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ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 41
|
Elimination/Action
Description
Warning
For lifetime reasons always drain
as much oil as possible from the
gearbox. The magnetic oil plugs
will gather residual metal chips.
Contaminated oil in
gearboxes
Hazards related to batteries
Under rated conditions, the electrode materials and liquid electrolyte in the batteries
are sealed and not exposed to the outside.
There is a hazard in case of abuse (mechanical, thermal, electrical) which leads
to the activation of safety valves and/or the rupture of the battery container. As a
result under certain circumstances, electrolyte leakage, electrode materials reaction
with moisture/water or battery vent/explosion/fire may follow.
Do not short circuit, recharge, puncture, incinerate, crush, immerse, force discharge
or expose to temperatures above the declared operating temperature range of the
product. Risk of fire or explosion.
Operating temperatures are listed in Operating conditions, robot on page 55 .
See safety instructions for the batteries in Material/product safety data
sheet - Battery pack ( 3HAC043118-001 ).
Unexpected movement of robot arm
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
Related information
See also the safety information related to installation and operation.
40
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.1 Safety during maintenance and repair
Continued
1.6.2 Emergency release of the robot axes
Description
In an emergency situation, the brakes on a robot axis can be released manually
by pushing a brake release button.
How to release the brakes is described in the section:
•
Manually releasing the brakes on page 72 .
The robot may be moved manually on smaller robot models, but larger models
may require using an overhead crane or similar equipment.
Increased injury
Before releasing the brakes, make sure that the weight of the manipulator does
not result in additional hazards, for example, even more severe injuries on a trapped
person.
DANGER
When releasing the holding brakes, the robot axes may move very quickly and
sometimes in unexpected ways.
Make sure no personnel is near or beneath the robot.
Product manual - IRB 7600
41
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.2 Emergency release of the robot axes
1.6.3 Brake testing
When to test
During operation, the holding brake of each axis normally wears down. A test can
be performed to determine whether the brake can still perform its function.
How to test
The function of the holding brake of each axis motor may be verified as described
below:
1
Run each axis to a position where the combined weight of the manipulator
and any load is maximized (maximum static load).
2
Switch the motor to the MOTORS OFF.
3
Inspect and verify that the axis maintains its position.
If the manipulator does not change position as the motors are switched off,
then the brake function is adequate.
Note
It is recommended to run the service routine BrakeCheck as part of the regular
maintenance, see the operating manual for the robot controller.
For robots with the option SafeMove, the Cyclic Brake Check routine is
recommended. See the manual for SafeMove in References on page 10 .
42
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.3 Brake testing
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ABB_IRB7600_Product_Manual.pdf
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1.6.2 Emergency release of the robot axes
Description
In an emergency situation, the brakes on a robot axis can be released manually
by pushing a brake release button.
How to release the brakes is described in the section:
•
Manually releasing the brakes on page 72 .
The robot may be moved manually on smaller robot models, but larger models
may require using an overhead crane or similar equipment.
Increased injury
Before releasing the brakes, make sure that the weight of the manipulator does
not result in additional hazards, for example, even more severe injuries on a trapped
person.
DANGER
When releasing the holding brakes, the robot axes may move very quickly and
sometimes in unexpected ways.
Make sure no personnel is near or beneath the robot.
Product manual - IRB 7600
41
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.2 Emergency release of the robot axes
1.6.3 Brake testing
When to test
During operation, the holding brake of each axis normally wears down. A test can
be performed to determine whether the brake can still perform its function.
How to test
The function of the holding brake of each axis motor may be verified as described
below:
1
Run each axis to a position where the combined weight of the manipulator
and any load is maximized (maximum static load).
2
Switch the motor to the MOTORS OFF.
3
Inspect and verify that the axis maintains its position.
If the manipulator does not change position as the motors are switched off,
then the brake function is adequate.
Note
It is recommended to run the service routine BrakeCheck as part of the regular
maintenance, see the operating manual for the robot controller.
For robots with the option SafeMove, the Cyclic Brake Check routine is
recommended. See the manual for SafeMove in References on page 10 .
42
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.3 Brake testing
1.7 Safety during troubleshooting
General
When troubleshooting requires work with power switched on, special considerations
must be taken:
•
Safety circuits might be muted or disconnected.
•
Electrical parts must be considered as live .
•
The manipulator can move unexpectedly at any time.
DANGER
Troubleshooting on the controller while powered on must be performed by
personnel trained by ABB or by ABB field engineers.
A risk assessment must be done to address both robot and robot system specific
hazards.
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
Related information
See also the safety information related to installation, operation, maintenance, and
repair.
Product manual - IRB 7600
43
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.7 Safety during troubleshooting
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ABB_IRB7600_Product_Manual.pdf
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| 43
|
1.6.3 Brake testing
When to test
During operation, the holding brake of each axis normally wears down. A test can
be performed to determine whether the brake can still perform its function.
How to test
The function of the holding brake of each axis motor may be verified as described
below:
1
Run each axis to a position where the combined weight of the manipulator
and any load is maximized (maximum static load).
2
Switch the motor to the MOTORS OFF.
3
Inspect and verify that the axis maintains its position.
If the manipulator does not change position as the motors are switched off,
then the brake function is adequate.
Note
It is recommended to run the service routine BrakeCheck as part of the regular
maintenance, see the operating manual for the robot controller.
For robots with the option SafeMove, the Cyclic Brake Check routine is
recommended. See the manual for SafeMove in References on page 10 .
42
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.6.3 Brake testing
1.7 Safety during troubleshooting
General
When troubleshooting requires work with power switched on, special considerations
must be taken:
•
Safety circuits might be muted or disconnected.
