ABB MU 80 Product Manual
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ABB MU 80 Product Manual

ABB MU 80 Product Manual

Motor units and gear units
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Summary of Contents for ABB MU 80

  • Page 1 ROBOTICS Product manual Motor Units and Gear Units...
  • Page 2 Trace back information: Workspace Main version a485 Checked in 2022-11-21 Skribenta version 5.5.019...

  • Page 3: Product Manual

    Product manual MU 80, MU 100, MU 200, MU 250, MU 300, MU 400 MTD 250, MTD 500, MTD 750, MTD 2000, MTD 5000 MID 500, MID 1000 IRC5 Document ID: 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • 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

    Retrofit an interface to the IRC5 controller ............. Handling of motors .................... Testing the brake release buttons ................. Insulation in arc welding stations ................. 3.10 Installing non ABB brake release buttons ............... 3.11 Changing the cable harness in the controller ............Configuration Loading configuration files ..................
  • Page 6 10.1 Applicable standards ..................10.2 Unit conversion ....................10.3 Spare parts and exploded views ................10.4 Circuit diagrams ....................10.5 Standard toolkit ....................Index Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 7: Overview Of This Manual

    Repair personnel. Prerequisites Maintenance/repair/installation personnel working with an ABB Robot must be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the motor units and gear units.
  • Page 8 Caution about removing metal residues added in sections about SMB boards. • Updated list of applicable standards. • Added MU 80. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 9 Published in release 22D. The following updates are done in this revision: • Information about the article number on delivery documents is added to the product description. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 11: Safety

    The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.

  • Page 12: 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 - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 13: Safety Signals And Symbols

    NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 14 Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 15: Safety Symbols On Manipulator Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 16 Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 17 The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 18 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 19 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 20 Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 21: Robot Stopping Functions

    The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - IRC5 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 22: Safety During Installation And Commissioning

    When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 23 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 - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 24: Safety During Operation

    A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 25: Safety During Maintenance And Repair

    90 °C. Hot oil or grease Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 26 Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 27 Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 28: Brake Testing

    For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 29: Safety During Troubleshooting

    The manipulator 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 robot and robot system specific hazards.

  • Page 30: Safety During Decommissioning

    A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 31: Product Overview

    The axis selector (optional) is mounted in the robot controller and makes it possible to cut the power for selected connected external units. The function is controlled by instructions in the robot program. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 32: Motor Units

    2 Product overview 2.2 Motor units 2.2 Motor units Introduction The motor units are specially designed for ABB's robots and can be used for peripherals requiring servo steered motors that are synchronized with the robot movements. MU variants The following motor unit variants are available: •...

  • Page 33: Gear Units

    Drive Module with modified cable harness (optional) Technical data Gear unit Weight [kg] MTD 250 MTD 500 MTD 750 MTD 2000 MTD 5000 MID 500 MID 1000 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 34: Basic Approach

    Related information Application manual - Additional axes and stand alone controller. Operating manual - IRC5 with FlexPendant. Operating manual - RobotStudio. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 35: Scenarios

    • SMB box connected to the IRC5 controller • Two motor units connected to SMB box xx1000001197 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 36 SMB box connected to the IRC5 controller • Three gear units connected to one SMB box xx1000001199 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 37 SMB box connected to the IRC5 controller • Two gear units connected to one SMB box xx1000001200 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 38 One SMB box connected to IRC5 drive module • Three motor units connected to the IRC5 drive module through the SMB box xx1000001201 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 39: The Unit Is Sensitive To Esd

    The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 41: Installation

    Positive electric rotation R ->S ->T -> (U, V, W) results in positive mechanical rotation defined as clockwise direction, seen from the drive shaft side. See illustration below. xx0400001171 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 42 If there is a risk of return currents, then the box must be isolated, see Insulation in arc welding stations on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 43 Testing the brake release buttons on page CAUTION Make sure that the thermal supervision is properly tuned, see Tuning the thermal supervision on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 44: Installing Gear Units

    WARNING The gear unit is heavy. Always use prop- erly sized lifting accessories. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 45 CAUTION Make sure that the thermal supervision is properly tuned, see Tuning the thermal supervision on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 46 Recommendations for MID units The station interchange units have endless rotation and are delivered without a locking mechanism. ABB recommends using a pneumatic, externally operated locking pin for locking, to reduce the risk of collision with the end stop. This also relieves the pressure on the station interchange unit.

