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ABB IRT 710 OmniCore Product Manual
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ABB IRT 710 OmniCore Product Manual

ABB IRT 710 OmniCore Product Manual

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IRT 710 OmniCore

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Summary of Contents for ABB IRT 710 OmniCore

  • Page 1 ROBOTICS Product manual IRT 710 OmniCore...
  • Page 2 Trace back information: Workspace Systems version a55 Checked in 2025-03-28 Skribenta version 5.6.018...
  • Page 3 Product manual IRT 710 OmniCore OmniCore Document ID: 3HKA00000213430-001 Revision: C © Copyright 2024 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: Table Of Contents

    Acceptance inspection ................3.3.3 Storage ....................3.3.3.1 Storing the cable chain ..............On-site installation .................... 3.4.1 Track motion IRT 710 OmniCore overview ........... 3.4.2 Track motion IRT 710 OmniCore layout ............3.4.3 Required installation space ............... Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...
  • Page 6 Table of contents 3.4.4 Lifting with lifting accessories ..............3.4.4.1 Lifting and moving track motion IRT 710 OmniCore ......3.4.5 Foundation .................... 3.4.6 Screw joints ................... 3.4.7 Moving the carriage manually ..............3.4.8 Assembling the track motion IRT 710 OmniCore ...........
  • Page 7 Scrapping of robot ..................... Reference information Introduction ...................... Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 8 Table of contents Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................10 Circuit diagrams Index Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 9: Overview Of This Manual

    The robot described in this manual has the following protection types: • Standard Product manual scope The manual covers all variants and designs of the IRT 710 OmniCore. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
  • Page 10 Overview of this manual Continued Prerequisites A maintenance/repair/installation craftsman working with an ABB robot shall: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. • be trained to respond to emergencies or abnormal situations. References Documentation referred to in the manual, is listed in the table below.
  • Page 11 350. • Updated the procedure in Software installation on page 196. • Updated the information in Cabling of the IRT 710 OmniCore on page 167. • Minor corrections. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 12: Product Documentation

    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 13 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 14: How To Read The Product Manual

    Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 15: Safety

    Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the IRT 710 OmniCore (hereinafter, the Product) will not cause injury or damage even if all safety instructions are complied with.
  • Page 16 Unauthorized modifications of the originally delivered product/system are prohibited. Without the consent of ABB it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength could be affected.

  • Page 17: Requirements On Personnel

    The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 18: Safeguarded Space

    If the recalculated value ≤ 500mm, then S should be set as 500 mm. Note The used light curtain should follow type 4 from IEC61496 standards. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 19 If the recalculated value ≤ 500mm, then S should be set as 500 mm. Note The interlock device should follow the dual channel requirements. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 20 200 mm. Note The height of the fence should be at least or higher than 2200 mm. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 21 1.1.3 Safeguarded space Continued Note The height of the opening between the ground and the bottom of the fence should no exceed 180 mm. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 22: Safety Actions

    1 Safety 1.2.1 Personal protective equipment 1.2 Safety actions 1.2.1 Personal protective equipment Note Always wear non-slip safety shoes for any commissioning/maintenance/repair procedure. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 23: Fire Extinguishing

    1.2.2 Fire extinguishing 1.2.2 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the Product or controller. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 24: Emergency Release

    When releasing the holding brakes, the Product parts may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the Product. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 25: Make Sure That The Main Power Has Been Switched Off

    To avoid these personal injuries, switch off the main power on the controller before proceeding work. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 26: Safety Risks

    Corrective maintenance must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 27 Product and as a result of that affect the active or passive safety operation. ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the Product.

  • Page 28: Moving Equipment Is Potentially Lethal

    The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the Product before pressing the start button. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 29: First Test Run May Cause Injury Or Damage

    Collision risks CAUTION When programming the movements of the Product, always identify potential collision risks before the first test run. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 30: Work Inside The Working Range Of The Product

    Product will move unexpectedly when its parts are moved using the three-position enabling device or during other work inside the working range of the Product. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 31: Enabling Device And Hold-To-Run Functionality

    The hold-to-run function can only be used in manual mode. How to operate the hold-to-run function is described in Operating manual - OmniCore. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 32: Risks Associated With Live Electric Parts

    Tools, material handling devices, etc., may be live even if the Product system is in the OFF position. Power supply cables which are in motion during the working process may be damaged. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 33: Hot Parts May Cause Burns

    Wait until the potentially hot component has cooled if it is to be removed or handled in any other way. Do not put anything on hot metal surfaces, e.g. paper or plastic. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 34: Brake Testing

    For Products with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 35: Safety Risks During Handling Of Batteries

    Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 36: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)

    Possible pressure build-up in gearbox Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 37 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 38: Safety Signals And Symbols

    Signal word used to indicate important facts and conditions. Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 39: Safety Symbols On Product Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 40 Brake release Pressing this button will release the brakes. This means that the parts of the Product can fall down. xx0900000808 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 41 Crush Risk of crush injuries. xx0900000817 Heat Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 42 Lifting bolt xx0900000821 Chain sling with shortener xx1000001242 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 43 Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 44 Must wear safety helmet xx1800002608 Must wear non-slip safety shoes xx2200001149 No entering Warns that entering the working areas can cause injuries or damages. xx1800002609 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 45: Product Stopping Functions

    After emergency stop triggered Check the rectangular rail where the robot stopped for: • no "step" while passing the rectangular rail junction; xx2200001185 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 46 1 Safety 1.5 Product stopping functions Continued • no gap between the rectangular rail and section. xx2200001192 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 47: Safety During Installation And Commissioning

    Lock and tag shall be considered. Harnesses between controller and manipulator shall be fixed and protected to avoid tripping and wear. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 48 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 49: Safety During Operation

    Unexpected movement of product WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 50 The robot should avoid the arm to be totally straightened horizontally or vertically during high-speed movement. This may lead to unexpected hazards. xx2200001196 xx2200001197 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 51: Safety During Maintenance And Repair

    90 °C. Hot oil or grease Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 52 Operating temperatures are listed in Operating conditions on page See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 53 Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Related information See also the safety information related to installation and operation. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 54: Emergency Release Of The Product Axes

    When releasing the holding brakes, the Product axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 55: Safety During Troubleshooting

    The product 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 product and robot system specific hazards.

  • Page 56: Safety During Decommissioning

    Decommissioning on page 395. Unexpected movement of product WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 57: Technical Data

    Value of N is equal to the number of sections. Valid if the length is N + 0.5 m Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 58 The value for levelness aims at the circum- ection) stance of the anchoring points in the robot base. Overall height differ- ence ≤ 10 mm Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 59 2.1 Technical data Continued Mechanical stops There are no adjustable mechanical stops on the IRT 710 OmniCore. This needs to be considered while doing a risk assessment of the complete installation, the track can however be order in different lengths.
  • Page 60 CP/CS harness, welding cables, media pipes and etc. There are three types carriages used in IRT 710 OmniCore. For more information, IRT 710 OmniCore carriage overview on page The following table takes the large robot carriage weight into count.
  • Page 61 9287 Note The weight does not include additional options, tools and other equipment fitted on the robot. Transfer load The following table shows the maximum transfer load of IRT 710 OmniCore. Load IRT 710 OmniCore Max. Transfer Load 4,000 kg...
  • Page 62 Robot Within specification for respective robot. The track power consumption is measured on the condition of IRT 710 OmniCore with a largest supported robot, that is, IRB 7720-620/2.90. The actual power consumption may vary according to the actual installed robot and site conditions.
  • Page 63 A power consumption measurement of a track motion with manipulator could be done with a simulated cycle in RobotStu- dio. See Operating manual - RobotStudio. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 64: Working Range

