ABB DressPack IRB 6700 Manuals

Manuals and User Guides for ABB DressPack IRB 6700. We have 3 ABB DressPack IRB 6700 manuals available for free PDF download: Product Manual

ABB DressPack IRB 6700 Product Manual

ABB DressPack IRB 6700 Product Manual (575 pages)

Brand: ABB | Category: Robotics | Size: 18 MB

Table of Contents

Table of Contents
5
Overview of this Manual
9
Product Documentation, IRC5
11
How to Read the Product Manual
13
Introduction to Safety Information
15
General Safety Information
16
Safety Related Instructions
36
Introduction to Safety Signals
36
Safety Signals in the Manual
36
Safety Symbols on Manipulator Labels
38
DANGER - Moving Manipulators Are Potentially Lethal
43
DANGER - First Test Run May Cause Injury or Damage
44
WARNING - the Brake Release Buttons May be Jammed after Service Work
45
DANGER - Make Sure that the Main Power Has Been Switched off
46
WARNING - the Unit Is Sensitive to ESD
47
WARNING - Safety Risks During Handling of Batteries
48
WARNING - Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
49
2 Installation and Commissioning

51
- Introduction
  51
- Unpacking
  52
- On-Site Transportation
  62
  - Robot Transportation Precautions
    62
    
    Transport Position with a Transport Support
    65
    
    Recommended Transport Support
    66
  - Securing the Robot
    67
- On-Site Installation
  69
  - Lifting Robot with Fork Lift
    69
  - Fork Lift Device Set
    69
  - Lifting the Base Plate
    72
  - Hole Configuration
    72
  - Securing the Base Plate
    73
    
    Base Plate, Grooves and Holes
    75
    
    Guide Sleeve
    75
    
    Base Plate
    76
    
    Recommendations, Quality
    76
  - Lifting the Robot with Roundslings
    78
  - Attaching the Roundslings
    78
  - Manually Releasing the Brakes
    82
    
    Location of Brake Release Unit
    82
    
    Releasing the Brakes
    82
    
    Supplying Power to Connector R1.MP
    83
  - Orienting and Securing the Robot
    84
  - Attachment Screws
    84
  - Loads
    86
  - Fitting Equipment to the Robot
    87
    
    Frame (Hip Load)
    87
    
    Upper Arm
    88
    
    Allowed Positions for Attachment Holes
    89
    
    Holes for Fitting Extra Equipment
    89
    
    Upper Arm, Lower Arm and Frame
    90
    
    Tool Flange, Standard
    91
    
    Tool Flange, Leanid
    92
- Restricting the Working Range
  93
- Electrical Connections
  96
  - Robot Cabling and Connection Points
    96
  - Installing the Signal Lamp (Option)
    97
- Installation of Options
  97
3 Maintenance

99
- Introduction
  99
- Maintenance Schedule and Expected Component Life
  100
- Inspection Activities
  104
- Replacement/Changing Activities
  137
  - Type of Lubrication in Gearboxes
    137
  - Changing Oil, Axis-1 Gearbox
    138
    
    Location of Oil Plugs
    138
    
    Usage of Oil Dispenser
    138
    
    Draining the Axis-1 Gearbox
    139
    
    Filling Oil into the Axis-1 Gearbox
    140
  - Changing Oil, Axis-2 Gearbox
    143
    
    Draining the Axis-2 Gearbox
    144
    
    Filling Oil into the Axis-2 Gearbox
    145
  - Changing Oil, Axis-3 Gearbox
    148
    
    Draining the Axis-3 Gearbox
    149
    
    Filling Oil into the Axis-3 Gearbox
    150
  - Changing Oil, Axis-4 Gearbox
    153
  - Changing Oil, Axis-5 Gearbox
    157
  - Filling Oil into the Axis-5 Gearbox
    159
  - Changing Oil, Axis-6 Gearbox
    161
  - Filling Oil into the Axis-6 Gearbox
    163
  - Replacing the SMB Battery
    165
  - Location of SMB Battery
    165
- Lubrication Activities
  168
  - Lubricating the Spherical Roller Bearing, Balancing Device
    168
  - Lubricating the Spherical Roller Bearing
    169
- Cleaning Activities
  170
  - Cleaning, Robot
    170
    
    Cleaning with Water and Steam
    170
    
    Cables
    171
4 Repair

173
- Introduction
  173
- General Procedures
  174
  - Performing a Leak-Down Test
    174
  - Mounting Instructions for Bearings
    175
    
