil, Axis-3 Gearbox
190
Changing Oil, Axis-4 Gearbox
193
Changing Oil, Axis-5 Gearbox
197
Changing Oil, Axis-6 Gearbox
201
Replacing the SMB Battery
204
Lubrication Activities
209
Lubrication of Spherical Roller Bearing, Balancing Device
209
Cleaning Activities
212
Flushing a Contaminated Gearbox
212
Cleaning the IRB 7600
214
Service Information System, M2000
217
Using the SIS System
217
Description of Service Information System (SIS)
218
SIS System Parameters
221
Setting the SIS Parameters
222
Reading the SIS Output Logs
223
Exporting the SIS Data
224
4 Repair
225
Introduction
225
General Procedures
226
Performing a Leak-Down Test
226
Mounting Instructions for Bearings
227
Product Manual - IRB
228
Mounting Instructions for Seals
229
Cut the Paint or Surface on the Robot before Replacing Parts
231
The Brake Release Buttons May be Jammed after Service Work
232
Complete Robot
233
Replacement of Cable Harness, Axes
233
Replacement of Cable Harness, Axes
242
Replacement of Complete Arm System
245
Upper and Lower Arm
250
Replacing Turning Disk
250
Replacement of Complete Wrist Unit
254
Replacement of Complete Upper Arm
259
Replacement of Complete Lower Arm
264
Replacement of Lower Arm Shaft
273
Frame and Base
283
Replacing the SMB Unit
283
Replacement of Brake Release Board
287
Replacement of Spherical Roller Bearing, Balancing Device
293
Replacement of Balancing Device
298
Replacing the Balancing Device
298
Unloading the Balancing Device Using Hydraulic Press Tool
306
Restoring the Balancing Device Using a Hydraulic Press Tool
310
Motors
313
Replacement of Motor, Axis 1
313
Replacement of Motor Axis 2
318
Replacement of Motor, Axis 3
324
Replacement of Motor, Axis 4
331
Replacement of Motor, Axis 5
338
Replacement of Motor, Axis 6
343
Gearboxes
350
Replacing the Axis 1 Gearbox
350
Replacement of Gearbox, Axis 2
362
Replacement of Gearbox, Axis 3
370
Replacement of Gearbox, Axis 4
377
Replacement of Gearbox, Axis 5
382
Replacement of Gearbox, Axis 6
389
5 Calibration
395
Introduction to Calibration
395
Introduction and Calibration Terminology
395
Calibration Methods
396
When to Calibrate
399
Synchronization Marks and Axis Movement Directions
400
Synchronization Marks and Synchronization Position for Axes
400
Calibration Movement Directions for All Axes
402
Updating Revolution Counters
403
Calibrating with Axis Calibration Method
408
Description of Axis Calibration
408
Calibration Tools for Axis Calibration
410
Installation Locations for the Calibration Tools
412
Axis Calibration - Running the Calibration Procedure
413
Calibrating with Calibration Pendulum Method
419
Verifying the Calibration
420
Checking the Synchronization Position
421
6 Decommissioning
423
Environmental Information
423
Scrapping of Robot
425
Decommissioning of Balancing Device
426
7 Robot Description
429
Type a Vs Type B Motors
429
8 Reference Information
431
Introduction
431
Applicable Standards
432
Unit Conversion
434
Screw Joints
435
Weight Specifications
438
Standard Tools
439
Special Tools
440
Lifting Accessories and Lifting Instructions
444
9 Spare Part Lists
445
Spare Part Lists and Illustrations
445
10 Circuit Diagram
447
Circuit Diagrams
447
Validity of Circuit Diagram 3HAC025744-1
449
Validity of Circuit Diagram 3HAC13347-1
450
Index
451
ABB M2000A Product Manual (450 pages)
Brand:
ABB
| Category:
Robotics
| Size: 22.61 MB
Table of Contents
Table of Contents
5
Overview of this Manual
9
Product Documentation, M2000/M2000A
16
Product Documentation, IRC5
17
How to Read the Product Manual
19
1 Safety
21
General Safety Information