    Mirrored -309 4197 4506 Standard> -309 4697 5006 Standard> -309 5197 5506 Mirrored -309 5197 5506 Standard> -309 5697 6006 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 65 -309 16197 16506 Mirrored -309 16197 16506 18.5 Standard> -309 16697 17006 Standard> -309 17197 17506 Mirrored -309 17197 17506 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 66 2236 Standard -309 1927 Mirrored -309 1927 2236 Mirrored -2039 Mirrored -309 1927 2236 Standard -309 2427 Standard -2039 2736 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 67 10736 Standard -309 10927 Standard -11039 11236 Standard -309 10927 Mirrored -309 10927 11236 Mirrored -11039 Mirrored -309 10927 11236 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 68 17927 Standard -18039 18236 Standard -309 17927 Mirrored -309 17927 18236 Mirrored -18039 Mirrored -309 17927 18236 21.5 Standard -309 18427 Standard -18039 18736 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 69: Information Labels

    ABB Logo Rating Label Lifting Label NO SHOCK Warning Label Instruction Plate Electric shock Warning Label High Temperature Warning Label WEEE label Supported Manipulator Label Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 70: Irt 710 Omnicore Terms

    The Motor Connection Box is a control box which includes the SMB for the IRT 710 OmniCore axis as well as the resolver po- sition backup battery. Rectangular rail Is the lubricated rail (steel beam) on which the cam roller unit slides.

  • Page 71: Installation And Commissioning

    Safety on page 15 before performing any installation work. Note Always connect the IRT 710 OmniCore and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...

  • Page 72: Overview Of Installation And Commissioning Procedure

    Electrical installation. Electrical installation on page 167. Software installation. Software installation on page 196 Update the revolution counters. Updating revolution counters on page 377. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 73: Unpacking

    Clean the unit with a lint-free cloth, if necessary. Note Do not clean any of the pre lubricated parts of the track motion IRT 710 OmniCore. Make sure that the lifting accessory used (if required) is suitable to handle the weight...
  • Page 74 3.3.1 Pre-installation procedure Continued Number of sections on pallets If the complete track motion IRT 710 OmniCore consists of more than 6 sections, the delivery is divided on several pallets. The table below specifies the number of sections on each pallet.

  • Page 75: Identification Plate

    Check the Supported manipulator label on the carriage and compare it to the delivery note. For example, this is supported manipulator label is on the carriage for IRB 7710. xx2400002212 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 76: Storage

    The chain can either be folded so that the chain is lying on itself or laid on its side. xx1300000884 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 77 For complete chains with or without strapping in place or strapping in place and the strapping plate not connected to the chain, the chain can be rolled up and stored lying on its side xx1300000885 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 78: On-Site Installation

    Check the supported manipulator label on the carriage before any installation/maintenance/repair work. For example, this label is on the carriage for IRB 7710. xx2400002212 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 79: Track Motion Irt 710 Omnicore Overview

    3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview 3.4.1 Track motion IRT 710 OmniCore overview IRT 710 OmniCore overview xx2200000409 Section Carriage Rectangular Rail Internal cable chain Cover bracket Track cover Terminal cover External cable chain cover...
  • Page 80 3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview Continued IRT 710 OmniCore carriage overview xx2400000790 Motor Reducer Scraper unit Cable drawer 110 mm Cam roller holder unit 90 mm Cam roller holder unit SIDE 90 mm Cam roller holder unit...
  • Page 81 3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview Continued Large robot carriage mounting plate , IRB 460/IRB 660/IRB 760/IRB 5710/IRB 5720/IRB 6650S/IRB 6700/IRB 6710/IRB 6720/IRB 6730/IRB 6740/IRB 7600/IRB 7710/IRB 7720 The large robot carriage mounting plate is used for IRB 460/IRB 660/IRB 760/IRB 5710/IRB 5720/IRB 6650S/IRB 6700/IRB 6710/IRB 6720/IRB 6730/IRB 6740/IRB 7600/IRB 7710/IRB 7720.
  • Page 82 3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview Continued Note When installing the IRB 7600/IRB 7710/IRB 7720 onto IRT 710 without pedestal, the torque for bolt through the location ring hole is 550 Nm. For the other bolts torque, see IRB 7600/IRB 7710/IRB 7720 product manual.
  • Page 83 3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview Continued 45° per step xx2200000608 Transfer carriage mounting plate Use the hole configuration when designing fixures to be used on the transfer carriage. The figure below shows the dimensions in mm.
  • Page 84 3 Installation and commissioning 3.4.1 Track motion IRT 710 OmniCore overview Continued Easily damaged parts on the track motion Do not step on the locations marked in the figure since they are easily damaged. xx2200000644 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...

  • Page 85: Track Motion Irt 710 Omnicore Layout

    3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout 3.4.2 Track motion IRT 710 OmniCore layout The arrow in the illustration refers to the rack side. One carriage xx2200000610 Two carriages xx2200000611 Direction of travel Standard mounting xx2200001151...
  • Page 86 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored mounting xx2200001152 Base frame configuration, robot on track Standard carriage, Robot in line 0° In World positive travel direction, x Positive track transmission (JOINT track1) xx2400001328 ROBOT (Robot)
  • Page 87 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued ROBOT (Robot) Value SINGLE (Track) Base Frame q2 Base Frame q2 Base Frame q3 Base Frame q3 Base Frame q4 Base Frame q4 Gamma Rotation Standard carriage, Robot in line 45°...
  • Page 88 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Standard carriage, Robot in line 90° In World positive travel direction, x Positive track transmission (JOINT track1) xx2400001330 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.707107 Base Frame q1...
  • Page 89 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Standard carriage, Robot in line 135° In World positive travel direction, x Positive track transmission (JOINT track1) xx2400001331 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.38268 Base Frame q1...
  • Page 90 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued ROBOT (Robot) Value SINGLE (Track) Base Frame q1 Base Frame q1 Base Frame q2 Base Frame q2 Base Frame q3 Base Frame q3 Base Frame q4 Base Frame q4 Gamma Rotation 3.14159...
  • Page 91 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Standard carriage, Robot in line 270° In World positive travel direction, x Positive track transmission (JOINT track1) xx2400001334 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.707107 Base Frame q1...
  • Page 92 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Standard carriage, Robot in line 315° In World positive travel direction, x Positive track transmission (JOINT track1) xx2400001335 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.92388 Base Frame q1...
  • Page 93 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 0° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001336 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 Base Frame q1...
  • Page 94 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 45° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001337 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.92388 Base Frame q1...
  • Page 95 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 90° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001338 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.707107 Base Frame q1...
  • Page 96 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 135° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001339 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.38268 Base Frame q1...
  • Page 97 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 180° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001340 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 Base Frame q1...
  • Page 98 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 225° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001341 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.38268 Base Frame q1...
  • Page 99 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 270° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001342 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.707107 Base Frame q1...
  • Page 100 3 Installation and commissioning 3.4.2 Track motion IRT 710 OmniCore layout Continued Mirrored carriage, Robot in line 315° In World positive travel direction, x Negative track transmission (JOINT track1) xx2400001343 ROBOT (Robot) Value SINGLE (Track) Base Frame q1 0.92388 Base Frame q1...

