Table of Contents
Advertisement
Table of contents
4.2.3
Expected component life .........................................................................
4.3
Inspection activities ...........................................................................................
4.3.1
Inspecting the motor seal .........................................................................
4.3.2
Inspecting the balancing device ................................................................
4.3.3
Inspecting the cable harness ....................................................................
4.3.4
Inspecting the dampers ...........................................................................
4.3.5
Inspecting the information labels ...............................................................
4.3.6
Inspecting the axis-1 mechanical stop ........................................................
4.3.7
Inspecting the oil level in axis-1 gearbox .....................................................
4.3.8
Inspecting the oil level in axis-2 gearbox .....................................................
4.3.9
Inspecting the oil level in axis-3 gearbox .....................................................
4.3.10 Inspecting the oil level in axis-4 gearbox .....................................................
4.3.11 Inspecting the oil level in axis-5 gearbox .....................................................
4.3.12 Inspecting the oil level in axis-6 gearbox .....................................................
4.4
Replacement/changing activities ..........................................................................
4.4.1
Type of lubrication in gearboxes ................................................................
4.4.2
Changing the oil in axis-1 gearbox .............................................................
4.4.3
Changing the oil in axis-2 gearbox .............................................................
4.4.4
Changing the oil in axis-3 gearbox .............................................................
4.4.5
Changing the oil in axis-4 gearbox .............................................................
4.4.6
Changing the oil in axis-5 gearbox .............................................................
4.4.7
Changing the oil in axis-6 gearbox .............................................................
4.4.8
Replacing the SMB battery .......................................................................
4.5
Lubrication activities ..........................................................................................
4.5.1
Lubricating the spherical roller bearing, balancing device ..............................
4.6
Cleaning activities .............................................................................................
4.6.1
Cleaning the IRB 6730 ..............................................................................
5
5.1
Introduction ......................................................................................................
5.2
General procedures ...........................................................................................
5.2.1
Performing a leak-down test ......................................................................
5.2.2
Mounting instructions for bearings .............................................................
5.2.3
Mounting instructions for sealings ..............................................................
5.2.4
Cut the paint or surface on the robot before replacing parts ............................
5.3
Axes 1 and 2 ....................................................................................................
5.3.1
Replacing the axis-1 cassette sealing .........................................................
5.4
Balancing device ...............................................................................................
5.4.1
Replacing the balancing device .................................................................
5.4.2
Replacing spherical roller bearing, balancing device link ear ...........................
5.4.3
Replacing the rear bearings on the balancing device .....................................
5.5
Axes 3 and 4 ....................................................................................................
5.5.1
5.6
Wrist ...............................................................................................................
5.6.1
Replacing the wrist .................................................................................
5.6.2
Replacing the turning disc ........................................................................
5.7
Electronic parts .................................................................................................
5.7.1
Removing the cable harness ....................................................................
5.7.2
Refitting the cable harness .......................................................................
5.7.3
Replacing the brake release unit ...............................................................
5.7.4
Replacing the SMB unit ...........................................................................
5.8
Motors ............................................................................................................
5.8.1
Replacing the axis-1 motor .......................................................................
5.8.2
Replacing the axis-2 motor .......................................................................
5.8.3
Replacing the axis-3 motor .......................................................................
5.8.4
Replacing the axis-4 motor .......................................................................
5.8.5
Replacing the axis-5 motor .......................................................................
5.8.6
Replacing the axis-6 motor .......................................................................
6
© Copyright 2023 ABB. All rights reserved.
101
102
102
104
108
110
112
115
117
120
123
126
129
132
135
135
137
142
147
152
157
162
167
170
170
172
172
177
177
178
178
179
181
185
186
186
211
211
229
244
256
256
283
283
303
308
308
329
357
364
370
370
385
401
413
426
438
Product manual - IRB 6730
3HAC085699-001 Revision: B
Advertisement
Table of Contents
Troubleshooting