  • Page 47: Fastening Cables

    3HAC068920-001) must be removed when connecting to XS41 or XS41.2 in the IRC5 controller. Extended cables for MU 80 MU 80 provides extended power and signal cables. xx1700001371 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R ©...
  • Page 48 Always refer to the tables below to prepare new connectors. Extended power cable xx1700001372 MP (M23) The following table lists the materials used for making new connector MP. The materials are delivered with the MU 80. Item Component article number Qty. 3HAC026336-004...
  • Page 49 3 Installation 3.3 Fastening cables Continued Extended signal cable xx1700001373 FB(M23) The following table lists the materials used for making new connector FB. The materials are delivered with the MU 80. Item Component article number Qty. 3HAC6996-8 3HAC6962-3 Prepared Responsible Department...
  • Page 50 The minimum length between the fastening points is 900mm if the cable will be twisted ±180°. xx1000001398 Fastening points or connectors Minimum length is 900mm Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 51 3 Installation 3.3 Fastening cables Continued Fastening straps Do not over-tighten cables when fastening them with straps. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 52: Connections For Sc/Dc (Dm)

    3.4 Connections for SC/DC (DM) 3.4 Connections for SC/DC (DM) Outputs for MU/GU xx0900001005 XS 102 Motor power XS 41 Resolver signals Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 53: Open And Close The Pivot Frame

    Opening the pivot frame xx0900001051 Action Information Open the controller cabinet. Disconnect the cables on the axis selector unit. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 54 Secure the pivot frame with the axis selector plate by tightening the two locking screws (pos. A). Fit the cables on the axis selector unit. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 55: Retrofit An Interface To The Irc5 Controller

    Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 109. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 56 The bushings are often tight so it is re- commended to carefully use a plastic hammer. Lock the shaft with a screw. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 57 Attach the harness drive unit to the additional drive units. xx1600000456 Attach the SMB2 cable to the X5 connector on the axis computer. xx1600000457 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 58 Attach the hinge to the attachment plate. xx1600000460 Attach the axis selector to the hinge. xx1700001274 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 59 XS102 and connect it to the contactor board at the left side of the cabinet. xx1600000463 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 60 Attach the connectors X1, X2 and A111.TB1 to the axis selector. Attach the ground cable from the axis selector to the chassis. xx1600000465 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 61: Handling Of Motors

    This method is not applicable for MU 100 since it does not have a flange on the motor shaft. xx1300000317 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 62 Make sure that the contact surfaces between the motor and the dolly distribute the press force evenly. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 63 Make sure not to press on the resolver. Note This method is not applicable for MU 80 since it does not have a connection box and the back cover of the motor is not allowed to be opened. Continues on next page...
  • Page 64 10 kN MU 200 20 kN MU 250 20 kN MU 300 20 kN MU 400 30 kN Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 65 Use lifting accessories that are accordingly sized for the motor. When lifting the motor with roundslings, never place the sling around the motor shaft. xx1300000231 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 66: Testing The Brake Release Buttons

    Press the brake release button. When the brake is released, the axis should be possible to move. Verify that the correct motor brake was released. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 67: Insulation In Arc Welding Stations

    The weld return cable has contact with protective earth, in this case a cable channel made of metal. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 68 Cable channel made of metal Power source SMB box galvanically insulated from the weld circuit Motor unit’s protective earth connected to the weld circuit Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 69: Installing Non Abb Brake Release Buttons

    Installing non ABB brake release buttons Use connection BRAKE PB. See the connections in the circuit diagram, Circuit diagram - Motor Units and Gear Units. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 70: Changing The Cable Harness In The Controller

    Remove the cable harness for the XS.7 contact. Refit the new cable harness. Circuit diagram - Motor Units and Gear Units Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 71: Configuration

    • Type of unit • Drive unit and drive module (system parameters Drive Unit and Drive Module) Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 72 Tune the motor. Tuning on page Configuration files and standard system parameters are described in Technical reference manual - System parameters. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 73: Installing A System With Mu/Gu

    MU & GU used with in MultiMove systems (GU only in DM1) • Kinematic models are not included. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 74 (1-3 or 4-6) is used. The connection options can be selected for drive module 1 and drive module 2. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 75 1-3 or note 4-6 and are linked to the first measurement system. The standard configuration in the SMB box will always use node 1-3. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 76 To change the nodes in the SMB box, remove R1.SMB1-4 and re-connect it to R1.SMB3-6. See the circuit diagram listed in References on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 77 Installation Manager will show a dialog. The following illustration shows the selected first unit. xx2200001230 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 78 The related configuration files, including EIO configuration (such as activation signals) and motion files (including the activation relay and brake relay), are installed upon selection. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 79: Dimensioning Gear Units