  • Page 101: Required Installation Space

    In line with the track, 0° or 180° When the robot is installed in line with the track, the clean space is as the following illustration. xx2400000483 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 102 When the robot is installed on the track between 0° to 180°, the clean space is as the following illustration. xx2400000484 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 103 Standard 225° , 270°,, 315°4 or Mirrored 45° , 90°,, 135° When the robot is installed on the track between 180° to 360°, the clean space is as the following illustration. xx2400000485 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 104: Lifting With Lifting Accessories

    Read through the safety instructions carefully, before the track motion IRT 710 OmniCore is unpacked and installed. WARNING Never lift the track motion IRT 710 OmniCore in sections longer than 6.5 meters. To prevent damage only use the lifting position according to the tables in Lifting...
  • Page 105 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued Lifting position The illustration shows the lifting position on the track motion IRT 710 OmniCore where the lifting straps should be placed. Car- Length Carriage and lifting position...
  • Page 106 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued Car- Length Carriage and lifting position riage xx2200000652 xx2200000653 xx2200000654 xx2200000655 xx2200000656 xx2200000657 xx2200000658 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C...
  • Page 107 Length Carriage and lifting position riage xx2200000659 Lifting using fork lift Proceed as follows to lift the track motion IRT 710 OmniCore using the fork lift. xx2200000789 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C...
  • Page 108 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued Lifting using an overhead crane Proceed as follows to lift the track motion IRT 710 OmniCore using an overhead crane. xx2200000790 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...
  • Page 109 Continued Moving the track motion using roller dollies Lift the IRT 710 OmniCore according to lifting instructions, and place roller dollies under the stand’s ground plates. Depending on the lenght of the track motion, the number of roller dollies varies. See table for information.
  • Page 110 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued The type of roller dolly and the placement of the two types is shown in the following illustration and table. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...
  • Page 111 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 112 OmniCore. The position of the identification plates are described in Identification plate on page The weight of the IRT 710 OmniCore depends on its type, length, and number of carriages. The total weight can be determined with the following formulas: Weight, robot on page 59...
  • Page 113 3 Installation and commissioning 3.4.4.1 Lifting and moving track motion IRT 710 OmniCore Continued Action Note Remove the bundled packing tape (if the product is fastened). Raise the overhead crane to lift the product. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...

  • Page 114: Foundation

    The concrete compressive strength can be tested according to the European norm EN 206-1. When IRT 710 OmniCore is mounted on the steel platform, M16 class 12.9 screws are required. Depth of thread must be min. 30 mm. Inclination and flatness The levelling of the track is done by screwing / unscrewing the M60 screws.
  • Page 115 If doing fatigue calculations with combined tension (Fz) and shear loads (Fxy), the shear loads (Fxy) are allowed to be reduced with a factor 0.7. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 116 This is not a standard option in list, any request can reach the sales office for help. The following images show the two types base plate of the IRT 710 OmniCore. For general condition 1 This type base plate is used for better floor quality with lower cost.
  • Page 117 For general condition 2 This type base plate is used for worse floor quality but easier for adjustment onsite. xx2200001200 PLATE 1100x220x25 xx2200001283 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 118 With floor plate √ Robot capabilities The following table shows the robot capabilities of the IRT 710 OmniCore. Standard pedestals are generally allowed between the robot but their height is limited and dependent on the type of robot. Continues on next page...
  • Page 119 3 Installation and commissioning 3.4.5 Foundation Continued For more information, see Weight, pedestal on page 3HKA00000190345 xx2200000661 3HKA00000190346 xx2200000663 3HKA00000264042 xx2500000108 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 120 3 Installation and commissioning 3.4.5 Foundation Continued 3HKA00000190348 xx2200000662 3HKA00000190349 xx2200000664 3HKA00000190350 xx2200000665 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 121 3 Installation and commissioning 3.4.5 Foundation Continued 3HKA00000264038 xx2500000109 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 122: Screw Joints

    Screw class Class 12.9 screw is recommended by ABB for certain screw joints. These screws are high grade quality and extremely resistant to fatigue. Whenever used, this is specified in the instructions, and in such cases, no other type of replacement screw...

  • Page 123: Moving The Carriage Manually

    Cables connections on page 188. Start up the controller as described in Connectors on OmniCore controller on page 181 on page. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 124 With Power static harness xx2400000592 Push the carriage by hand to the desired location. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 125 Unplug the Motor power cable from the MCB/Power static harness that runs to the IRT 710 OmniCore motor. Using pins, connect the +24VCC to the A pin (see figure). Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 126 Painting: Half black color. Except the mounting surface. Note Mating connectors are not offered. WARNING The motor breaks on the IRT 710 OmniCore are phase dependent. Fault connection can cause damage to vital parts. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C...

  • Page 127: Assembling The Track Motion Irt 710 Omnicore

    The track needs to be combined on site well before alignment and levelling. The IRT 710 OmniCore should be assembled as set out in the procedure below. Detailed descriptions of each stage can be found in the following sections.
  • Page 128 Rack clamp 3HAW107700357 xx2200001171 Rack mounting block 3HAWL000011 xx2200001170 Calibration pin 3HKA00000190563 xx2200000667 Calibration tool 12 mm 3HAC055412-001 xx2200001173 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 129 M16x35 drawing on page 130. xx2400000729 Assisted tool set 3HKA00000216893 For the drawing, see Assisted tool 3HKA00000216894 set drawing on page 131. xx2400001324 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 130 Axis Y adjusting tool drawing 2-R5 2-M16 THRU 2-MAX R5 2- 18.5 THRU 4-R5 xx2400000490 Tooling bolt M16x35 drawing xx2400000489 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 131 3 Installation and commissioning 3.4.8.1 Assembling the sections Continued Assisted tool set drawing 3HKA00000216893 22 THRU R8.5 THRU M16 THRU 2 SIDES xx2400001321 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 132 3.4.8.1 Assembling the sections Continued 3HKA00000216894 22 THRU M16 THRU 2 SIDES xx2400001322 Hardening, HRC48 + 4, H >= 0.5 mm Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 133 Description Alignment calibrating panel on the track The side plane of the rectangular rail on the rack side xx2400000878 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 134 4 sections without terminal section xx2400001011 5 sections with terminal section xx2400001012 5 sections without terminal section xx2400001013 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 135: Assembling Procedure

    The following table describes all necessary steps to achieve a correct assembly of the IRT 710 OmniCore track: Action Note/Illustration Markup on a clean floor for the IRT 710 OmniCore. Markup also the position of each section. Place the floor plate large plate (A) according field marking.
  • Page 136 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 137 Tighten the rail pressing tool to push the rail to the section tightly. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 138 Remove the rail pressing tool. Repeat the steps to install the same side of the rail on the non-rack side. xx2400000887 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 139 Screws: ISO 4762 M20x45 Class Washers: BN 792 M20 Washer Tightening torque: 150 Nm Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 140 The center of gravity should be at the center of the two lifting positions. Ensure that there is a gap between the racks be- fore the adjusting. xx2400000915 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 141 Secure the rail on the rack side with the remained mounting bolts. xx2400000917 Tightening torque for M12 rails: 128 Nm ±3% Tightening torque for M16 rails: 310 Nm ±3% Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 142 Remove the shims and rail pressing tools. Make marks on the bolts. Remove the assisted tool. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 143 Do the geometric alignment of the IRT 710 Omni- Core as described in Geometric alignment of track motion IRT 710 OmniCore on page 150. Release the carriage brake and push the carriage manually to check the rails alignment: if the rails are correctly aligned, you should sense no “step”...
  • Page 144 Once again, release the carriage brake and push the carriage manually along the length of its stroke. Check that there is no interference between the covers and the carriage. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 145: Recommendations For Floor Mounting