21
Limitation of Liability
21
Protective Stop and Emergency Stop
23
Safety Actions
24
Fire Extinguishing
24
Emergency Release of the Robot Axes
25
Make Sure that the Main Power Has Been Switched off
26
Safety Risks
27
Safety Risks During Installation and Service Work on Robots
27
Moving Robots Are Potentially Lethal
29
First Test Run May Cause Injury or Damage
30
Work Inside the Working Range of the Robot
31
Enabling Device and Hold-To-Run Functionality
32
Risks Associated with Live Electric Parts
33
The Unit Is Sensitive to ESD
35
Hot Parts May Cause Burns
36
Safety Risks Related to Pneumatic/Hydraulic Systems
37
Brake Testing
38
Safety Risks During Handling of Batteries
39
Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
40
Safety Signals and Symbols
42
Safety Signals in the Manual
42
Safety Symbols on Product Labels
44
2 Installation and Commissioning
51
Introduction
51
Unpacking
52
Pre-Installation Procedure
52
Working Range and Type of Motion
56
Risk of Tipping/Stability
60
On-Site Installation
61
Lifting Robot with Fork Lift
61
Lifting Robot with Roundslings
66
Lifting Robot with Lifting Slings
68
Manually Releasing the Brakes
70
Lifting the Base Plate
72
Securing the Base Plate
73
Orienting and Securing the Robot
78
Fitting Equipment on Robot
81
Signal Lamp (Option)
87
Installation of Base Spacers (Option)
88
Installation of Cooling Fan for Motors (Option)
90
Installation of Foundry Plus Cable Guard (Option No. 908-1)
96
Loads Fitted to the Robot, Stopping Time and Braking Distances
97
Restricting the Working Range
98
Axes with Restricted Working Range
98
Mechanically Restricting the Working Range of Axis 1
99
Extended Working Range, Axis 1 (Option 561-1)
101
Mechanically Restricting the Working Range of Axis 2
102
Mechanically Restricting the Working Range of Axis 3
104
Installation of Position Switches (Option)
107
Electrical Connections
119
Robot Cabling and Connection Points
119
Start of Robot in Cold Environments
124
3 Maintenance
125
Introduction
125
Maintenance Schedule and Expected Component Life
126
Specification of Maintenance Intervals
126
Maintenance Schedule
127
Expected Component Life
131
Inspection Activities
132
Inspecting the Motor Seal
132
Inspecting the Oil Level in Axis-1 Gearbox
134
Inspecting the Oil Level in Axis-2 Gearbox
136
Inspecting the Oil Level in Axis-3 Gearbox
138
Inspecting the Oil Level in Axis-4 Gearbox
141
Inspecting the Oil Level in Axis-5 Gearbox
143
Inspecting the Oil Level in Axis-6 Gearbox
145
Inspecting the Balancing Device
150
Inspecting the Cable Harness
155
Inspecting the Information Labels
159
Inspecting the Axis-1 Mechanical Stop Pin
161
Inspecting the Additional Mechanical Stops
163
Inspecting the Damper on Axes 2-5
166
Inspection, Position Switch Axes 1, 2 and 3
168
Inspecting, Signal Lamp
170
Replacement/Changing Activities
172
Type of Lubrication in Gearboxes
172
Changing Oil, Axis-1 Gearbox
174
Changing Oil, Axis-2 Gearbox
177
Changing Oil, Axis-3 Gearbox
180
Changing Oil, Axis-4 Gearbox
183
Changing Oil, Axis-5 Gearbox
186
Changing Oil, Axis-6 Gearbox
189
Replacing the SMB Battery
192
Lubrication Activities
196
Lubrication of Spherical Roller Bearing, Balancing Device
196
Cleaning Activities
199
Cleaning the IRB 6650S
199
Service Information System, M2000
202
Using the SIS System
202
Description of Service Information System (SIS)
203
SIS System Parameters
206
Setting the SIS Parameters
207
Reading the SIS Output Logs
208
Exporting the SIS Data
209
4 Repair
211
Introduction
211
General Procedures
212