    Assembly of All Bearings
    175
    
    Assembly of Tapered Bearings
    175
    
    Greasing of Bearings
    175
  - Mounting Instructions for Seals
    177
    
    Flange Seals and Static Seals
    178
    
    O-Rings
    178
- Attaching Lifting Accessories
  179
  - Arm System (Including the Frame)
    179
    
    Attachment Points of Lifting Accessory
    179
    
    Attaching the Lifting Accessories
    180
    
    Robot Position
    180
  - Lower and Upper Arm Unseparated
    183
  - Lifting the Upper Arm
    188
- Complete Robot
  191
  - Removing the Cable Harness
    191
    
    Location of the Cable Harness
    191
    
    Preparations before Removing the Cable Harness
    192
    
    Removing the Cable Harness - Upper Arm and Wrist
    192
    
    Retrieving Access to the Wrist Cabling
    193
    
    Disconnecting the Axis-6 Motor Cables
    195
    
    Disconnecting the Axis-5 Motor Cables
    196
    
    Disconnecting the Axis-3 and Axis-4 Motor Cables
    197
    
    Removing the Cable Harness - Wrist and Upper Arm
    198
    
    Removing the Cable Harness - Base, Frame and Lower Arm
    203
    
    Disconnecting the Axis-1 and Axis-2 Motor Cables
    204
    
    Preparations before Disconnecting the SMB Unit
    205
    
    Disconnecting the BU Unit
    206
    
    Removing the Cable Harness in the Base
    207
    
    Removing the Cable Harness in the Frame
    207
    
    Removing the Cable Harness in the Lower Arm
    210
  - Refitting the Cable Harness
    211
    