    Are able to bear the combined dynamic loads that can occur when the manipulator and carriage move. • Fit in the holes in the stand, Ø 18.5 mm. Section view of the IRT 710 OmniCore anchor xx2200001274 Anchor length 190 mm is recommended. Continues on next page...
  • Page 146 Securing a section Action Note/Illustration Position the sections on the floor. xx2200000669 Adjust the horizontality of the IRT 710 OmniCore with the M60 levelling screw. Check that all the levelling screws are touching the floor. Tighten the M60 nuts. Continues on next page...
  • Page 147 3.4.8.2 Recommendations for floor mounting Continued Installation of chemical anchors Please respect the following procedure for chemical anchors installation. No mechanical anchors allowed. Chemical anchors used in IRT 710 OmniCore is HILTI M16x125 anchors. Action Note Drill the hole with rotary hammer and set the depth gauge to the correct drilling depth.
  • Page 148 The screwed-on setting tool may be removed only after the time 't ' has elapsed. xx1700001673 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 149 It is of the utmost importance that all screw joints be tightened with the correct torque. Failure to do so may result in damage to the equipment or personal. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 150: Geometric Alignment Of Track Motion Irt 710 Omnicore

    3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Instruction The geometric alignment of the IRT 710 OmniCore should be done based on the position of the linear rails. This section details how to adjust the IRT 710 OmniCore using a laser tracker. Tool list...
  • Page 151 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Track alignment in Z and Y Note The origin of coordinates is located in the manipulator’s base zero. Alignment in Z direction The figure shows the possible variation along the Z-axis.

  • Page 152: For Example

    3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued For example: The reference feet between the selected one should be 1 or 2 xx2400001025 Recommended alignment reference feet The following is the recommended reference feet and measurement position for rough alignment.
  • Page 153 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued 13 sections 14 sections 15 sections 16 sections 17 sections xx2400001018 18 sections 19 sections 20 sections 21 sections xx2400001019 Procedure Action Note/Illustration Place the absolute tracker at a position where could be able to measure the reflector position on the linear rails.
  • Page 154 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Action Note/Illustration Do the rough alignment on the alignment refer- ence feet. Measure the level of the IRT 710 OmniCore linear rails at different locations of the IRT 710 Omni- Core.
  • Page 155 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Action Note/Illustration The axis Y adjusting tool (3HKA00000192738 which working with three M16 x 55 screws) are used in adjusting the linear rails on linear move- ment direction.
  • Page 156 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Action Note/Illustration Use the ABB levelling tool 3HAW107700360 to It is recommended to use one of adjust the levelling screws until all the measured the highest points of the IRT 710...
  • Page 157 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Action Note/Illustration Rotate the levelling screw (non-reference feet) to make levelling screw a little separated to small plate. For more information on the alignment reference feet, see...
  • Page 158 3 Installation and commissioning 3.4.8.3 Geometric alignment of track motion IRT 710 OmniCore Continued Action Note/Illustration Tighten the DIN 912 M16x45 mm Class12.9 bolts which in levelling screws. (Tightening torque: 150 Nm) Check the rails alignment according to Track alignment in Z and Y on page 151.

  • Page 159: Assembling The Pedestal (Option)

    Lift the pedestal to the mounting position using Weight is specified in Weight, ped- lifting slings. estal on page Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 160 If an IRB 4400/IRB 4600/IRB 6650S/IRB 7600/IRB 7710/IRB 7720/IRB 760 need be turned 90° in any direction, the pedestal must also be rotated in the same direction. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 161: Assembly Of The Manipulator

    3.4.10 Assembly of the manipulator Overview When the IRT 710 OmniCore is carrying an IRB robot it behaves like an integrated 7th axis. The robot should be ordered with an additional drive unit (907-1) for the IRT 710 OmniCore motor, and optionally a resolver connection for 7th axis on the robot base (864-1).
  • Page 162 Cable brackets on the carriage - Without external cable chain In line with Standard the track, 180° Standard Mirrored 0° 0° Mirrored 180° xx2400000961 xx2400000895 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 163 180° Standard Mirrored 0° 0° Mirrored 180° xx2400000963 xx2400000897 Standard Standard 90° 270° Mirrored Mirrored 270° 90° xx2400000896 xx2400000964 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 164 The bracket left and bracket right are installed on the carriage. The straight cable bracket is installed on the external cable chain bracket. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 165 6, No indication for fillet smaller than R=0.3mm; 7, General Tolerance according below table; 8, Remove sharp angle. xx2400000867 Figure 3.2: Cable bracket right Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 166 6, No indication for fillet smaller than R=0.3mm; 7, General Tolerance according below table; 8, Remove sharp angle. xx2400000869 Figure 3.4: Straight cable bracket Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 167: Electrical Installation

    3.5.1 Cabling of the IRT 710 OmniCore Description The IRT 710 OmniCore has an internal cable chain which carries flexible movement cables. The IRT 710 OmniCore motor can be controlled through a MCB, external SMB box, or through the integrated SMB card of a manipulator.

  • Page 168: Transfer Carriage

    3 Installation and commissioning 3.5.1 Cabling of the IRT 710 OmniCore Continued Track with IRB 4400 and IRB 460 R1.SMB R1.MP V250XT/V400XT MCB 3ax J1.R1.MP J1.SMB R1.MP R1.SMB R1.SMB X7/X8 xx2400000595 Track with spot welding R1.SMB R1.MP R2.SP MCB 3ax J1.R1.MP...
  • Page 169 Spare parts on page 413. Robot cables If the IRT 710 OmniCore is ordered prepared for a manipulator, the cable chain should contain the suitable flexible movement cables for the robot. Robot floor cables should be ordered with the robot.

  • Page 170: Specifications Of The Movement Cables

    3.5.2 Specifications of the movement cables Movement cables diameter and weight The internal cable chain usually contains the IRT 710 OmniCore motor power and resolver cables. When additional cables are used, it is important to ensure that they can all fit in. In particular, if a number n of cables are used, you must make sure that: •...