    1,950 MID 1000 5,000 Related information Dimensioning of motors is described in Application manual - Additional axes and stand alone controller. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 80: Tuning

    1 Testrun without loads to verify if tuning is needed. 2 Testrun with loads. 3 If needed, tune the configuration data and repeat steps 1-2. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 81: Calibration

    On the FlexPendant ABB menu, tap Calibration. Tap Rev. Counters and then tap Update Revolution Counters. Tap to select the axis and then tap Update. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 83: Tuning The Thermal Supervision

    6 Tuning the thermal supervision Thermal supervision The motor units (except MU 80 and MU 100) and the gear units are protected from overload by a thermal supervision. If the motor temperature is close to the defined maximum temperature then the system shows a warning. If the maximum temperature is exceeded then the unit will stop.
  • Page 84 Related information Technical reference manual - System parameters Application manual - TuneMaster Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 85: Maintenance

    (RCD) before starting any maintenance work. For more information see: • Product manual - IRC5 • Fastening cables on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 86: Maintenance Schedule

    2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime can be extended with a battery shutdown service routine. See Operating manual - IRC5 with FlexPendant for instructions. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 87: Inspecting Cables

    Check the connectors. Check that all brackets and straps are properly at- tached. Replace the cables if wear, cracks, or damage is detected. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 88: Inspecting Mu250 Drain Holes

    • A: Drain hole with glass cover • B: Drain hole with stop screw • C: Drain hole with stop screw Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 89: Replacing Smb Battery

    See Operating manual - IRC5 with FlexPendant for instructions. WARNING Hazards related to batteries on page Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 90 It is important that the SMB unit uses the correct battery. Make sure to order the correct spare parts. Do not replace the battery contact! Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 91 Close the SMB box. Update the revolution counters. Calibration on page Dispose of the old battery. Environmental information on page 100. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 92: Cleaning The Motor Units And Gear Units

    Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. •...

  • Page 93: Lubricating The Current Collector

    Grease gun Lubricating the current collector Action Information Lubricate the current collector using a grease gun. Note Amount of grease: 12 ml. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 95: Repair

    Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 96: Replacing Smb Board

    Loosen the four nuts holding the SMB board. The nuts do not have to be re- moved, only loosened. Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 97 Cross tighten the screws to make sure the sealing is tight. Connect the cables and close the cover. Update the revolution counters. Calibration on page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 98: Repair In The Motor Connection Box

    Motor connection box The motor connection box can be opened to replace equipment. Note MU 80 does not have a connection box. Note When assembling the connection box to the motor or the top cover to the connection box, make sure that the o-ring is in the groove.

  • Page 99: Decommissioning

    See also Environmental information on page 100. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 100: Environmental Information

    9.2 Environmental information 9.2 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 101 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 - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 103: Reference Information

    Arc welding equipment - Part 1: Welding power sources IEC 60974-10:2014 Arc welding equipment - Part 10: EMC requirements Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 104 Degrees of protection provided by enclosures (IP code) Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots. Only robots with protection Clean Room. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 105: Unit Conversion

    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 - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 106: Spare Parts And Exploded Views

    DVD. Article number for Product manual, spare parts - Motor Units and Gear Units is 3HAC040278-001. Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 107: Circuit Diagrams

    3HAC025744-001 Circuit diagram - IRB 6660 3HAC025744-001 3HAC029940-001 Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005 Continues on next page Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 108: Other Hardware

    Circuit diagram - IRB 910SC 3HAC056159-002 Other hardware Product Article numbers for circuit diagrams Circuit diagram - Motor Units and Gear Units 3HAC039887-001 Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.

  • Page 109: Standard Toolkit

    Socket head cap no: 6, socket 40 mm bit L 145 mm Socket head cap no: 6, socket 40 mm bit L 220 mm Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
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  • Page 111 32 environmental information, 100 naming convention, 71 national regulations, 22 damage elimination, 39 neodymium sensitive equipment, 39 disposal, 100 nodular iron Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 112 44 motor units, 32 motor units, 41 weld current, 41, 44 shipping, 99 signals zero position, 81 safety, 13 SMB battery Product manual - Motor Units and Gear Units 3HAC040148-001 Revision: R © Copyright 2011 -2022 ABB. All rights reserved.
  • Page 114 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 2011 -2022 ABB. All rights reserved. Specifications subject to change without notice.

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