ABB OmniCore IRB 6750S Manuals

Manuals and User Guides for ABB OmniCore IRB 6750S. We have 1 ABB OmniCore IRB 6750S manual available for free PDF download: Product Manual

ABB OmniCore IRB 6750S Product Manual (678 pages)

Brand: ABB | Category: Robotics | Size: 41 MB

Product Manual
3
Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
29
Safety During Maintenance and Repair
30
Emergency Release of the Robot Axes
33
Brake Testing
34
Safety During Troubleshooting
35
Safety During Decommissioning
36
Manipulator Description
37
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
51
Installation and Commissioning
53
Introduction to Installation and Commissioning
53
Unpacking
54
Pre-Installation Procedure
54
Risk of Tipping/Stability
55
On-Site Installation
57
Brief Installation Procedure
57
Installing a Base Plate
58
Base Plate Drawing
59
Lifting the Robot
67
Lifting the Robot with Fork Lift
67
Lifting the Robot with Roundslings
68
Orienting and Securing the Robot
73
Hole Configuration, Base
75
Manually Releasing the Brakes
76
Loads Fitted to the Robot, Stopping Time and Braking Distances
78
Installing the Motor Cooling Fan (Option 3320-1, 3321-1)
79
Fitting Equipment on the Robot (Robot Dimensions)
85
Tool Flange Dimensions
92
Fastener Quality
92
Working Range Alterations
93
Adjusting the Working Range
93
Safe Supervision of Working Range Limitations
95
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
98
Extended Working Range, Axis 1 (Option)
102
Electrical Connections
104
Robot Cabling and Connection Points
104
Test Run after Installation, Maintenance, or Repair
107
Maintenance
109
Introduction
109
Maintenance Schedule and Expected Component Life
110
Specification of Maintenance Intervals
110
Maintenance Schedule
111
Expected Lifetime
113
Inspection Activities
114
Inspecting the Motor Seal
114
Inspecting the Balancing Device
116
Inspecting the Cable Harness
120
Inspecting the Dampers
122
Inspecting the Information Labels
124
Inspecting, Labels
126
Inspecting the Axis-1 Mechanical Stop
127
Inspecting the Oil Level in Axis-1 Gearbox
129
Inspecting the Oil Level in Axis-2 Gearbox
132
Inspecting the Oil Level in Axis-3 Gearbox
135
Inspecting the Oil Level in Axis-4 Gearbox
138
Inspecting the Oil Level in Axis-5 Gearbox
141
Inspecting the Oil Level in Axis-6 Gearbox
144
Replacement/Changing Activities
147
Type of Lubrication in Gearboxes
147
Changing the Oil in Axis-1 Gearbox
149
Changing the Oil in Axis-2 Gearbox
154
Changing the Oil in Axis-3 Gearbox
158
Changing the Oil in Axis-4 Gearbox
163
Changing the Oil in Axis-5 Gearbox
168
Changing the Oil in Axis-6 Gearbox
173
Replacing the SMB Battery
178
Lubrication Activities
181
Lubricating the Balancing Device Spherical Roller Bearing
181
Cleaning Activities
183
Cleaning the IRB 6750S
183
Repair
189
Introduction
189
General Procedures
190
Performing a Leak-Down Test
190
Mounting Instructions for Bearings
191
Mounting Instructions for Sealings
193
Cut the Paint or Surface on the Robot before Replacing Parts
197
Balancing Device
198
Replacing the Balancing Device
198
Replacing Spherical Roller Bearing, Balancing Device Link Ear
216
Replacing the Rear Bearings on the Balancing Device
231
Axes 3 and 4
243
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
243
Wrist
272
Replacing the Wrist
272
Replacing the Wrist
275
Replacing the Turning Disc
294
Electronic Parts
299
Removing the Cable Harness
299
Refitting the Cable Harness
321
Replacing the Brake Release Unit
349
Replacing the SMB Unit
356
Motors
362
Replacing the Axis-1 Motor
362
Replacing the Axis-2 Motor
379
Refitting the Motor
388
Replacing the Axis-3 Motor
397
Refitting the Motor
404
Replacing the Axis-4 Motor
412
Replacing the Axis-5 Motor
426
Removing the Motor
427
Replacing the Axis-6 Motor
439
Concluding Procedure
448
Gears
449
Replacing the Axis-1 Gearbox
449
Replacing the Axis-2 Gearbox
497
Replacing the Axis-3 Gearbox
555
Required Tools and Equipment
556
Replacing the Axis-6 Gearbox
605
Calibration
623
Introduction to Calibration
623
Introduction and Calibration Terminology
623
Calibration Methods
624
When to Calibrate
626
Synchronization Marks and Axis Movement Directions
627
Synchronization Marks and Synchronization Position for Axes
627
Calibration Movement Directions for All Axes
629
Updating Revolution Counters
630
Updating Revolution Counters on Omnicore Robots
630
Calibrating with Axis Calibration Method
631
Description of Axis Calibration
631
Calibration Tools for Axis Calibration
634
Installation Locations for the Calibration Tools
636
Axis Calibration - Running the Calibration Procedure
638
Reference Calibration
642
Verifying the Calibration
644
Checking the Synchronization Position
645
Checking the Synchronization Position on Omnicore Robots
646
Troubleshooting
647
Introduction to Troubleshooting
647
Oil and Grease Stains on Motors and Gearboxes
649
Mechanical Noise or Dissonance
650
Troubleshooting too Hot Gearboxes
651
Manipulator Collapses on Power down
652
Decommissioning
653
Introduction to Decommissioning
653
Environmental Information
654
Scrapping of Robot
656
Decommissioning of Balancing Device
657
Reference Information
659
Introduction
659
Applicable Standards
660
Unit Conversion
661
Screw Joints
662
Weight Specifications
666
Standard Toolkit
667
Special Tools
668
Lifting Accessories and Lifting Instructions
672

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ABB OmniCore IRB 6750S Product Manual (678 pages)

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