  • Page 171: Installation Of The Cable Chain

    3.5.3 Installation of the cable chain WARNING The IRT 710 OmniCore cable chain is delivered assembled in the IRT 710 OmniCore. If the cable chain and/or its content must be modified upon installation, make sure that the following recommendations are strictly followed. Improper installation of the cable chain will result in premature wear or damages of the chain and the flexible cables.
  • Page 172 The cables should be firmly attached on the tie- wrap plate at the end of the cable chain on the carriage side. xx2200000877 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 173 Action Note/Illustration The cable chain should be perfectly aligned with the IRT 710 OmniCore chain tray. In order to achieve a correct alignment, it is recommended to fix both ends of the chain when the carriage is at the end of its stroke, and the chain is entirely unrolled in the duct.
  • Page 174 If not, adjust the orientation of the fixed point of the chain as described in step5. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 175: Mcb

    3.5.4 MCB Description The IRT 710 OmniCore motor is controlled by controller through an ABB Serial Measurement Board. For IRT 710 OmniCore used to move a manipulator, it is possible to connect the motor resolver to FB7 on the manipulator or MCB.
  • Page 176 3 Installation and commissioning 3.5.4 MCB Continued 6-axis MCB (Only valid for transfer application) xx2500000364 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 177: Installing The Motor Connection Box

    If third party motors are to be connected, install a quenching circuit. For 3 axis MCB, connect the motor cable to the motor connection box. xx2500000366 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 178 For 3 axis MCB, connect to SMB -X92 connector X3 xx2500000206 • For 6 axis MCB, connect to SMB connector X2 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 179 Connect the SMB cable to the motor connection box. xx2500000434 xx2300001747 Connect motor cables and resolver cables to the auxiliary equipment motor. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 180 3 Installation and commissioning 3.5.5 Installing the motor connection box Continued Action Note/Illustration Connect motor cables and resolver cables to the motor connection box. xx2500000435 xx2300001850 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 181: Connectors On Omnicore Controller

    3.5.6 Connectors on OmniCore controller 3.5.6 Connectors on OmniCore controller General The following section describes the connectors on the IRT 710 OmniCore controller. CAUTION Always inspect the connector for dirt or damage before connecting it to the controller. Clean or replace any damaged parts.
  • Page 182 Manipulator signal connector (SMB) Cable grommet assembly Incoming mains connector Ethernet outlet connector, LAN3 Ethernet outlet connector, WAN Connected Services antenna connector (3G/WiFi) Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 183 Motor connector Manipulator signal connector (SMB) Cable grommet assembly Incoming mains connector Ethernet outlet connector, LAN3 Ethernet outlet connector, WAN Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 184 Motors on lamp Ethernet outlet connector, MGMT (Management) FlexPendant connector (HMI) Motor connector Manipulator signal connector (SMB) Cable grommet assembly Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 185 Ethernet outlet connector, LAN3 Ethernet outlet connector, WAN Cable grommet for Connected Services antenna (3G/4G/WiFi) ADU (additional drive unit) connector, 1-3 ADU (additional drive unit) connector, 4-6 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 186: Grounding Point

    There are two grounding/bonding points on both sides of the carriage. The grounding/bonding point is used for potential equalizing between control cabinet, track motion and any peripheral devices. xx2200000678 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 187 Continued Grounding point for track motion stand There is also M8 grounding/bonding points for the track motion stand, located at the mechanical stop. xx2200001186 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 188: Cables Connections

    If the IRT 710 OmniCore is controlled through a robot integrated SMB card, the IRT 710 OmniCore resolver cable (3HAC039602-0xx) should be connected from the motor resolver connector to the FB7 on the robot base, the IRT 710 OmniCore power moving cable (3HAC088222-0xx) should be connected from the motor power...
  • Page 189 Power cable Signal cable The wiring diagrams are described in section Circuit diagrams on page 415. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 190: Harness Outlet

    Movement cable to robot base Fixed end of the cable chain Joint position of the movement cable and the static cable Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 191 External cable chain With external cable chain on the non-rack side of the track External cable chain Harness outlet xx2300001399 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 192 Otherwise the replacement of the harness will be very difficult due to the constriction of the space. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 193 With external cable chain on the non-rack side of the track Carriage 1 Carriage 2 Outlet 1 Outlet 2 External cable chain Harness outlet xx2300001401 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 194 With external cable chain on the non-rack side of the track Carriage 1 Carriage 2 Outlet 1 Outlet 2 External cable chain Harness outlet xx2300001402 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 195: Inspection Points Of Cable Chain Prior To Start-Up

    Tray joints arranged flush and unobstructed? Cable tray running parallel to the moving end guide? Glide bars don’t move. Screw holding glide bars at least one every two meters? Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 196: Software Installation

    Use this procedure to create and modify the system. Action Create a new Station in RobotStudio. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 197 Click Done to finish the installation of the new system. Click Start RobotWare System -> Start to restart the controller. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 198 RobotStudio. For more detailed instructions on using the Modify Installation, see Operating manual - RobotStudio. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 199: Updating The Revolution Counter On The Track Motion

    3.6.2 Updating the revolution counter on the track motion 3.6.2 Updating the revolution counter on the track motion General For more details, see Calibration on page 371. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 200: Lubrication

    The table shows the frequency of strokes and the duration of a 240 mm cartridge at different combinations. Change the rings accordingly to your requirements. The three rings are all delivered to the customer in the ABB product. 50 mm...
  • Page 201 3.7 Lubrication Continued Set of rings ® The figure shows the 3 rings disassembled from the grease pump MEMOLUB xx1600001023 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 202: Hps

    MEMOLUB. xx2200001275 The grease is pushed in the piping by the pump; a valve is sequencing the distribution to each port. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 203: Eps

    Lubrication feedback (optional) To check if the lubrication system works well, it is viable to take use of lubrication feedback system with IRT 710 OmniCore. The lubrication feedback function can be used with OmniCore controllers. The principle of Switch detection of lubrication: 1 The interval time of the lubrication system is recommended as six days when the system is activated.
  • Page 204 3 Installation and commissioning 3.7.2 EPS Continued xx2200000795 M12 Cable, 1,000 mm (Silver white) Sensor Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 205: Zone Division

    The purpose of the zone division is to divide the track into zones. Read about SafeMove in the controller manual. Document ID is specified in References on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 206 This page is intentionally left blank...

  • Page 207: Maintenance

    Note If the IRT 710 OmniCore is connected to power, always make sure that the IRT 710 OmniCore is connected to protective earth and a residual current device (RCD) before starting any maintenance work.

  • Page 208: Maintenance Schedule And Expected Component Life

    Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRT 710 OmniCore: • Calendar time: specified in months regardless of whether the system is running or not.

  • Page 209: Maintenance Schedule

    Cleaning and lubricating the Cleaning the rectangular rails rectangular rails on page 233 Measuring the levelling on page241 Measuring the levelling Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 210 Changing grease, cam roller unit unit on page 243 The battery is to be replaced at given maintenance interval or at battery low alert. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 211: Expected Component Life

    (12 meters per cycle) operat- ing 1,000 maximum load cycles a day. Gearboxes Over 20,000 hours Rack Over 10 years Rail 12 meters per cycle x 1,000,000 cycles Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 212: Inspection Activities

    Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. The figures show the location of the information labels to be inspected. The symbols...
  • Page 213 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 Required spare parts on page 212. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 214: Inspecting The Lubrication System

    See refer- references to the tools re- ences to these procedures in quired. the step-by-step instructions below. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 215 Check that the grease pack in the pump is not used up. Check that the lubrication system is work- ing normally. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 216: Inspecting The Cable Chain

    Checking the emergency stop Action Note Allow the track motion to stop. Press in the emergency stop. Try to start the track motion. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 217 If found to be loose they need to be removed, have locking liquid applied to them and then be refitted and tightened. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 218: Inspecting The Levelling Screw

    • If any loosen is detected, retighten connected to the foundation) 308 Nm (M16 bolts connected to the floor plate) Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 219 If visual wear is detected, replace with a new one. • If levelling screw is missing, install a new one and align the track mo- tion. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 220: Inspecting The Rectangular Rails

