ABB M2000 Reference Manual
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ABB M2000 Reference Manual

Articulated robot
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Product manual (part 2 of 2), reference information
Articulated robot
IRB 140
M2000, M2000A, M2004

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Summary of Contents for ABB M2000

  • Page 1 Product manual (part 2 of 2), reference information Articulated robot IRB 140 M2000, M2000A, M2004...
  • Page 3 Product manual (part 2 of 2), reference information IRB 140 M2000 M2000A M2004 Document ID: 3HAC023297-001 Revision: A...
  • 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, damages to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Product documentation, M2000/M2000A ........
  • Page 6 Table of Contents 3HAC023297-001 Revision: A...

  • Page 7: Overview

    Prerequisites A maintenance/repair/ installation craftsman working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Organization of chapters The manual is organized in the following chapters:...
  • Page 8 Overview Revisions Revision Description First edition Replaces previous manuals: • Installation and commissioning manual • Maintenance manual • Repair manual, part 1 • Repair manual, part 2 Changes made in the material from the previous manuals: • Model M2004 implemented. •...

  • Page 9: Product Documentation, M2000/M2000A

    Product documentation, M2000/M2000A Product documentation, M2000/M2000A General The complete product documentation kit for the M2000 robot system, including controller, robot and any hardware option, consists of the manuals listed below: Hardware manuals All hardware, robots and controller cabinets, will be delivered with a Product manual which...

  • Page 10: Product Documentation, M2004

    This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered. However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems.
  • Page 11 Product documentation, M2004 • How to use the application • Examples of how to use the application Operator’s manuals This group of manuals is aimed at those having first hand operational contact with the robot, i.e. production cell operators, programmers and trouble shooters. The group of manuals include: •...
  • Page 12 Product documentation, M2004 3HAC023297-001 Revision: A...

  • Page 13: Reference Information

    1 Reference information 1.1. Introduction 1 Reference information 1.1. Introduction General This chapter includes general information, complementing the more specific information in Product manual (part 1 of 2), procedures. 3HAC023297-001 Revision: A...

  • Page 14: Applicable Safety Standards

    1 Reference information 1.2. Applicable Safety Standards 1.2. Applicable Safety Standards Standards, general The robot is designed in accordance with the requirements of: • EN ISO10218-1 : 2005, Robots for industrial environments - Safety requirements - Part 1 Robot • ANSI/RIA 15.06-1999 •...

  • Page 15: Unit Conversion

    1 Reference information 1.3. Unit conversion 1.3. Unit conversion Converter table Use the table below to convert units used in this manual. Quantity Units Length 3.28 ft 39.37 in Weight 1 kg 2.21 lb Pressure 1 bar 100 kPa 14.5 psi Force 0.738 lbf Moment...

  • Page 16: Screw Joints

    UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It features special surface treatment (Gleitmo as described below), and is extremely resistant to fatigue.
  • Page 17 1 Reference information 1.4. Screw joints • Only use correctly calibrated torque keys. • Always tighten the joint by hand, and never use pneumatical tools. • Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow, flowing motion.
  • Page 18 1 Reference information 1.4. Screw joints The table below specifies the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass. Tightening torque Tightening torque Tightening torque Dimension Nm - Nominal Nm - Min. Nm - Max.

  • Page 19: Weight Specifications

    All components exceeding 22 kg (50 lbs) are high-lighted in this way. To avoid injury, ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each manipulator model.

  • Page 20: Document References

    The part number -001 is the English version. Document name Document ID Product manual, S4Cplus M2000 3HAC 021333-001 Product manual, S4Cplus M2000A 3HAC 021128-001 Product manual, IRC5 M2004...
  • Page 21 1 Reference information 1.6. Document references Additional documentation Document name Document ID Note External axes 3HAC 9299-1 3HAC023297-001 Revision: A...

  • Page 22: Standard Toolkit

    1 Reference information 1.7. Standard toolkit 1.7. Standard toolkit General All service (repair, maintenance and installation) instructions contain lists of tools required to perform the specified activity. All special tools, i.e. all tools that are not considered standard as defined below, are listed in their instructions respectively. This way, the tools required are the sum of the Standard Toolkit and any tools listed in the instruction.

  • Page 23: Performing A Leak-Down Test

    1 Reference information 1.8. Performing a leak-down test 1.8. Performing a leak-down test General After refitting any motor and any gearbox, the integrity of all seals enclosing the gearbox oil must be tested. This is done in a leak-down test. Required equipment Equipment, etc.

  • Page 24: Lifting Equipment And Lifting Instructions

    1 Reference information 1.9. Lifting equipment and lifting instructions 1.9. Lifting equipment and lifting instructions General Many repair and maintenance activities require different pieces of lifting equipment, which are specified in each procedure. The use of each piece of lifting equipment is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting equipment.

  • Page 25: Mounting Instructions For Bearings

    1 Reference information 1.10. Mounting instructions for bearings 1.10. Mounting instructions for bearings General This section details how to mount and grease different types of bearings on the manipulator. Equipment Equipment, etc. Art. no. Note Grease 3HAB 3537-1 Used to grease the bearings, if not specified otherwise.