Performing a Leak-Down Test
212
Mounting Instructions for Bearings
213
Mounting Instructions for Seals
215
Cut the Paint or Surface on the Robot before Replacing Parts
217
The Brake Release Buttons May be Jammed after Service Work
218
Complete Robot
219
Replacing Cable Harness, Axes
219
Replacement of Cable Harness, Axes
219
Replacement of Cable Harness, Axes
232
Replacement of Cabling, Axis 5 Motor
246
Replacement of Complete Arm System
248
Upper and Lower Arm
254
Replacing the Turning Disk
254
Replacement of Complete Wrist Unit
258
Replacement of Upper Arm
264
Replacement of Complete Lower Arm
273
Replacement of Lower Arm Shaft
283
Securing the Lower Arm
292
Frame and Base
296
Replacing the SMB Unit
296
Replacing the Brake Release Board
299
Replacement of Spherical Roller Bearing, Balancing Device
303
Replacement of Balancing Device
306
Replacing the Balancing Device
306
Unloading the Balancing Device Using Hydraulic Press Tool
313
Restoring the Balancing Device Using a Hydraulic Press Tool
317
Motors
320
Replacement of Motor, Axis 1
320
Replacement of Motor Axis 2
325
Replacement of Motor, Axis 3
331
Replacement of Motor, Axis 4
338
Replacement of Motor, Axis 5
343
Replacement of Motor, Axis 6
349
Gearboxes
356
Replacing the Axis 1 Gearbox
356
Replacement of Gearbox Axis 2
368
Replacement of Gearbox, Axis 3
376
Replacement of Gearbox, Axis 6
383
5 Calibration
389
Introduction to Calibration
389
Introduction and Calibration Terminology
389
Calibration Methods
390
When to Calibrate
393
Synchronization Marks and Axis Movement Directions
394
Synchronization Marks and Synchronization Position for Axes
394
Calibration Movement Directions for All Axes
395
Updating Revolution Counters
396
Calibrating with Axis Calibration Method
401
Description of Axis Calibration
401
Calibration Tools for Axis Calibration
403
Installation Locations for the Calibration Tools
405
Axis Calibration - Running the Calibration Procedure
406
Calibrating with Calibration Pendulum Method
412
Verifying the Calibration
413
Checking the Synchronization Position
414
6 Decommissioning
417
Environmental Information
417
Scrapping of Robot
419
Decommissioning of Balancing Device
420
7 Robot Description
423
Type a Vs Type B Motors
423
8 Spare Part Lists
425
Spare Part Lists and Illustrations
425
9 Reference Information
427
Introduction
427
Applicable Standards
428
Unit Conversion
430
Screw Joints
431
Weight Specifications
434
Standard Tools
435
Special Tools
436
Lifting Accessories and Lifting Instructions
440
10 Circuit Diagram
441
Circuit Diagrams
441
Circuit Diagram 3HAC 025744-001
443
Validity of Circuit Diagram 3HAC025744-1
443
Circuit Diagram 3HAC 13347-1
444
Validity of Circuit Diagram 3HAC13347-1
444
Index
445
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ABB M2000A Product Manual (234 pages)
Articulated robot
Brand:
ABB
| Category:
Robotics
| Size: 9.61 MB
Table of Contents
Table of Contents
5
Overview
9
Product Documentation, M2000/M2000A
11
Product Documentation, M2004
12
How to Read the Product Manual
14
1 Safety
15
General Safety Information
16
General Information
17
Limitation of Liability
18
Related Information
19
Safety Risks
20
Safety Risks Related to Gripper
23
Safety Risks Related to Tools/Workpieces
24
Safety Risks Related to Pneumatic/Hydraulic Systems
25
Safety Risks During Operational Disturbances
26
Safety Risks During Installation and Service
27
Risks Associated with Live Electric Parts
28
Safety Actions
29
Fire Extinguishing
30
Emergency Release of the Robot's Arm
31
Brake Testing
32