    Shell Gadus S2 V220 00 TOTAL Multis EP 0 Lubrication gun (if no automatic lubrication system). Use one of the three lubricants. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 221: Inspecting The Rectangular Rails

    Worn out or damaged rails can be caused by the robot stopping occasionally with overload in the track axis. xx2200000635 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 222: Inspecting The Cam Roller Units

    90MM Cam roller holder unit Required equipment Equipment, etc. Note Lint free cloth Lubricant Shell Gadus S3 V220C 2 Lubrication gun Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 223 • any worn glued part. Worn out or damaged roller can be caused by the robot stopping occasionally with overload in the track axis. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 224: Inspecting The Felt Wiper

    Lint free cloth Lubricant CASTROL Tribol GR 100-0 PD Lubricant Shell Gadus S2 V220 00 Lubricant TOTAL Multis EP 0 Lubrication gun Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 225 If not, check whether the lubrication system is any grease on the rails. and the felt wiper are working properly or not. If not, replace the damaged parts. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 226: Inspecting The Cables And Connectors

    Common causes of cable failure when operating in a cable chain: • Cables used are not designed for use in continuous flexing operation. • Cables are packed too tight inside the carrier cavities. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 227: Inspecting The Mechanical Stops

    Use this procedure to inspect the mechanical stops. Action Note Visually inspect the mechanical stops for damage. If the mechanical stops are damaged, re- place them. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 228: Inspecting The Gearbox, Back Lash

    Gearbox Required equipment Equipment, etc. Art. no. Note Standard toolkit Content is defined in section Standard toolkit on page 407. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 229 • If any wear on the teeth is detect, check the backlash. Check the lubrication of the gearbox. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 230: Cleaning Activities

    4.4.1 Cleaning the IRT 710 OmniCore General To secure high uptime it is important that the IRT 710 OmniCore is cleaned regularly. The frequency of cleaning depends on the environment in which the track works. Different cleaning methods are allowed depending on the type of protection of the IRT 710 OmniCore.
  • Page 231 4 Maintenance 4.4.1 Cleaning the IRT 710 OmniCore Continued • Clean the cables if they have a crusty surface, for example from dry release agents. Mechanical stops Regularly clean the contact surface of the mechanical stops. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C ©...

  • Page 232: Cleaning And Lubricating The Gear Racks

    Note Remove the rack covers. Inspect the gear racks, clean if necessary. Use lint free cloth Use a brush to lubricate the gear rack. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 233: Cleaning And Lubricating The Rectangular Rails

    Use this procedure to clean the rectangular rails. Action Note Remove the rail covers. Clean the rectangular rails with a lint free cloth. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 234 Lubricate the rectangular rails after clean- ing. WARNING The grease used causes serious eye irrita- tion and may cause an allergic skin reac- tion. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 235: Lubrication Activities

    EP (extreme pressure) additives. The base grease viscosity must be ISO VG68 to ISO VG 100. Grease doped with EP additives is absolutely necessary, due to high loads on blocks. Customers must use the following lubrication suggested by ABB or malfunction of the lubrication system may occur. Equipment Note...
  • Page 236 Checking grease level and inspect the pipes without lubrication feedback system The procedure below details how to check the grease level and inspect the pipes when the IRT 710 OmniCore is installed without lubrication feedback system. Action Note/Illustration Locate the cartridge.
  • Page 237 3 pcs standard AA batteries). • The EPS system is working normally or not. If no, replace the cartridge. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 238 Installing a new grease cartridge Respect the following instructions to replace the grease cartridge: Action Note ® Open the Memolub as described before. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 239: Automatic Lubrication System

    Place the cartridge at the inlet of the pump. Check that the cartridge is correctly inserted in the inlet of the pump. xx1800001986 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 240 It is important that you run this test cycle only if a cartridge is in place, otherwise you'll fill-in the pump with air. xx1800001988 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 241: Adjusting Activities

    If needed, follow the procedure in Geometric alignment of track motion IRT 710 OmniCore on page 150 to adjust the levelling on the track motion. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 242: Replacement/Changing Activities

    4.7.1 Replacing the grease package and battery Replacing the grease package and battery Follow the procedure in Memolub manual on page 238 to replace the grease package and battery. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 243: Replenishing Grease, Cam Roller Unit

    4.7.2 Replenishing grease, cam roller unit Location of nipples The M6 nipples of the cam roller units are located as shown in the figure. xx2200000873 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 244 • damage seals and gaskets • completely press out seals and gaskets • prevent the roller from moving freely. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 245 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 246 This page is intentionally left blank...

  • Page 247: Repair

    Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRT 710 OmniCore, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.

  • Page 248: Replacing The Carriage Parts

    Reducer Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 249 Backlash adjustment tooling 3HKA00000189964 Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Cable straps Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 250 Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the covers. xx2200000616 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 251 Place the reducer uninstall tool unit under Reducer uninstall tool the drive unit. unit(3HKA00000192850) xx2200001166 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 252 DANGER Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 253 + : pin A • - : pin B Unlock the motor from the gearbox by loosening the locking screw. xx2400000598 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 254 Remove the motor. xx2400000599 Remove the four screws holding the gear- box to the bracket. xx2200000620 Remove the gearbox. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 255 Washers: BN 792 M10 Washer (4 pcs) Tightening torque: 83 Nm Align the gaps on the gearbox as illus- trated. xx2200000622 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 256 Lock the motor and gearbox by tighten the locking screw. xx2400000598 Tighten the four screws from motor to Tightening torque: 32 Nm gearbox. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 257 Use a lifting tool or at least two people to lift the drive unit. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 258 Refit the other screws and washers. xx2400000792 Screws: ISO 4762 M12x45 (4 pcs) Washers: Spring washer DIN 6796 12 (4 pcs) Tightening torque: 20 Nm. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 259 For the weight of the carriage, refer to the identification plate of the track. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 260 (Socket head cap screws (A) is the joint screw). xx2400000796 Fit the dial gauge to the track. xx2200001188 Reset the dial gauge. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 261 120 Nm for class 12.9 screws. 84 Nm for class 8.8 screws. Check the class of the screws be- fore tightening. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 262 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 263: Replacing The Cam Roller Units

    M12 bolts Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 264 • electric power supply • hydraulic pressure supply • air pressure supply to the product, before entering the safeguarded space. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 265 When the 90 mm cam roller unit is re- leased, it can be rotated with the finger. xx2200001177 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 266 During the operation, watch the seals at the ball bearing block: when you see the grease pouring out, you have applied enough grease. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 267 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 268 If there is a robot on the track, jog the robot to the lifting position. Remove the flange plate with its screws. xx2200000812 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 269 During the operation, watch the seals at the ball bearing block: when you see the grease pouring out, you have applied enough grease. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 270 Screws: ISO 4762 M6x20 Class 8.8 (4 pcs) Washers: BN 792 M8 Washer (4 pcs) Tightening torque: 10 Nm Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 271 If there is no enough space for the maintenance work, clean the surroundings. If there is any robot on the track, jog it to the lift- ing/transportation position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 272 Rotate the cam roller nipple away from the rectangular rail. When the 90 mm cam roller unit is re- leased, it can be rotated with the finger. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 273 Insert the cam roller unit back to the car- riage. xx2200000815 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 274 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 275: Replacing The Scraper Parts

