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ROBOTICS

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IRB 760

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Summary of Contents for ABB IRB 760PT

Page 1 ROBOTICS Product manual IRB 760...
Page 2 Trace back information: Workspace 22D version a11 Checked in 2022-12-20 Skribenta version 5.5.019...
Page 3 Product manual IRB 760 - 450/3.2 IRB 760 - 445/3.2 IRC5 Document ID: 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved. Specifications subject to change without notice.
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 Maintenance Introduction ...................... Maintenance schedule and expected component life ..........3.2.1 Specification of maintenance intervals ............3.2.2 Maintenance schedule ................3.2.3 Expected component life ................. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 6 Replacing motor, axis 6 ................Gearboxes ....................... 4.7.1 Replacing the axis 1 gearbox ..............4.7.2 Replacing the gearbox, axes 2- 3 ............... 4.7.3 Replacing gearbox axis 6 ................Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 7 Standard tools ....................Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................Circuit diagrams Circuit diagrams ....................Index Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
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Page 9 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 IRB 760. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
Page 10 This manual contains all safety instructions from the product manuals for the manipulators and the controllers. Revisions Revision Description First edition Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 11 Type and amount of oil in gearboxes on page 134. • A new SMB unit and battery is introduced, with longer battery lifetime. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 12 Updated information regarding disconnecting and reconnecting battery cable to serial measurement board. • Updated information regarding replacing the balancing device. • Definition of reference calibration clarified. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 13 Published in release 21D. The following updates are made in this revision: • New section regarding customer connectors added, see Customer connectors on the manipulator. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 14 Added a step for overall inspection of cabling after cable harness has been replaced. • Customer connections; correction of illustration • New mounting tools, bearing axis 6 • New mounting tools, bearings tilthouse unit Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 15 Likewise, certain work methods or general information that is valid for several robot models, can be illustrated with illustrations that show a different robot model than the one that is described in the current manual. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 16 Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Page 17 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
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Page 19 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 20 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 21 NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 22 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 23 Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 24 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 25 Tip risk when loosening bolts 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 26 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 27 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 28 Shut off with handle 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 29 The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 30 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 31 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 32 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 33 Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 34 90 °C. Hot oil or grease Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 35 Specified amount de- on how much has previously pends on drained been drained from the gearbox. volume Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 36 WARNING 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 37 When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 38 For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 39 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 40 Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 41 (RCD) before connecting to power and starting any installation work. For more information see: • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 42 It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work • conform to all national and local codes.
Page 43 The robot installation is restricted to the mounting options given in following load table(s). Floor mounted Force Endurance load (in operation) Max. load (emergency stop) Force xy ± 9.1 kN ± 17.7 kN Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 44 (gaseous only) Operating conditions, robot The table shows the allowed operating conditions for the robot: Parameter Value Minimum ambient temperature 0° C Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 45 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IP 67 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 46 Maximum working range Position in figure Position (mm) Angles (°) Axis 2 Axis 3 1940 1824,5 1002 1957 1190 -513 3169 2839 1829 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 47 Range of motion Rotation motion -180° to +180° Can be extended, with use of option, to: -220° to +220° (option 561-1) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 48 Option 610-1 "Independent axis" can be used for resetting the revolution counter after the axis has been rotated (no need for "rewinding" the axis). Turning radius xx1000001068 Motor, axis 3 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 49 Shipping and transportation position This figure shows the robot in its shipping position and transportation position. IRB 760 - 450/3.2: xx1000001161 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 50 2 Installation and commissioning 2.2.3 Risk of tipping/stability Continued IRB 760 - 445/3.2: xx1900001256 WARNING The robot will be mechanically unstable if not properly secured to the foundation. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 51 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 52 See figure Fork lift set, 3HAC023044-001 hardware on page Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 53 Horizontal attachment screws (4 pcs / fork lift pocket) Attachment screw for adapter (1 pc / adapter) Vertical attachment screws (2 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 54 Attachment points are shown in figure Attachment points on robot on page Attachment screws, 2 pcs, M16 x 90. Tightening torque: 270 Nm. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 55 However, they are tightened with different torque! xx0500002279 A Horizontal attachment screws, 4 pcs, M16 x 60. Tightening torque: 60 Nm. B Adapter Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 56 Attachment points on robot on page Double-check that pockets are properly se- cured to the robot! Insert fork lift forks into the pockets. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 57 Carefully lift the robot and move it to its install- ation site. WARNING Personnel must not, under any circumstances, be present under the suspended load! Refit the cooling fan to the motor, if any. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 58 All lifting accessories used must be sized accordingly! WARNING Personnel must not, under any circum- stances, be present under the suspended load! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 59 Roundsling, 1.5 m. Lifting capacity: 2,000 kg. Roundsling, 1 m. Lifting capacity: 2,000 kg. Roundsling, 1 m. Lifting capacity: 2,000 kg. Note! No sharp edges! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 60 Roundsling, 1.5 m. Lifting capacity: 2,000 kg. Roundsling, 1 m. Lifting capacity: 2,000 kg. Roundsling, 1 m. Lifting capacity: 2,000 kg. Note! No sharp edges! Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 61 Note The user manual may be out of date. The latest revision is available for download via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 62 Roundsling that secures against rotation, 1 m. Lifting capacity: 2,000 kg. Swivelling lifting eyes and hooks Note! Make sure to run lifting sling between parallel stag and frame! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 63 Note Lifting accessory, robot 3HAC15607-1 Includes user instructions 3HAC15971-2 Roundsling 1 m, lifting capacity: 2,000 kg. Used to secure against rotation. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 64 Make sure all hooks and attachments maintain their correct positions while lifting the robot! Always move the robot at very low speeds, making sure it does not tip. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 65 Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 66 Incorrect connections, such as supplying power to the wrong pin, may cause all brakes to be released simultaneously! Supply 0V on pin 12 and 24V on pin 11. xx0600002937 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 67 Fit lifting slings to the eyes and to the lifting accessory. CAUTION Lift and move the base plate very slowly. If the base plate starts to swing it is a risk for injuries or damage. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 68 E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact surface to the other) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 69 325 (2x) 241,1 250,5 225,8 138,4 109,1 xx1000001054 ¤ Four holes for alternative clamping, 4x Ø18 Color: RAL 9005. Thickness: 80-100 µm Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 70 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1500000312 Orienting grooves (3 pcs) Levelling bolts, attachment holes (4 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 71 Base plate This section details how to secure the base plate to the foundation. Action Note Make sure the foundation is levelled. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 72 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 73 M24 x 140 Quality: Quality 8.8 Suitable washer: Thickness: 4 mm Outer diameter: 44 mm Inner diameter: 25 mm Tightening torque: 725 Nm Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 74 Note Lightly lubricate screws before as- sembly! Tighten bolts in a criss-cross pattern to ensure that the base is not distorted. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 75 2.3.7 Orienting and securing the robot Continued Hole configuration, base This illustration shows the hole configuration used when securing the robot. xx1000001050 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 76 2 Installation and commissioning 2.3.7 Orienting and securing the robot Continued Cross section, guide sleeve hole This illustration shows the cross section of the guide sleeve holes. xx1000001051 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 77 IRB 760 = 35 kg Note! The weight of the extra equipment on the upper arm must be deducted from the maximal handling capacity. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 78 450- 35 = 415 kg. IRB 760 - 450/3.2 xx1000001069 Mounting holes, M10 Through (6 pcs) Mounting holes, M8 Depth 12 mm (4 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 79 Mounting holes, M10 Through (6 pcs) Mounting holes, M6 Depth 12 mm (2 pcs) Mounting holes, M8 Depth 12 mm (2 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 80 Illustration, fitting of extra equipment on frame The illustration below shows the mounting holes available for fitting extra equipment on the frame. xx1000001070 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 81 The illustration below shows the mounting holes available for fitting equipment on the turning disk. xx1000001058 Mounting flange xx1800001403 Tool flange in bottom view Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 82 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 83 The signal lamp is located on the tilthouse unit, as shown in figure. IRB 760 - 450/3.2 xx1000001030 Signal lamp Motor cover Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 84 Complete kit with signal lamp, page 401. cables, adapter, gasket, screws etc. Gasket 3HAC033206-001 Fitted between motor and cable gland, replace if damaged. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 85 Attachment screws for the signal lamp (2 pcs) Cable straps (2 pcs) Cable gland cover Motor adapter including gasket Attachment screw, M6x40 (1 pc) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 86 Fit the signal lamp to the bracket, with two attach- See figure Signal lamp kit on ment screws. (not applicable for IRB 760 - page 445/3.2) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 87 The gas- ket will protect the mating surfaces of the adapter and the cable gland cover. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 88 Secure motor cables at cable gland again. Fit the motor cover with the attachment screws. Make sure the cabling is placed correctly when refitting the cover and does not get jammed. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 89 The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification listed in References on page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 90 220 degrees. Related information The system parameters are described in detail in the reference manual, see References on page Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 91 2 Installation and commissioning 2.3.11 Extended working range, axis 1 (option) Continued For more information about SafeMove, see Application manual - Functional safety and SafeMove2. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 92 This section describes how to install hardware that restricts the working range. Note Adjustments must also be made in the robot configuration software (system parameters). References to relevant manuals are included in the installation procedures. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 93 Includes attachment screws and an assembly drawing. Standard toolkit Technical reference manual - System Article number is specified in parameters section References on page Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 94 Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 95 If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 96 Robot cable, signals Transfers resolver data from R1.SMB and power supply to the serial (OmniCore con- measurement board. trollers) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 97 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 98 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. xx1600001005 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 99 Customer power/signal R1.ETHERNET Bus communication Ethernet IP R1.PROC2 Process connector on the manipulator base. R1.PROC1 Process connector on the manipulator base Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 100 R2.CP/CS/CBUS Customer power/signal connector R2.PROC1 Process connector on the manipulator wrist R2.PROC2 Process connector on the manipulator wrist R1.ETHERNET Bus communication Ethernet IP Grounding point Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 101 Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
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Page 103 For more information see: • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller • Robot cabling and connection points on page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 104 40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.