    Consumables
    212
    
    Refitting the Cable Harness - Base, Frame and Lower Arm
    212
    
    Refitting the Cable Harness in the Frame and the Upper Arm
    213
    
    Refitting the Cable Harness in the Base
    216
    
    Refit and Reconnect the SMB and BU Units
    218
    
    Reconnecting the Axis-1 and Axis-2 Motor Cables
    220
    
    Refitting the Cable Harness - Lower Arm
    222
    
    Refitting the Cable Harness - Upper Arm
    223
    
    Connecting the Axis-3 and Axis-4 Motor Cables
    227
    
    Connecting the Axis-5 Motor Cables
    229
    
    Connecting the Axis-6 Motor Cables
    231
    
    Concluding Procedures
    234
  - Replacing the SMB
    235
    
    Location of SMB Unit
    235
    
    Disconnecting and Removing the SMB Unit
    236
    
    Refitting the SMB Unit
    237
    
    Refitting the SMB Battery
    239
  - Replacing the Brake Release Unit
    241
    
    Location of BU Unit
    241
    
    Removing the Brake Release Unit
    242
    
    Refitting the Brake Release Unit
    244
  - Upper and Lower Arms
    246
    
    Location of the Upper Arm
    246
    
    Replacing the Upper Arm
    246
    
    Removing the Upper Arm
    247
    
    Refitting the Upper Arm
    259
    
    Location of the Wrist
    274
    
    Replacing the Wrist
    274
    
    Removing the Wrist
    275
    
    Removing the Turning Disk
    276
    
    Removing the Process Turning Disk
    277
    
    Refitting the Wrist
    283
    
    Location of the Turning Disk
    294
    
    Replacing the Turning Disk
    294
    
    Location of the Lower Arm
    297
    
    Replacing the Lower Arm
    297
    
    Removing the Lower Arm
    298
    
    Unloading the Balancing Device
    299
    
    Preparations to Remove the Shaft
    301
    
    Removing the Shaft in the Link Ear
    301
    
    Removing Brackets
    304
    
    Refitting the Lower Arm
    317
    
    Refitting the Front Shaft of the Balancing Device
    336
    
    Concluded Refitting of the Front Shaft
    337
    
    Location of Spherical Roller Bearing
    340
    
    Replacing Spherical Roller Bearing, Link Ear
    340
  - Frame and Base
    340
    
    Removing the Spherical Roller Bearing
    341
    
    Removing the Shaft in the Front
    345
    
    Removing the Spherical Roller Bearing, Link Ear
    346
    
    Refitting the Spherical Roller Bearing
    347
    
    Refitting the Spherical Roller Bearing, Link Ear
    347
    
    Preparations, Lifting Accessory
    349
    
    Unloading a New Spare Part, Balancing Device
    350
    
    Location of the Balancing Device
    354
    
    Replacing the Balancing Device
    354
    
    Removing the Balancing Device
    355
    
    Removing the Axes in the Rear
    359
    
    Removing the Axis in the Front
    360
    
    Refitting the Balancing Device
    361
    
    Refitting the Rear Shafts
    362
    
    Replacing the Rear Bearing of the Balancing Device
    367
    
    Removing the Bearing, Cradle
    368
    
    Removing the Shaft End, Cradle
    371
    
    Refitting the Bearing, Cradle
    372
    
    Refitting the Shaft End
    372
    
    Location of the Stop Pin
    376
    
    Replacing the Stop Pin
    376
    
    Removing the Stop Pin
    377
    
    Refitting the Stop Pin
    378
    
    Prerequisite
    379
    
    Unloading the Balancing Device
    379
    
    Press Tool and Hydraulic Cylinder
    380
    
    Restoring the Balancing Device
    383
    
    Location of the Axis-1 Motor
    386
    
    Replacing the Axis-1 Motor
    386
    
    Removing the Axis-1 Motor
    387
    
    Preparations Prior to Refitting Motor
    390
    
    Refitting the Axis-1 Motor
    390
    
    Securing the Axis-1 Motor
    391
    
    Connecting the Motor Cables
    393
    
    Location of the Motor
    396
    
    Replacing the Axis-2 Motor
    396
    
    Removing the Motor
    397
    
    Disconnecting the Motor Cables
    398
    
    Removing the Axis-2 Motor
    399
    
    Refitting the Motor
    401
    
    Securing the Axis-2 Motor
    402
    
    Location of the Axis-3 Motor
    407
    
    Replacing the Axis-3 Motor
    407
    
    Location of the Axis-4 Motor
    418
    
    Replacing the Axis-4 Motor
    418
    
    Location of the Axis-5 Motor
    427
    
    Replacing the Axis-5 Motor
    427
    
    Removing the Axis-5 Motor
    428
    
    Location of Axis-6 Motor
    440
    
    Replacing the Axis-6 Motor
    440
    
    Removing the Axis-6 Motor
    441
    
    Refitting the Axis-6 Motor
    444
    
    Replacing the Axis-1 Gearbox
    449
  - Gearboxes
    449
    
    Location of the Axis-1 Gearbox
    449
    
    Removing the Axis-1 Gearbox
    451
    
    Disconnecting the Axis-1 Motor Cables
    456
    
    Lifting Away the Complete Arm System
    460
    
    Removing Axis-1 Gearbox
    461
    
    Refitting the Axis-1 Gearbox
    462
    
    Connecting the Axis-1 Motor Cables
    473
    
    Location of the Axis-2 Gearbox
    477
    
    Replacing the Axis-2 Gearbox
    477
    
    Space Required Beside
    477
    
    Removing the Axis-2 Gearbox
    479
    
    Disconnecting the Axis-2 Motor Cables
    486
    
    Removing and Lifting Away the Lower and Upper Arm
    490
    
    Refitting the Axis-2 Gearbox
    492
    
    Lifting Back and Refitting the Lower and Upper Arm
    496
    
    Connecting the Axis-2 Motor Cables
    497
    
    Refitting the Cabling
    499
    
    Location of the Axis-3 Gearbox
    505
    
    Replacing the Axis-3 Gearbox
    505
    
    Loosening Cable Brackets
    509
    
    Location of the Axis-6 Gearbox
    529
    
    Replacing the Axis-6 Gearbox
    529
    
    Removing the Axis-6 Gearbox
    530
    
    Refitting the Axis-6 Gearbox
    534
5 Calibration Information

537
6 Decommissioning

545
- Environmental Information
  545
  - Hazardous Material
    545
  - Oil and Grease
    545
- Scrapping of Robot
  546
- Important When Scrapping the Robot
  546
- Decommissioning of Balancing Device
  547
  - Action on Field, Decommissioning
    547
  - Decommissioning at Decommissioning Company, Balancing Device
    548
7 Reference Information

551
- Introduction
  551
- Applicable Safety Standards
  552
  - Standards, en ISO
    552
  - European Standards
    552
- Unit Conversion
  554
- Converter Table
  554
- Screw Joints
  555
- Weight Specifications
  558
- Standard Toolkit
  559
- Special Tools
  560
- Lifting Accessories and Lifting Instructions
  564
- Spare Part Lists and Illustrations
  565
- About Circuit Diagrams
  567
- Index
  569

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ABB DressPack IRB 6700 Product Manual