    Scraper bracket Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 276 Removing the scrapers Action Note Disconnect the lubrication tube from the scraper kit. xx2200000816 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 277 Screws: ISO 4762 M6x16 Class 8.8 (2 pcs) Washers: BN 792 M6 Washer (2 pcs) Tightening torque: 10 Nm Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 278 Screws: ISO 4762 M8x30 Class 12.9 (3 pcs) Washers: BN 792 M8 Washer (3 pcs) Tightening torque: 43 Nm xx2300001004 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 279 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 280: Replacing The Lubrication Parts

    Grease detection sensor 3HAWC116979 Distributor 6 ways 3HAWC116982 Polyamide tube 6x8 L=0.3M 1025 U08 R01 3HAWC116981 Polyamide tube 4x6 L=8M 1025P06 00 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 281 Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 282 Disconnect the tubes. Unscrew to remove the pump unit. xx2200000821 If need repair the Memolub parts, see Memolub manual on page 238. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 283 If there is no enough space for the maintenance work, clean the surroundings. If there is any robot on the track, jog it to the lift- ing/transportation position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 284 Removing the grease detection sensor Action Note Disconnect the connector: • sensor Unscrew to remove the sensor. xx2200000822 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 285 If there is no enough space for the maintenance work, clean the surroundings. If there is any robot on the track, jog it to the lift- ing/transportation position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 286 Screws: ISO 4762 M6x20 Class 8.8 (2 pcs) Washers: BN 792 M6 Washer (2 pcs) Tightening torque: 10 Nm Connect the tubes. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 287 Removing the Y fitting Action Note Disconnect the tubes. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 288 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 289: Replacing The Track Parts

    263. Replace all cam roller units, if any of the ball ele- ments are damaged. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 290: Replacing The Covers

    Rack cover L=1.5M (graphite white color) Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 291 Content is defined in section Standard toolkit on page 407. Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 292: Replacing The Track Covers

    Removing the track cover Action Note Remove the screws and covers. xx2200000616 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 293 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 294: Replacing The Terminal Covers

    Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000829 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 295 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 296: Replacing The Rack Covers

    Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000830 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 297 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 298: Replacing The Rectangular Rails

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Retangular rail L=0.5M...
  • Page 299 Removing the rectangular rail Action Note Remove the covers over the rectangular rails to change. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 300 Refitting the rectangular rail Action Note Apply Loctite 510 on the upper edge of the rail before the assembling. xx2500000234 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 301 For 1.5 m with M16 rail ISO 4762 M16x55 Class 12.9 (15 pcs) Tightening torque for M16 rails: 310 Nm ±3% Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 302 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 303: Replacing The Racks

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Rack L=0.5M...
  • Page 304 Action Note Remove the covers over the racks to change. Remove the rack by remov- ing all the screws. xx2200000832 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 305 When the alignment is correct, Tightening torque: 43 Nm tighten the screws one by one, after applying Loctite 2400 on their thread. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 306 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 307: Replacing The Mechanical Stops

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 308 Removing the mechanical stop Action Note If there is external chain chain bracket connected to the bumper kit, remove the screws. xx2200000843 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 309 Use this procedure to refit the mechanical stops. Refitting the mechanical stop Action Note Screw and tighten the bumper to the bracket. xx2200000836 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 310 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 311: Replacing The Cable Chain Parts

    3HKA00000189973A External cable chain terminal cover (graphite white color) 3HKA00000189974A Mirrored external cable chain terminal cover (graphite white color) Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 312 Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...

  • Page 313: Replacing The External Cable Chain Covers

    Removing the external cable chain cover Action Note Remove the screws and covers. xx2200000838 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 314 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 315: Replacing The Cable Chain Terminal Covers

    Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Remove the screws and covers. xx2200000839 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 316 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 317: Replacing The Cable Chain Parts

    The cable chain parts are located as shown in the figure. xx2200000840 xx2200000844 Movable chain end Fixed chain end Inner cable chain link Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 318 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRT 710 OmniCore via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 319 Content is defined in section Standard toolkit on page 407. Required consumables Consumable Article number Note Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 320: Replacing The Outer Cable Chain Link

    Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 321 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 322 Insert the screwdriver into the outer cable chain link to pry it. xx2200000849 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 323 The side with the article number should always be facing down when the cable chain lay down. xx2200000853 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 324 Continued Action Note Press one side of the outer cable chain link back. xx2200000852 Press the other side back. xx2200000854 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 325 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 326 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 327: Replacing The Inner Cable Chain Link

    Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 328 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 329 Insert the screwdriver into the outer cable chain link to pry it. xx2200000849 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 330 Remove the inner cable chain link. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 331 Refit the inner cable chain link and press the other side of the outer cable chain link to it. xx2200000854 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 332 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 333 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 334: Replacing The Vertical Separators

    Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 335 Or the plastic link bar cannot be pried off. xx2200000845 Remove the plastic link bars besides the cable chain link which need to replace. xx2200000846 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 336 Insert the vertical separators back to the plastic Cable layout on page 350 link bar according to cable layout. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 337 Note If any separator is removed during the disas- sembling procedure, insert it back to the correct position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 338 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 339: Replacing The Movable Chain End

    Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 340 CAUTION Cooling water may run out. Protect the connectors from getting wet. Remove the screws locking the cable drawer. xx2200000878 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 341 Pull out the cable drawer. xx2200000879 xx2200000880 Loosen the two screws locking the movable chain end bracket to the carriage. xx2200000881 xx2200000882 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 342 Replacing the inner cable chain link chain end. on page 327 Replacing the outer cable chain link on page 320 Remove the movable chain end. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 343 Fix the cables with straps on the cable chain ac- cording to the photo taken before the replacement. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 344 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 345 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 346: Replacing The Fixed Chain End

    Remove the covers. xx2200000616 Move the carriage to a proper position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 347 Remove the straps that ties the cabling to the cable chain. Loosen the screws locking the fixed chain end to the track. xx2200000888 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 348 Replacing the outer cable chain Refit the plastic link bars. link on page 320 Pull the cables from outer side and route the cable. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 349 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 350: Replacing The Cables In Cable Chain