Page 105 First change when DTC reads: • 6,000 hours Second change when DTC reads: • 24,000 hours Following changes: • Every 24,000 hours Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 106 The maintenance of other external equipment for the robot is detailed in separate documentation. Maintenance activity Equipment Interval Inspection Signal lamp Every: 12 months Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 107 Deviations from this cycle will result in differences in expected life! The SIS for an IRC5 system is described in the Operating manual - Service Information System. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 108 134. Do not mix with other oils! Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 109 Further information about how to fill with oil is found in section Changing oil, axis-1 gearbox on page 135. Refit the oil plug. Tightening torque:20 Nm Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 110 The gearboxes axes 2-3 are located in the lower arm rotational center, underneath the motor attachment. xx0500002482 Gearbox, axis 2 Oil plug, draining Oil plug, filling Ventilation hole, gearbox axis 2 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 111 Use this procedure to inspect the oil level in gearbox axes 2 - 3. Action Note WARNING Handling gearbox oil involves several safety risks, Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 112 Filling of oil is detailed further in section Changing oil, gearbox axes 2 and 3 on page 138. Refit oil plug, filling. Tightening torque: 24 Nm. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 113 Use this procedure to inspect the oil level in the axis-6 gearbox. Action Note WARNING Handling gearbox oil involves several safety risks, Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 114 Changing oil, gearbox axis 6 on page 142. Refit oil plug, filling. Tightening torque: 24 Nm Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 115 These procedures include refer- be required. See references to ences to the tools required. these procedures in the step-by- step instructions below. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 116 Replace damaged component. xx1000001145 A Spacer ring B Lock nut KM10 C Support washers (2 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 117 B Circlip Note If there is a risk of metallic contact between the piston rod and the end cover, the guide ring must be replaced! Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 118 Motor cables (4 locations) Cable guide, axis 2 Cable guide, axis 3 Metal clamps with nuts Required equipment Visual inspection, no tools are needed. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 119 Detailed in section: is detected! Replacing cable harness, lower end (axes 1-3) on page 162. Replacing the cable harness, upper end (incl. axis 6) on page 172. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 120 Combined warning label "Brake release", "Brake release buttons" and "Moving robot", 3HAC054583-001 Combined warning label "Extended rotation", "See user documentation" and "No mechanical stop", 3HAC021761-001 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 121 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 401. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 122 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 123 The expected life of gearboxes can be reduced after collision with the mechanical stop. Make sure the mechanical stop pin can move in both directions. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 124 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 125 If any damage is detected, the mechanical stops must Article number is specified in be replaced. Required equipment on page 124. Correct attachment screws: • Axis 1: M16 x 35, quality 12.9. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 126 Clamp Spare parts on page 401 Screw Spare parts on page 401 Damper Spare parts on page 401 Loctite 243 3HAB7116-1 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 127 Article number is specified in be replaced. Required equipment on page 126. Correct attachment screws: • Axis 3: M12 x 50, quality 12.9 (use Loctite on the screws) Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 128 Damper, lower arm, lower (1 pc) Damper, axis 2 (2 pcs) Damper, axis 3 (2 pcs). Not visible in this view. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 129 Check all dampers for damage, cracks or existing Shown in figure Location of impressions larger than 1 mm. dampers on page 128. Check attachment screws for deformation. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 130 Inspecting the mechanical stop axis 3 (only ap- plicable for IRB 760 - 445/3.2) on page 126 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 131 The signal lamp is located as shown in this figure. IRB 760 - 450/3.2: xx1000001372 Signal lamp Cable straps, outdoor (2 pcs) Cable Connection point to cable gland Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 132 3.3.11 Inspecting the signal lamp (option) Continued IRB 760 - 445/3.2: xx1900001262 Signal lamp Cable straps, outdoor (2 pcs) Cable Connection point to cable gland Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 133 • measuring the voltage in the connectors of motor axis 6 (=24V). • inspecting the cabling. Replace the cabling if a fault is detected. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 134 Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 135 134. oil in gear- Do not mix with other oils! boxes on page 134. Oil collecting vessel Capacity: 8,000 ml. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 136 135. Remove oil plug, filling in order to drain oil Shown in figure Location of oil plugs quicker! on page 135. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 137 108. on page 134. Refit the oil plug, filling. Tightening torque: 24 Nm. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 138 The figure shows the position of gearbox, axis 2. xx0500002482 Gearbox axis 2 Oil plug, draining Oil plug, filling Ventilation hole plug, gearbox axis 2 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 139 Content is defined in section ment Special tools on page 398. Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 140 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 141 Refit oil plug,filling and ventilation hole plug. Shown in Location of oil plugs on page 138. Tightening torque: 24 Nm. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 142 Use this procedure to drain oil from gearbox axis 6. When using oil change equipment, follow the instructions enclosed with kit. Action Note Put tilt house in a suitable position. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 143 Correct oil level is detailed in section Inspection, oil level axis-6 gearbox on page 113. Refit the oil plug. Tightening torque: 20 Nm Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 144 Battery pack with a 2-pole battery contact (DSQC) xx0500002486 SMB battery cover SMB battery pack Battery cable Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 145 Spare part no. Note Battery unit For spare part no. Battery includes protection circuits. Only re- see: place with a specified spare part or an ABB- • Spare parts approved equivalent. on page 401 Standard toolkit Content is defined in section...
Page 146 Shown in figure Location of SMB Battery includes protection circuits. Only replace battery on page 144. with a specified spare part or with an ABB- ap- proved equivalent. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W...
