ABB Robotics IRB 6790 Manuals

Manuals and User Guides for ABB Robotics IRB 6790. We have 1 ABB Robotics IRB 6790 manual available for free PDF download: Product Manual

ABB Robotics IRB 6790 Product Manual (668 pages)

Brand: ABB Robotics | Category: Robotics | Size: 21.18 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
12
How to Read the Product Manual
14
Important Information about Robots with Protection Type Foundry Prime
15
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
21
Robot Stopping Functions
27
Installation and Commissioning
28
Maintenance and Repair
31
Emergency Release of the Robot Axes
34
Brake Testing
35
Troubleshooting
36
Decommissioning
37
Installation and Commissioning
39
Introduction to Installation and Commissioning
39
Unpacking
40
Pre-Installation Procedure
40
Working Range
44
Risk of Tipping/Stability
47
Main Dimensions
48
The Unit Is Sensitive to ESD
49
On-Site Transportation
50
Robot Transportation Precautions
50
Securing the Robot with a Transport Support
54
On-Site Installation
55
Brief Installation Procedure
55
Lifting the Base Plate
56
Securing the Base Plate
57
Lifting the Robot
60
Lifting the Robot with Fork Lift
60
Lifting the Robot with Roundslings
61
Orienting and Securing the Robot
65
Installation Requirements for Foundry Prime Robots
68
Shut-Down Periods
77
Manually Releasing the Brakes
78
Loads Fitted to the Robot, Stopping Time and Braking Distances
80
Fitting Equipment to the Robot
81
On-Site Storage
88
Increase the Lifetime of the Robot
88
Restricting the Working Range
89
Axes with Restricted Working Range
89
Mechanically Restricting the Working Range of Axis 1
90
Electrical Connections
92
Robot Cabling and Connection Points
92
Start of Robot in Cold Environments
94
Maintenance
95
Introduction
95
Maintenance Schedule and Expected Component Life
96
Specification of Maintenance Intervals
96
Maintenance Schedule
97
Expected Component Life
99
Inspection Activities
100
Inspecting the Oil Level in Axis-1 Gearbox
100
Inspecting the Oil Level in Axis-2 Gearbox
103
Inspecting the Oil Level in Axis-3 Gearbox
105
Inspecting the Oil Level in Axis-4 Gearbox
107
Inspecting the Oil Level in Axis-5 Gearbox
109
Inspecting the Oil Level in Axis-6 Gearbox
111
Inspecting the Balancing Device
114
Inspecting the Cable Harness
118
Inspecting the Axis-1 Mechanical Stop Pin
120
Inspecting the Additional Mechanical Stops
122
Inspecting the Fork Lift Accessory
124
Inspecting the Dampers
126
Inspecting the Leak Flow (Overpressure Unit) in the System
128
Analyzing Activities
130
Analyzing the Water Content in Gearbox Oil
130
Replacement/Changing Activities
131
Type of Lubrication in Gearboxes
131
Changing Oil, Axis-1 Gearbox
132
Changing Oil, Axis-2 Gearbox
137
Changing Oil, Axis-3 Gearbox
142
Changing Oil, Axis-4 Gearbox
146
Changing Oil, Axis-5 Gearbox
150
Changing Oil, Axis-6 Gearbox
154
Replacing the SMB Battery
158
Cleaning Activities
161
Cleaning the IRB 6790
161
Repair
165
Introduction
165
General Procedures
166
Performing a Leak-Down Test
166
Mounting Instructions for Bearings
167
Mounting Instructions for Sealings
169
Dismantle and Mounting Tool, 3HAC028920-001
172
Painting Damaged Nickel Coated Surfaces with Touch up Paint
173
The Brake Release Buttons May be Jammed after Service Work
174
Lifting Associated Procedures
175
Attaching Lifting Accessories to Complete Arm System
175
Attaching Lifting Accessories to an Un-Separated Lower and Upper Arm
179
Attaching Lifting Accessories to the Upper Arm
184
Complete Robot
187
Removing the Cable Harness
187
Refitting the Cable Harness
209
Replacing the SMB
240
Replacing the Brake Release Unit
247
Upper and Lower Arms
253
Replacing the Upper Arm
253
Replacing the Wrist
289
Replacing the Turning Disc
311
Replacing the Lower Arm
316
Frame and Base
367
Replacing Spherical Roller Bearing, Link Ear
367
Replacing the Balancing Device
382
Replacing the Rear Bearings on the Balancing Device
399
Unloading the Balancing Device
411
Restoring the Balancing Device
415
Replacing the Stop Pin
418
Motors
422
Replacing the Axis-1 Motor
422
Replacing the Axis-2 Motor
434
Replacing the Axis-3 Motor
447
Replacing the Axis-4 Motor
460
Replacing the Axis-5 Motor
472
Replacing the Axis-6 Motor
487
Gearboxes
501
Replacing the Axis-1 Gearbox
501
Replacing the Axis-2 Gearbox
542
Replacing the Axis-3 Gearbox
576
Replacing the Axis-6 Gearbox
602
Calibration
613
Introduction to Calibration
613
Introduction and Calibration Terminology
613
Calibration Methods
614
When to Calibrate
616
Synchronization Marks and Axis Movement Directions
617
Synchronization Marks and Synchronization Position for Axes
617
Calibration Movement Directions for All Axes
618
Updating Revolution Counters
619
Calibrating with Axis Calibration Method
623
Description of Axis Calibration
623
Calibration Tools for Axis Calibration
626
Installation Locations for the Calibration Tools
628
Axis Calibration - Running the Calibration Procedure
629
Reference Calibration
634
Verifying the Calibration
636
Checking the Synchronization Position
637
Decommissioning
639
Environmental Information
639
Scrapping of Robot
641
Decommissioning of Balancing Device
642
Reference Information
645
Introduction
645
Applicable Standards
646
Unit Conversion
647
Screw Joints
648
Weight Specifications
651
Standard Toolkit
652
Special Tools
653
Lifting Accessories and Lifting Instructions
657
Spare Parts
659
Spare Part Lists and Illustrations
659
Circuit Diagrams
661
Index
663

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ABB Robotics IRB 6790 Product Manual (668 pages)

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