    25.5 18.5 xx2400001098 Figure 5.1: Cable layout, Carriage one 18.5 25.5 25.5 25.5 xx2400001099 Figure 5.2: Cable layout, Carriage two Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 351 23.2 23.2 22.4 20 16.8 17.6 xx2400001100 Figure 5.3: Cable layout, Carriage one, external cable chain & internal cable chain Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 352 PE cable 3HAW050008644-XXX Welding power cable 3HAW050008628-XXX CP/CS cable 3HEA801277-XXX/ 3HAC090145-XXX(CP), 3HAC090146-XXX(CS) EtherNet cable 3HAC032951-XXX Water pipe 3HAW050008638-XXX, 3HAW060012116-XXX, 3HAW060012119-XXX Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 353 3HAC78287-001/ 3HAC78306-001/ 3HAC87783- Welding power cable 3HAW050008628-XXX Servo gun motor cable 3HAC087642-XXX Track motor power cable 3HAC088222-XXX Lubrication pump cable 3HKA00000190931-XXX Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 354 3HAC78287-001/ 3HAC78306-001/ 3HAC87783- Lubrication feedback cable 3HKA00000190931-XXX PE cable 3HAW050008644-XXX CP/CS cable 3HEA801277-XXX EtherNet cable 3HAC032951-XXX Air pipe 3HAW060012115-XXX FE Cable 3HAC060756-XXX Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 355 DANGER Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot and for the track motion. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 356 Take a photo of how the cabling is strapped on the carriage. Pay special attention to how the IRB power cable is routed. xx2200000877 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 357 Make a marking on the moving chain end to show its location relative to the connecting plate. This will facilitate alignment during refitting. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 358 CAUTION Cooling water may run out. Protect the connectors from getting wet. Remove the screws locking the cable drawer. xx2200000878 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 359 Pull out the cable drawer. xx2200000879 xx2200000880 Loosen the two screws locking the movable chain end bracket to the carriage. xx2200000881 xx2200000882 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 360 Removing the cables in cable chain Action Note Move the carriage as far away as enough on the movement position direction to make enough space. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 361 Remove all the plastic link bars on the upper side. xx2200000890 xx2200000889 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 362 Take a photo of the cable routing. xx2200000892 xx2200000893 Pull out the cable from the opening on the track carefully. xx2200000894 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 363 If any part of the cable chain tray has been re- moved, use Loctite 2400 when refitting parts. Also note that the NYLOC nuts can only be used once. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 364 Press the cable back to the cable chain. xx2200000899 If the cable chain has been flipped over, turn it back. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 365 If any part of the cable chain tray has been re- moved, use Loctite 2400 when refitting parts. Also note that the NYLOC nuts can only be used once. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 366 Fix the cables with straps on the cable chain ac- cording to the photo taken before the replacement. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 367 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 368 Run a few strokes in jogging mode and check that the chain is gliding properly upon itself and is correctly adjusted sideways. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 369 Make sure all safety requirements are met when performing the first test run. See First test run may cause injury or damage on page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 370 This page is intentionally left blank...

  • Page 371: Calibration

    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 372: Calibration Methods

    The axes must be calibrated one at a time. References Article numbers for the calibration tools are listed in the section Special tools on page 408. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 373: When To Calibrate

    The resolver values are changed If resolver values are changed, the track motion must be recalibrated using the calibration methods supplied by ABB. Calibrate the track motion carefully with standard calibration. The resolver values will change when parts affecting the calibration position are replaced on the track motion, for example motors or parts of the transmission.

  • Page 374: Synchronization Marks And Track Motion Movement Directions

    The calibration bracket should touch the axis pin on the track and be aligned with the nearest axis synchronization mark at the same time. xx2200001157 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 375 Carriage - Mirrored +1/ -1 First section from left/ First section from right Carriage moving direction Synchronization position Rack xx2200000394 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 376 Mirrored Carriage - Carriage - Mirrored Mirrored +1/ -1 First section from left/ First section from right Carriage moving direction Synchronization position Rack xx2200000395 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 377: Updating Revolution Counters

    Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 378 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 393. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 379: Updating Revolution Counters For Pin Calibration

    Align the sharp edge of the moving part of the calibration marker with the line of the fixed part calibration marker. xx2300001300 Tap ABB on the top left of the FlexPendant. Tap Calibration. Select the desired mechanical unit. Tap Update revolution counters.

  • Page 380: Calibrating With Axis Calibration Method

    6.4 Calibrating with Axis Calibration method Note Make sure that the poses of the robots and work objects are always the same before calibration. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 381: Description Of Axis Calibration

    FlexPendant. WARNING Calibrating the track 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 382 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 383: Calibration Tools For Axis Calibration

    There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the track 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 384 • Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on calibration tool size). • Straightness within 0.005 mm. xx1500000951 Outer diameter Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 385: Installation Locations For The Calibration Tools

    This section shows how the track is equipped with items for installation of calibration tools for Axis Calibration (fixed calibration pins and/or bushings). Installed calibration tools are not shown. xx2200001157 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 386: Axis Calibration - Running The Calibration Procedure

    WARNING Calibrating the track with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the track and/or personnel. Equipment, etc.
  • Page 387 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 388 Check the bushing on the track. Replace if damaged or missing with a DIN 912 M10 bolt and a corresponding pin dismounting tool. xx2400000380 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 389: Reference Calibration

    3 Read and note current axis 4 value in degrees (example: 96.3 degrees). 4 Manually jog, only axis 4, so that the manipulator is correctly positioned to the verification position. Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 390 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 391: Pin Calibration

    Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 392 Insert the calibration pin (3HKA00000190563). A dowel pin diameter 12 mm can also be used. xx2200001161 Tap ABB on the top left of the FlexPendant Tap Calibration. Select the desired mechanical unit. Tap Fine calibration. Select the desired axis.

  • Page 393: Checking The Synchronization Position

    Check the synchronization position of the robot before beginning any programming of the robot system. This may be done: • Using the Jogging window on the FlexPendant. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 394 This page is intentionally left blank...

  • Page 395: Decommissioning

    7 Decommissioning 7.1 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials shall 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 396 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 397: Scrapping Of Robot

    • 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 398 This page is intentionally left blank...

  • Page 399: Reference Information

    8.1 Introduction 8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 400: Applicable Standards

    Safety of machinery - Electrical equipment of machines - Part 1: General requirements Deviations from ISO 10218-1:2011 for IRT 710 OmniCore Deviations from the standard are motivated for IRT 710 OmniCore in the table below. Requirement Deviation for IRT 710...
  • Page 401 8 Reference information 8.2 Applicable standards Continued Standard Description IEC 60529:1989 + A2:2013 Degrees of protection provided by enclosures (IP code) Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 402: Unit Conversion

    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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 403: Screw Joints

    8.4 Screw joints 8.4 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 404 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 405 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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 406: Weight Specifications

    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 407: Standard Toolkit

    Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Copper mallet Filler gauge Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 408: Special Tools

    A:Non-rack side 3HKA00000189982 B:Rack side 3HKA00000189983 xx2200001179 Rack clamps 3HAW107700357 xx2200001171 Rack Mounting block 3HAWL000011 xx2200001170 Calibration pin 3HKA00000190563 xx2200000667 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 409 130. xx2400000487 Tooling bolt M16x35 3HKA00000216860 For the drawing, see Tooling bolt M16x35 drawing on page 130. xx2400000488 Continues on next page Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 410 Reducer uninstall tool unit 3HKA00000192850 xx2200001166 Reducer backlash adjust tool 3HKA00000189964 xx2200001167 Cam roller adjust tool 3HKA00000189966 xx2200001169 Roller support block 3HKA00000186540 xx2200001191 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.

  • Page 411: Lifting Accessories And Lifting Instructions

    The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
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  • Page 413: Spare Parts

    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 - IRT 710 OmniCore 3HKA00000213430-001 Revision: C...
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  • Page 415: Circuit Diagrams

    Circuit diagram - OmniCore V250XT 3HAC074000-008 Circuit diagram - OmniCore V400XT 3HAC082020-008 Track Product Article numbers for circuit diagrams IRT 710 OmniCore Circuit Diagram 3HAC091443-001 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
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  • Page 417: Index

    26, 47 personnel fire extinguishing, 23, 48 requirements, 17 FlexPendant plastic updating revolution counters, 377 disposal, 395 foundation PPE, 17 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 418 33 working range installation, 26 robot, 64 oil change, 36 operational disturbance, 26 service work, 26 zero position voltage, 32 checking, 393 Product manual - IRT 710 OmniCore 3HKA00000213430-001 Revision: C © Copyright 2024 ABB. All rights reserved.
  • Page 420 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 2024 ABB. All rights reserved. Specifications subject to change without notice.