  • Page 26: Mounting Instructions For Seals

    1 Reference information 1.11. Mounting instructions for seals 1.11. Mounting instructions for seals General This sections details how to mount different types of seals to the manipulator. Equipment Equipment, etc. Art. no. Note Grease 3HAB 3537-1 Used to lubricate the seals. Rotating seals The procedure below details how to fit rotating seals.
  • Page 27 (without sealing compund). If the flange surfaces are defective, the parts may not be used beacuse leakage could occur. Clean the surfaces properly and in accordance with ABB ROBOTICS PRODUCTS recommendations. Distribute the sealing compound evenly over the surface, preferably with a brush.
  • Page 28 1 Reference information 1.11. Mounting instructions for seals 3HAC023297-001 Revision: A...

  • Page 29: Spare Part / Part List

    2 Spare part / part list 2.1. Introduction 2 Spare part / part list 2.1. Introduction Definitions This chapter specifies all spare parts and replacement articles of the robot. 3HAC023297-001 Revision: A...

  • Page 30: Spare Part / Part List

    2 Spare part / part list 2.2. Spare part / part list 2.2. Spare part / part list Spare part / part list The table below details all replacement articles on the robot. The items refer to chapter Foldouts. Item Art.
  • Page 31 2 Spare part / part list 2.2. Spare part / part list Item Art. no. Name Rem. 3HAC 10477-2 Control cable spare CR L = 7 m 3HAC 11331-1 Control cable spare Std/F L = 15 m 3HAC 11331-2 Control cable spare CR L = 15 m 3HAC 13089-1 Control cable spare Std/F...
  • Page 32 2 Spare part / part list 2.2. Spare part / part list Item Art. no. Name Rem. 3HAB 3402-15 Hex. socket head cap screw M5x20 8.8 Gleitmo 610 9ADA 312-5 Plain washer 5.3x10x1 3HAC 9258-1 Indicator lamp 3HAC 10468-4 Lower arm, spare CR 3HAC 10471-3 Cover, without lamp unit 3HAC 10474-3...
  • Page 33 2 Spare part / part list 2.2. Spare part / part list Item Art. no. Name Rem. 2125 2052-178 Distance bolt M5X55 3HAC 6598-1 Hose nipple G 1/4" 3HAB 8964-1 Damper axis 5 550 ml 3HAC 0860-1 Lubricating oil Optimol Opti- gear BM 100 3HAC 10466-3 Upper arm, spare CR...
  • Page 34 2 Spare part / part list 2.2. Spare part / part list 3HAC023297-001 Revision: A...

  • Page 35: Foldouts

    3 Foldouts 3.1. Introduction 3 Foldouts 3.1. Introduction Overview The foldouts in this chapter refer to the part list. 3HAC023297-001 Revision: A...
  • Page 36 R1/4 Inside of cover 35 Nm Inside of base Base complete Foldout 1...

  • Page 37: Circuit Diagram

    A (1 : 2) 15,5 Nm ax.1 1,2 litre ax.2 1,0 litre Foldout 2...
  • Page 38 0,4 litre Do not loosen these screws Do not loosen these screws 4,1 Nm 35 Nm Lower arm complete with cables Lower arm (shown without cables) (shown without cover) Foldout 3...
  • Page 39 0,35 litre oil (at oil change). 0,30 litre oil (New wrist) 0,2 litre oil 4,1 Nm 3 Nm 28 Nm 35 Nm 6 Nm 4,1 Nm Upper arm (shown without cables) 6 Nm 4,1 Nm 4,1 Nm Foldout 4...
  • Page 40 Upper arm with cables (shown without cover) Upper arm complete Foldout 5...
  • Page 42 4 Circuit diagram 4.1. Introduction 4 Circuit diagram 4.1. Introduction Overview This chapter includes the circuit diagram for the robot. 3HAC023297-001 Revision: A...
  • Page 43 Circuit Diagram CONTENTS Page Manipulator, diagram 3HAC 6816-3, Rev. 0 ..............101-108 IRB 140...
  • Page 44 Manipulator Circuit Diagram 3HAC 6816-3 LIST OF CONTENTS IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 45 Manipulator Circuit Diagram 3HAC 6816-3 CONNECTION POINT LOCATIONS IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 46 Manipulator Circuit Diagram 3HAC 6816-3 SERIAL MEASUREMENT BOARD IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 47 Manipulator Circuit Diagram 3HAC 6816-3 MOTOR AXIS 1 - 3 IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 48 Manipulator Circuit Diagram 3HAC 6816-3 FEEDBACK AXIS 1 - 3 IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 49 Manipulator Circuit Diagram 3HAC 6816-3 MOTOR AXIS 4 - 6 IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 50 Manipulator Circuit Diagram 3HAC 6816-3 FEED-BACK AXIS 4 - 6 IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 51 Manipulator Circuit Diagram 3HAC 6816-3 CUSTOMER CONNECTIONS IRB 140 Sheet no. N o . o f S h e e t s 8...
  • Page 54 ABB Automation Technologies AB Robotics S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592...

This manual is also suitable for:

M2004M2000a

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