ABB DressPack IRB 6700 Product Manual (240 pages)

Brand: ABB | Category: Robotics | Size: 7 MB

Table of Contents

ABB DressPack IRB 6700 Product Manual

ABB DressPack IRB 6700 Product Manual (224 pages)

Brand: ABB | Category: Robotics | Size: 11 MB

Table of Contents

Table of Contents
5
Overview of this Manual
7
Product Documentation
11
How to Read the Product Manual
13
Product Name Principles
14
Safety
17
Safety Information
17
Limitation of Liability
17
Requirements on Personnel
18
Safety Signals and Symbols
19
Safety Signals in the Manual
19
Safety Symbols on Manipulator Labels
20
Robot Stopping Functions
26
Safety During Installation and Commissioning
27
Safety During Operation
29
Safety During Maintenance and Repair
30
Safety During Troubleshooting
33
Safety During Decommissioning
34
Installation
35
Introduction
35
Overview
36
Fitting Dresspack on an IRB 6700Inv
37
Fitting the Cable Package Attachments
41
Fitting Attachments of the IRBDP MH6 LI
41
Fitting Attachments of the IRBDP MH3 UI
44
Fitting Attachments of the IRBDP SW6 le (Lean ID)
49
Fitting Attachments of the IRBDP MH6 UI and IRBDP SW6 UI (Lean ID)
55
Fitting the Process Turning Disc
62
Fitting Dresspack Cable Packages
67
Fitting the Cable Package IRBDP MH6 LI
67
Fitting the Cable Package IRBDP MH3 UI
76
Fitting the Cable Package IRBDP SW6 le (Lean ID)
82
Fitting the Cable Packages IRBDP MH6 UI and IRBDP SW6 UI (Lean ID)
92
Inspection, Dresspack Lower Arm
101
Inspection, Dresspack Upper Arm
102
Expected Lifetime of the Integrated Dresspack Cable Package
104
Dresspack Adjustments
105
Adjustments of the Cable Package - IRBDP MH3 UE
105
Inspection During Programming and Test-Running
106
Dresspack Arm Load Parameters
108
Dresspack - Arm Load Parameters and Loadid
108
Dresspack Floor
115
Installation of Dresspack Floor
115
Inspection, Dresspack Floor
119
Water & Air Unit
120
Installation of Water and Air Unit
120
Return Water Flow Control
127
Return Water Flow Switch Setting
128
Setting of Air Pressure Switch (Only Applicable to Type S)
130
Setting of Electrical Proportional Valve (Option)
132
Test Run after Installation, Maintenance, or Repair
134
Maintenance
135
Introduction
135
Maintenance Schedule and Component Life
136
Maintenance Schedule
136
Inspection Activities Dresspack
138
Preventive Inspection of All Cables, Dresspack
138
Preventive Inspection, Dresspack Upper Arm
140
Preventive Inspection of Water and Air Unit
144
Cleaning Activities
146
Cleaning, Dresspack Upper Arm
146
Cleaning, Water and Air Unit
147
Repair
149
Introduction
149
Dresspack Cable Package
150
Addition of Functional Ground (Paramulti)
150
Replacing the Cable Package IRBDP MH3 UE
151
Replacing the Cable Package IRBDP MH3 LI
155
Replacing the Cable Package IRBDP SW6 le (Lean ID)
161
Replacing the Cable Packages IRBDP MH6 UI and IRBDP SW6 UI (Lean ID)
167
Replacing the Protection Hose IRBDP SW6 UI and IRBDP MH6 UI
173
Water & Air Unit
183
Replacement of Air Supply Circuit
183
Replacement of Water-In Circuit
186
Replacement of Water-Return Circuit
188
Replacement of Air Filter Element
191
Decommissioning
193
Environmental Information
193
Reference Information
195
Introduction
195
Unit Conversion
196
Screw Joints
197
Weight Specifications
200
Toolkits, Dresspack
201
Lifting Accessories and Lifting Instructions
203
Spare Parts
205
Introduction
205
Dresspack Cable Package IRBDP MH6 LI
206
Dresspack Cable Package IRBDP MH3 UI
207
Dresspack Cable Package IRBDP SW6 le
208
Dresspack Cable Package IRBDP MH6 UI
209
Dresspack Cable Package IRBDP SW6 UI
210
Sub Cables
211
Wear Parts
212
Connection Kits
214
7Th Axis to Base
215
Dresspack Floor
216
Customer Signal/Power
217
Water and Air Unit
218
Circuit Diagrams
219
Index
221

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