Page 147 Updating revolution coun- ters on IRC5 robots on page 360. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 148 Note! Balancing device must be fitted on robot when lubricating bearings! xx0500002489 Ear (bearing located inside) Support washer Lock nut Piston rod Guide ring (not visible in this view) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 149 Apply locking liquid on the lock nuts (KM10). Tightening torque on lock nuts: • 120 Nm Note Do not apply locking liquid on the shafts! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 150 Clean piston rod with isopropanol before applying new grease. Apply new grease. Type of grease is specified in Required equipment on page149. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 151 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 152 Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard, Foundry Plus, Wash, or Foundry Prime can be cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
Page 153 Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 760, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 154 Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 155 Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 156 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 157 If the sealing is without dust lip, just lubricate the main lip with a thin layer of grease. xx2000000071 A Main lip B Grease C Dust lip Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 158 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
Page 159 Lubricate the o-ring with grease. Tighten the screws evenly while assembling. Check that the o-ring is not squashed outside the o-ring groove. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 160 Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 161 If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 162 How to replace the upper end can be found in section Replacing the cable harness, upper end (incl. axis 6) on page 172. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 163 The cable harness, lower end (axes 1-3) is located throughout the base, frame and lower arm as shown in the figure. xx1000001177 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 164 Motor, axes 1-3 Replace if damaged. Standard toolkit The content is defined in the sec- tion Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 165 Disconnect the connectors R1.MP and R1.SMB. See the figure Location of cable har- ness - lower end (axes 1-3) on page 163. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 166 1, 2 and 3. • Replacing motor, axis 1 on page 295 • Replacing motors, axes 2 and 3 on page 302 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 167 Perform this removal with care, in order not to damage any of the components inside the SMB recess. xx1000001330 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 168 1 in the center of the frame. CAUTION Make sure the cables are not twisted with each other or with customer harness (if any)! xx1000001331 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 169 Attachment points are shown in the figure Location of cable harness - lower end (axes 1-3) on page 163. Reconnect the earth cable. xx1000001314 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 170 Push the cable harness up through the lower arm. Fasten the metal clamp that hold the cable harness in the lower arm with the nuts. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 171 See section Updating revolution counters on IRC5 robots on page 360. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 172 Location of cable harness, upper end The upper end of the cable harness is located as shown in the figure. xx1000001176 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 173 Spare parts on page 401 Gasket Motor, axis 6 Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 174 Remove the axis 6 motor cover by removing its attachment screws, in order to reach the connectors. xx1000001106 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 175 Remove the metal clamp that holds the cable at the tilt house, by removing its nuts. xx1000001336 Carefully pull the cable harness out of motor axis 6. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 176 Start by fitting the cable harness, lower end Detailed in section Replacing cable har- if it has been removed. ness, lower end (axes 1-3) on page 162 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 177 (2 + 2 pcs) from the outside of the upper arm. Twist the cable one turn between the cable clamps. xx1000001338 Refit the axis 3 cable guide. xx1000001340 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 178 Refit the cable gland with its attachment screw. xx0600002694 • A: Screw holding the cable gland Make sure the gasket is not damaged! Replace if damaged. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 179 Detailed in section Updating revolution counters on IRC5 robots on page 360. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 180 For spare part number, see: Spare parts on page 401. Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 181 Disconnect the battery cable by pressing down the upper lip of the R2.G connector to release the lock while pulling the connector upwards. xx1700000993 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 182 Update the revolution counters. Updating revolution counters on IRC5 robots on page 360. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 183 These procedures include references be required. See references to to the tools required. these procedures in the step-by- step instructions below. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 184 Location of the brake release unit is shown in the figure Location of brake release board on page 183. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 185 Refit the push button guard to the SMB cover. Shown in the figure Location of brake release board on page 183. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 186 Updating revolution counters on IRC5 robots on page 360. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 187 Guide pins that are longer than 140 mm will not be pos- sible to remove because the lack of space. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 188 Use this procedure to remove the complete arm system. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 189 Remove the block for calibration and the axis 1 calibration plate. xx1000001417 Drain the axis 1 gearbox. Changing oil, axis-1 gearbox on page 135. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 190 If needed, continue to remove the axis 1 Replacing the axis 1 gearbox on gearbox from the base. page 321. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 191 The refitting must be made completely level! Make sure the roundslings are adjusted prior to refitting the arm system. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 192 Use a crank to turn the gearbox in order Make sure the roundslings are adjusted prior to find the right position for the holes. to refitting the arm system. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 193 Replacing cable harness, lower end frame. (axes 1-3) on page 162. Refit the axis 1 motor. Replacing motor, axis 1 on page 295. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 194 General calibration information is included in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 195 Used to lubricate the o-rings. Flange sealant 3HAC034903-001 Loctite 574 Standard toolkit Content is defined in section Standard tools on page 397. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 196 See section • Changing oil, gearbox axis 6 on page 142 Remove the attachment screws that secure the turning disk. xx1000001134 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 197 Lubricate the o-ring of the turning disk with Art. no. is specified in Required equip- grease and fit it to the turning disk. ment on page 195. xx1000001285 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 198 Reused screws may be used, providing they are lubricated as detailed in sec- tion Screw joints on page 393 before fit- ting. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 199 Refit any equipment removed during disas- sembly to the turning disk. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 200 Refitting lock nuts and the remaining parts on page 215 Location of tilthouse unit The tilthouse unit is located as shown in the figure. xx1000001418 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 201 (axis 2) and the parallel arm (axis 3). These two sides of the robot will be referred to in the replacing procedures. xx1000001427 Axis 2 side (See marking on lower arm) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 202 4 Repair 4.4.2 Replacing the tilthouse unit Continued xx1000001428 Axis 3 side (See marking on parallel arm) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 203 VK cover VK 19x6 (2 pcs) Screw M6x10 quality 8.8-A2F (4 pcs) + Washers (4 pcs) Retaining ring, bore Steel 80 (2 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 204 Circuit diagram For art. no. see chapter Circuit diagrams on page 403. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 205 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 206 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 207 Part: A Upper link Remove the M6 screws and washer for filling grease, on both sides. xx1000001420 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 208 CAUTION Only a very low air pressure is needed! xx1000001072 Parts: A Screw M6x10 quality steel 8.8- B Washer Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 209 Go to the user instructions enclosed with the press tool. DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 210 Force away the sealing ring with a screwdriver or similar. The sealing must be replaced with a new one when refitting. xx1000001422 Check bearings. If needed replace. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 211 Check that the bearings are turned the correct way! xx2200002096 Art.no. is specified in Mounting tool bearings on page 205. Fit two retaining rings in the grooves. xx2200002097 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 212 Art.no. is specified in Required equip- ment on page 204. Apply some grease on the radial seal and tap the seal into place. xx2200002099 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 213 211 • Fit the inner and outer bearings and other parts on the tilthouse unit, axis 3 side on page 212 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 214 Shown in the figure Location of axes 2 and 3 sides of the robot on page 201. Note Fit axis 3 side first. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 215 One hole is used for filling and the other for letting out air. Fill until grease spills out of the air hole. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 216 General calibration information is in- cluded in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 217 4.4.3 Replacing the upper arm Location of the upper arm The upper arm is located as shown in the figure. xx1100000016 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 218 O-ring D119x3 (1 + 1 pc) Sealing (1 + 1) Sealing ring (1 + 1 pc) Oil plug (1 + 1 pcs) Bushing Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 219 If no previous reference values exist, and 4600. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 220 Remove the cable harness in the upper arm. See section • Replacing the cable harness, upper end (incl. axis 6) on page 172 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 221 Remove surplus grease and other contamin- ation from the axis-2 and axis-3 shaft ends as well as around the lock nuts, on both ends. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 222 Attach a horseshoe shim (2.5 mm) between 3HAC038174-031 Horseshoe shim, 2.5 upper and lower arm, on the same side as the shaft being removed. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 223 This is done as a safety precau- tion. CAUTION DO NOT stand close to the robot on any side, when the shaft is being removed. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 224 Cut away view of the assembly of the hole where the shafts shall be refitted. the upper arm components on page 218 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 225 Required equipment on page 219 CAUTION The upper arm (excluding the tilthouse unit) weighs 150 kg. All lifting equipment used must be sized accordingly. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 226 Fit the glycerine connection (3HAC038174- For art. no. see: 004) of the shaft fitting/removing tool to the • Required equipment on page 219 shaft. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 227 Note Feel that the shaft guides into the arm joint. Tighten with torque 20 Nm. Set the dial gauge to zero. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 228 There must not be any grease at all on the radial sealing. Otherwise grease will appear on the surface supposed to be cleaned from grease with isopropanol. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 229 • Cut away view of the assembly of the upper arm components on page 218 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 230 KM nut type 15 (3HAC038174-024) with a tightening torque of 175 Nm. Let the shims remain mounted. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 231 (0.3 mm). The measure shall be 0.3 mm. xx1100000040 Wipe off residual grease from the shaft. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 232 (incl. axis 6) on page 172 Move the robot to synchronization position. Refit the balancing device. See section • Replacing the balancing device on page 282 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 233 General calibration information is included in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 234 Location of upper link arm The upper link arm is located as shown in the figure. xx1000001083 Upper link arm Link Lower link arm Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 235 CAUTION In order to avoid accidents, also secure the tilthouse unit in an overhead crane or similar. xx1000001132 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 236 Use a KM10 socket. xx1000001080 CAUTION The link weighs 23 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 237 If needed, replace the bearings in the upper link arm. Note The bearings are sensitive for pushes. Make sure they are not damaged! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 238 Required equipment on page 235 complete will be fitted. xx1000001086 Refit the spacer rings complete on the shaft ends of the link and tilthouse. xx1000001263 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 239 Place the upper link arm on the shafts as shown in the figure. Note The link arm must be pushed in completely. xx1000001088 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 240 Use a KM10 socket Tightening torque: 120 Nm. xx1000001080 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 241 Location of lower link arm The lower link arm is located as shown in the figure below. xx1000001083 Upper link arm Link Lower link arm Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 242 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 243 CAUTION The link weighs 23 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 244 Spare part no. is specified in Required equipment on page 242. Note The bearings are sensitive for pushes. Make sure they are not damaged! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 245 242. be fitted. xx1000001086 Refit the sealing/spacer rings to the shaft ends on the link and frame. xx1000001258 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 246 CAUTION The link weighs 23 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 247 Refit the lock nuts on the shaft ends. Use a KM10 socket. xx1000001262 Tightening torque: 120 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 248 Replacing the linkage - lower link arm on page 241. Location of link The link is located as shown in the figure. xx1000001083 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 249 Lock nut Locking liquid (Loctite 243) Bearing, outer races (2 pcs) Bearing, inner races (2 pcs) Bearing grease Link Support ring Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 250 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 251 This is done to prevent the link from moving when the upper link arm and lower link arm are removed. xx1000001265 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 252 VK cover in order to catch it when re- leased. Remove the small VK cover. Shown in Cut away view of the assembly of the link on page 249. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 253 1 radial sealing wit dust lip Replace the radial sealing if needed! 2 outer race 3 link 4 outer race Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 254 250 Fit the support ring, with the radial seal fit- Replace the radial seal if needed! ted, on the shaft. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 255 175 Nm. Note The recommended order of tightening the lock nut is important to follow to avoid future problems with the shaft. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 256 General calibration information is included in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 257 For spare part no. see: • Spare parts on page 401. Mounting/Demounting tool 3HAC5021-1 Locking liquid 3HAB7116-1 Loctite 243 Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 258 Secure the upper arm with a roundsling in an overhead crane or similar, in order to avoid accidents. xx1100000088 Foundry Plus: Remove the protection plugs Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 259 C Parallel rod D Sealed spherical bearing E Bearing grease F Thrust washer Remove the thrust washer (F). See figure above! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 260 Action Note Start by refitting the lower end. Verify that the bearings are in correct posi- tion in the parallel rod. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 261 Apply rust preventive on the highlighted areas. Note Rust preventive should be applied in both ends of the parallel rod. xx1400001126 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 262 257. See figure above! Apply locking liquid in the hole of the lock Loctite 243 screw. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 263 Refit the upper end of the parallel rod in the same way as the lower end. Foundry Plus: Refit the protection plugs. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 264 4 Repair 4.4.7 Replacing the parallel rod Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 265 Used to keep the axes 2/3 sealing in place during refitting of lower arm. Crank 3HAC023132-001 Lock screw M16x55 Roundsling Lifting capacity: 500 kg. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 266 The procedure below details how to remove the lower arm. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 267 Remove the axes 2 and 3 gearboxes. Also see CAUTION The robot lower arm weighs 270 kg. All lifting accessories used must be sized accord- ingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 268 265. overhead crane or similar. xx1000001361 Remove the lock screw that secures the lower arm system. xx1000001101 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 269 CAUTION The parallel arm system weighs 125 kg. All lifting accessories used must be sized accord- ingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 270 Remove the complete lower arm (including the parallel arm). xx1000001358 How to replace the parallel arm is detailed in section Replacement of parallel arm on page 274. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 271 Art. no. is specified in Required to the lower arm and put the sealings on them. equipment on page 265. See figure. xx1000001368 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 272 Change the position of the lower arm in order to reach the remaining attachment holes, and fit the remaining screws. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 273 General calibration information is in- cluded in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 274 3HAA2166-23 D=120 mm, T=12 mm VK cover 3HAA2166-18 D=35 mm, T=8 mm Bearing grease 3HAB9408-1 Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 275 Use this procedure to remove the parallel arm. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 276 Removal of the parallel arm is best performed on a workbench. xx1000001024 Remove the two VK covers. xx1000001371 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 277 The parallel arm system weighs 125 kg. All lifting accessories used must be sized accord- ingly! Remove the parallel arm. xx1000001018 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 278 Specified in Required equipment surfaces that face the parallel arm. on page 274 Refit a spacing sleeve on each shaft. xx1000001376 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 279 274 Adjust the lower arm in a way that both holes are parallel. Use a level. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 280 Axis Calibration is described in Calibrating with Axis Calibration method on page 364. General calibration information is included in section Calibration on page 353. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 281 4 Repair 4.4.9 Replacement of parallel arm Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 282 Spare parts on page 401. Spacer ring (complete) 3HAC037262-001 Replace if damaged. Lock screw M16 x 55 For securing the lower arm. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 283 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 284 Attach a lifting accessories to the balancing device. Use the hole in the lifting ear. xx1000001112 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 285 See figure! xx1000001115 CAUTION The balancing device weighs 100 kg. All lifting accessories used must be sized ac- cordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 286 Remove residual grease and sealing compound. Refitting, balancing device use this procedure to refit the balancing device. Action Note Check the bearings. Replace if needed. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 287 CAUTION The balancing device weighs 100 kg. All lifting accessories used must be sized ac- cordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 288 0.1 mm too long. If the distance is too long the bearings may be damaged when erecting the balancing device. xx1000001111 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 289 Check play (min. 0.1 mm) between support washers and bearing seat at both bearings. Remove the M12x50 screws from the balancing device to restore the springforce. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 290 Refit the plastic screws in the M12 hole of the balancing device. xx1000001111 Remove the lock screw. xx1000001101 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 291 Balancing weight For art. no. see: • Spare parts on page 401 Lifting lugs (2 pcs) Locking liquid 3HAB7116-1 Loctite 243 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 292 All lifting accessories used must be sized accordingly! Secure the balancing weight with round- slings (using the lifting lugs) in an overhead crane or similar. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 293 Fit two lifting lugs (M16) in the balancing weight. xx1000001298 CAUTION The balancing weight weighs 350 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 294 Secure the balancing weight with its attach- Tightening torque: ment screws and washers. • 165 Nm. xx1000001296 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 295 • Spare parts on • pinion page 401 • o-ring (The old o-ring must be replaced when replacing the motor) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 296 Use this procedure to remove motor axis 1. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 297 • + : pin 2 • -: pin 5 Remove the attachment screws of the motor. Use the bits extension. xx1000001090 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 298 Be careful not to damage the pinion in the pro- cess! xx1000001021 Disconnect the brake release voltage. Check the pinion. If there is any damage, the pinion must be replaced. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 299 Make sure the motor is turned the right way. See figure. Note Make sure the motor pinion does not get dam- aged! xx1000001269 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 300 Calib- rating with Axis Calibration method on page 364. General calibration information is in- cluded in section Calibration on page 353. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 301 4 Repair 4.6.1 Replacing motor, axis 1 Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 302 • motor page 401 chapter • pinion • o-ring (the o-ring must be re- placed when the motor is re- placed) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 303 If no previous reference values exist, and 4600. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 304 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 305 In order to release the brake, connect the 24 Connect to connector R2.MP2 VDC power supply. • + : pin 2 • -: pin 5 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 306 Fit two guide pins in two of the motors attach- Art. no. is specified in Required ment holes. equipment on page 302. xx1000001131 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 307 Remove the motor by gently lifting it straight out and place it on a secure surface. Disconnect the brake release voltage! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 308 -: pin 5 Fit the lifting tool, motor axes 2-3 to the motor. Art. no. is specified in Required equipment on page 302. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 309 Remove the lifting tool and allow the motor to rest on the guide pins. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 310 50 Nm Disconnect the brake release voltage. Reconnect all connectors beneath the motor Connect in accordance with markings cover. on connectors. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 311 154. Refill the gearbox with oil. See section Changing oil, gearbox axes 2 and 3 on page 138. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 312 General calibration information is in- cluded in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 313 (the o-ring must be replaced when the motor is replaced) Bits extension 3HAC12342-1 Used to reach attachment screws for motor. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 314 Use this procedure to remove motor, axis 6. Action Information Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 315 Remove the cable gland cover at the cable exit by unscrewing its attachment screw (A) on the inside. Note Make sure the gasket is not damaged! xx0600002694 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 316 Always use the screws for removal in by fitting two screws in the motor attach- pairs! ment holes diagonal to each other Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 317 In order to release the brake, connect the 24 Connect to connector R2.MP6 VDC power supply. • + : pin 2 • -: pin 5 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 318 Connect in accordance with markings on connectors. Refit the connections to the UL lamp, if the ro- bot is equipped with one. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 319 Refit the cover, motor axis 6 with its attachment screws and washers. Note Make sure the cover is tightly sealed! xx1000001106 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 320 General calibration information is in- cluded in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 321 For spare part no. see: Includes: • Spare parts on • gearbox page 401. • all o-rings and sealing rings O-ring 3HAB3772-54 Replace if damaged! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 322 If no previous reference values exist, and 4600. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 323 Replacing the base, including axis 1 gearbox on page 187. Unfasten the robot base from the foundation by removing the base attachment screws. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 324 Make sure the base remains in a stable position before performing any work under- neath the base! xx1000000364 A Support base (4 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 325 It may be necessary to also remove the rear connector plate. xx1000001385 xx0300000612 A Bottom plate B Rear connector plate C Attachment screw D Groove Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 326 The gearbox weighs 200 kg. All lifting accessories used must be sized accordingly! Lift the gearbox away with the already mounted lifting tools. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 327 Mounting of the support, base and gear 1 is detailed in section Removal, gear- box axis 1 on page 323. xx1000000364 A Support base (4 pcs) Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 328 Lubricate them with grease. xx1000001390 Make sure the small o-ring around the oil hole is fitted properly! xx1000001392 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 329 321. CAUTION The gearbox weighs 200 kg. All lifting accessories used must be sized ac- cordingly! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 330 Lift gearbox axis 1 onto the guide pins and Always use guide pins in pairs! lower it carefully to its mounting position. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 331 Screw joints on page 393 before fit- ting. xx1000001394 Refit the cable guide in the center of gearbox 1 with its attachment screws. xx1000001393 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 332 General calibration information is in- cluded in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 333 2 pcs, must have full thread. Use to press the gearbox free from the frame. Guide pins M12 Use guide pins in pairs. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 334 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 335 Put two loading pallets on the foot of the robot and run axis 3 so that the balancing weight is put onto the pallets. Run axis 2 to 0°. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 336 The length of the cylinder is now locked and the balancing device is unloaded. It should now be possible to easily rotate the balancing device. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 337 Remove all remaining attachment screws that secure the gearbox to the lower arm system. Axis 2: M16 and M12. Axis 3: M12. xx1000001405 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 338 Be aware of this and re- move the gearbox carefully! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 339 Remove the sealing from the lower arm and clean it. Note The sealing can hang onto the gearbox, sticking to the oil. xx1000001403 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 340 Fit the lifting accessory to the gearbox and Specified in Required equipment on lift it with an overhead crane. page 333. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 341 Note Do not apply grease closer than 20 mm from the edge of the holes in the sealing. xx1400000993 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 342 M12 screws. • Tightening torque: 120 Nm. Secure the gearbox to the frame. M12, quality 8.8-A2F Tightening torque: 120 Nm. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 343 Refit the motors axes 2-3. Replacing motors, axes 2 and 3 on page 302 Perform a leakdown test. Performing a leak-down test on page 154. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 344 General calibration information is included in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 345 Grease 3HAC042536-001 Shell Gadus S2 Used to lubricate the o-ring Guide pins Always use guide pins in pairs! Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 346 Jog the robot to a position where the tilt- house unit is placed in an appropriate ser- vice position. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 347 Remove the calibration plate axis 6. xx1000001410 Remove the gearbox by unscrewing the at- tachment screws and washers that secure xx1000001411 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 348 A: M8 holes for pressing out the gearbox Remove gearbox axis 6 carefully without damaging pinion or gear. xx1000001412 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 349 Required equipment on ted to the gearbox. If the o-ring is damaged, page 345. replace! Lubricate the o-ring with grease. xx1000001414 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 350 Make sure the gears of the gearbox mate with the pinion of the axis 6 motor. CAUTION Do not damage pinion or gears in the pro- cess! xx1000001412 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 351 Refill the gearbox with oil. See section • Changing oil, gearbox axis 6 on page 142 Refit the calibration plate. xx1000001410 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 352 General calibration information is included in section Calibration on page 353. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 353 Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 354 Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant. If no data is found related to standard calibration, contact the local ABB Service. Brief description of calibration methods Calibration Pendulum method Calibration Pendulum is a standard calibration method for calibration of many of ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Page 355 The calibration equipment for Calibration Pendulum is delivered as a complete toolkit, including the Operating manual - Calibration Pendulum, which describes the method and the different routines further. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 356 The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. The resolver values will change when parts affecting the calibration position are replaced on the robot, for example motors or parts of the transmission.