Risk of Disabling Function "Reduced Speed 250 MM/S
33
Safe Use of the Teach Pendant Unit
34
Work Inside the Manipulator's Working Range
35
Safety Related Instructions
36
DANGER - Moving Manipulators Are Potentially Lethal
38
WARNING - the Unit Is Sensitive to ESD
39
WARNING - Safety Risks During Work with Gearbox Oil
40
2 Installation and Commissioning
43
Unpacking
44
Working Range, IRB 140
47
Risk of Tipping/Stability
49
On-Site Installation
50
Manually Releasing the Brakes
51
Orienting and Securing the Manipulator
54
Restricting the Working Space
55
Fitting Equipment on Manipulator
56
Loads
58
Suspended Mounting
59
Bolt Pattern
61
Electrical Connections
63
3 Maintenance
65
Maintenance Schedules
66
Inspection Activities
68
Inspection, Robot Cabling
70
Inspection, Timing Belts
71
Cleaning Activities
74
Changing/ Replacing Activities
75
4 Repair
79
Complete Robot
80
Replacement of Complete Upper Arm
87
Replacement of Complete Lower Arm
93
Replacement of Base, Spare
97
Upper Arm
101
Replacement of Damper, Axis 3
104
Replacement of Damper, Axis 5
106
Replacement of Cover, Arm Housing
108
Lower Arm
110
Replacement of Damper, Axis 2
113
Replacement of Indicator Lamp
115
Frame and Base
117
Replacement of Console
120
Replacement of Serial Measurement Unit and Battery Pack
124
Replacement of Control Cable
128
Motors
132
Replacement of Motor, Axis 2
137
Replacement of Motor and Timing Belt, Axis 3
141
Replacement of Motor, Axis 4
146
Replacement of Motor and Timing Belt, Axes 5 or 6
149
Adjustments and Measurements
155
Measuring the Gear Play, Axis 6
157
Gearboxes
159
Service Work on Gearbox, Axis 4
164
5 Calibration Information
165
Calibration Methods
166
Calibration Scales and Correct Axis Position
168
Calibration Movement Directions for All Axes
169
Updating Revolution Counters
170
Checking the Calibration Position
174
ABB M2000A Technical Reference Manual (72 pages)
Lubrication in gearboxes
Brand:
ABB
| Category:
Robotics
| Size: 0.76 MB
Table of Contents
Table of Contents
5
Overview of this Manual
7
1 Introduction
11
Before You Start
11
Compatibility of Lubrication Oils
12
Amount of Lubrication When Ordered as Spare Part
14
2 Articulated Robots - Four Axes
15
Irb 260
15
Irb 460
16
Irb 660
17
Irb 760
18
3 Articulated Robots - Six Axes
19
Irb 120
19
IRB 140 Type C
20
Irb 1200
21
Irb 1410
22
Irb 1520
23
IRB 1600/1660ID Type a
25
Irb 2400
27
Irb 2600
28
Irb 4400/4450S
31
Irb 4600
33
Irb 6400Rf
35
IRB 6600/6650 Type a
36
IRB 6600/6650 Type B, and IRB 6600ID/6650ID Type B
40
Irb 6620/6620Lx
44
Irb 6640/6640Id
46
Irb 6650S
48
Irb 6660
51
Irb 6700
52
Irb 7600
54
Irb 8700
57
4 Collaborative Robots
59
Irb 14000
59
5 Parallel Arm Robots
61
Irb 360
61
6 SCARA Robots
63
Irb 910Sc
63
7 Other Manipulators
65
Irbt 2005
65
Irbt 4004/6004/7004
66
Irbt 4003/6003/7003
67
Irbp
68
Motor Units and Gear Units (M2004)
69
ABB M2000A Reference Manual (54 pages)
Articulated robot
Brand:
ABB
| Category:
Robotics
| Size: 3.99 MB
Table of Contents
Table of Contents
5
Overview
7
Product Documentation, M2000/M2000A
9
Product Documentation, M2004
10
1 Reference Information
13
Introduction
13
Applicable Safety Standards
14
Unit Conversion
15
Screw Joints
16
Weight Specifications
19
Document References
20
Standard Toolkit
22
Performing a Leak-Down Test
23
Lifting Equipment and Lifting Instructions
24
Mounting Instructions for Bearings
25
Mounting Instructions for Seals
26
2 Spare Part / Part List
29
Introduction
29
Spare Part / Part List
30
3 Foldouts
35
Introduction
35
4 Circuit Diagram
37
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