Page 357 Synchronization plate, axis 1 Synchronization tab on robot Synchronization mark, axis 2 Synchronization mark, axis 3 Synchronization plate and mark, axis 6 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 358 One of the marks is more narrow than the other and should be positioned within the limits of the wider mark. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 359 Manual movement directions, 4 axes Note! The graphic shows an IRB 260. The positive direction is the same for all 4-axis robots xx0500001927 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 360 (try both directions, if needed). Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 361 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 362 Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Tap Manual Method (Advanced). xx1500000944 A screen is displayed, tap Rev. Counters. en0400000771 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 363 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 379. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 364 FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
Page 365 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 366 Make sure that the user rights admit to change the safety settings and to synchronize SafeMove. For robots with EPS, the same applies as for SafeMove. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 367 There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
Page 368 It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
Page 369 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 370 Replace damaged parts with new. Spare part Article number Note Protection cover and plug set 3HAC056806-001 Contains replacement calibration pin covers and protective plugs for the bushing. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 371 WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
Page 372 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 373 Replace the cover with new spare part, if missing or damaged. xx1600002102 Protection cover and plug set: 3HAC056806-001. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 374 Ensure that the sealing is not damaged. Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: 3HAC056806-001. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 375 (step 5, see Brief introduction to Reference Calibration on page 375). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 376 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 377 Where to find information for Calibration Pendulum Detailed instructions of how to perform Pendulum Calibration are given in the documentation enclosed with the calibration tools. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 378 Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 379 If they do not, up- ization position for axes on page 357 date the revolution counters. Updating revolution counters on page 360. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
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Page 381 See also Environmental information on page 382. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 382 6.2 Environmental information 6.2 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 383 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 384 • A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 385 The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 386 Cut a hole in the housing as shown in the Use a cutting torch with a long shaft. figure. xx1100000098 * Minimum measure, in millimeters. ** Maximum measure, in millimeters. Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 387 Double-check the number of coils cut and make sure all the tension in the springs is removed. Cut more coils if there is still tension in the springs. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
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Page 389 7.1 Introduction 7 Reference information 7.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 390 Robots and robotic devices -- Coordinate systems and motion nomenclatures IEC 61000-6-2 Electromagnetic compatibility (EMC) – Part 6-2: Generic standards – Immunity standard for industrial environments Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 391 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 392 1 kg 2.21 lb. Weight 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 - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 393 7.4 Screw joints 7.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 394 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 395 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 396 All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
Page 397 Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Slide caliper Width=400 mm Feeler gage, 0.4 mm Bearing puller, three legs Level Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 398 Lifting accessory, complete robot 3HAC15607-1 Lifting accessory, parallel arm 3HAC038377-002 Lifting accessory, motors ax 2-3 3HAC14586-1 Lifting lugs M16 2 pcs Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 399 Lubrication tool, spherical roller bearing 3HAC039296-001 Lubrication tool, conical roller bearing 3HAC039571-002 Pinion crank RV 450E 3HAC023132-001 Bits extension 3HAC023760-001 Support base 3HAC15535-1 Lock screw M16x55 Guide sleeves 3HAC14446-1 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 400 The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 401 Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRB 760 3HAC039838-001 Revision: W...
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Page 403 Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Circuit diagram - IRB 6640 3HAC025744-001 Circuit diagram - IRB 6650S 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 404 Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 14000 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 405 1, 135 calibration manuals, 355 oil change axis 2, 138 calibration marks, 357 oil change axis 3, 138 Calibration Pendulum oil change axis 6, 142 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 406 234 balancing device piston rod, 148 xx, 99 lubrication report replacements, 153 amount in gearboxes, 134 requirements on foundation, 44 type of lubrication, 134 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 407 398 speed adjusting, 95 stability, 49 replacing, 99 standards, 390 ANSI, 390 CAN, 390 zero position EN IEC, 390 checking, 379 EN ISO, 390 Product manual - IRB 760 3HAC039838-001 Revision: W © Copyright 2011-2022 ABB. All rights reserved.
Page 410 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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Irb 760