•
Electrical parts must be considered as live .
•
The manipulator can move unexpectedly at any time.
DANGER
Troubleshooting on the controller while powered on must be performed by
personnel trained by ABB or by ABB field engineers.
A risk assessment must be done to address both robot and robot system specific
hazards.
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
Related information
See also the safety information related to installation, operation, maintenance, and
repair.
Product manual - IRB 7600
43
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.7 Safety during troubleshooting
1.8 Safety during decommissioning
General
See section Decommissioning on page 401 .
If the robot is decommissioned for storage, take extra precaution to reset safety
devices to delivery status.
Unexpected movement of robot arm
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
44
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.8 Safety during decommissioning
|
ABB_IRB7600_Product_Manual.pdf
|
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| 44
|
1.7 Safety during troubleshooting
General
When troubleshooting requires work with power switched on, special considerations
must be taken:
•
Safety circuits might be muted or disconnected.
•
Electrical parts must be considered as live .
•
The manipulator can move unexpectedly at any time.
DANGER
Troubleshooting on the controller while powered on must be performed by
personnel trained by ABB or by ABB field engineers.
A risk assessment must be done to address both robot and robot system specific
hazards.
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
Related information
See also the safety information related to installation, operation, maintenance, and
repair.
Product manual - IRB 7600
43
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.7 Safety during troubleshooting
1.8 Safety during decommissioning
General
See section Decommissioning on page 401 .
If the robot is decommissioned for storage, take extra precaution to reset safety
devices to delivery status.
Unexpected movement of robot arm
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
44
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.8 Safety during decommissioning
2 Installation and commissioning
2.1 Introduction to installation and commissioning
General
This chapter contains assembly instructions and information for installing the IRB
7600 at the working site.
See also the product manual for the robot controller.
The installation must be done by qualified installation personnel in accordance
with the safety requirements set forth in the applicable national and regional
standards and regulations.
Safety information
Before any installation work is commenced, all safety information must be observed.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page23 before performing any installation
work.
Note
Always connect the IRB 7600 and the robot to protective earth and residual
current device (RCD) before connecting to power and starting any installation
work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
Product manual - IRB 7600
45
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.1 Introduction to installation and commissioning
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 45
|
1.8 Safety during decommissioning
General
See section Decommissioning on page 401 .
If the robot is decommissioned for storage, take extra precaution to reset safety
devices to delivery status.
Unexpected movement of robot arm
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
44
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
1 Safety
1.8 Safety during decommissioning
2 Installation and commissioning
2.1 Introduction to installation and commissioning
General
This chapter contains assembly instructions and information for installing the IRB
7600 at the working site.
See also the product manual for the robot controller.
The installation must be done by qualified installation personnel in accordance
with the safety requirements set forth in the applicable national and regional
standards and regulations.
Safety information
Before any installation work is commenced, all safety information must be observed.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page23 before performing any installation
work.
Note
Always connect the IRB 7600 and the robot to protective earth and residual
current device (RCD) before connecting to power and starting any installation
work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
Product manual - IRB 7600
45
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.1 Introduction to installation and commissioning
2.2 Robot transportation precautions
General
This section describes ABB approved transportation precautions for ABB robots.
CAUTION
All transportation in or outside the plant, must be carried out according to the
method described in this section.
Transportation in any other way can seriously damage the robot. If the robot
is incorrectly transported and the instructions are not followed, the robot is
not covered by the warranty and ABB will not accept any compensation claim.
Method 1 - recommended method
Transportation according to method 1 is strongly recommended by ABB.
xx0800000030
Always follow these instructions when transporting an ABB robot according to
method 1:
•
Always remove the tool before transportation of the robot.
•
Always place the robot in the ABB recommended transport position, described
in section Risk of tipping/stability on page 60 .
•
Always read and follow the instructions in section Pre-installation procedure
on page 52
Method 2 - transportation with a tool mounted to the robot
Transportation according to method 2 is approved by ABB, only if use of method
1 is not possible.
Continues on next page
46
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 46
|
2 Installation and commissioning
2.1 Introduction to installation and commissioning
General
This chapter contains assembly instructions and information for installing the IRB
7600 at the working site.
See also the product manual for the robot controller.
The installation must be done by qualified installation personnel in accordance
with the safety requirements set forth in the applicable national and regional
standards and regulations.
Safety information
Before any installation work is commenced, all safety information must be observed.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page23 before performing any installation
work.
Note
Always connect the IRB 7600 and the robot to protective earth and residual
current device (RCD) before connecting to power and starting any installation
work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
Product manual - IRB 7600
45
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.1 Introduction to installation and commissioning
2.2 Robot transportation precautions
General
This section describes ABB approved transportation precautions for ABB robots.
CAUTION
All transportation in or outside the plant, must be carried out according to the
method described in this section.
Transportation in any other way can seriously damage the robot. If the robot
is incorrectly transported and the instructions are not followed, the robot is
not covered by the warranty and ABB will not accept any compensation claim.
Method 1 - recommended method
Transportation according to method 1 is strongly recommended by ABB.
xx0800000030
Always follow these instructions when transporting an ABB robot according to
method 1:
•
Always remove the tool before transportation of the robot.
•
Always place the robot in the ABB recommended transport position, described
in section Risk of tipping/stability on page 60 .
•
Always read and follow the instructions in section Pre-installation procedure
on page 52
Method 2 - transportation with a tool mounted to the robot
Transportation according to method 2 is approved by ABB, only if use of method
1 is not possible.
Continues on next page
46
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Always follow these instructions when transporting an ABB robot according to
method 2:
•
Always read and follow the instructions in section Securing the robot with a
transport support on page 50
•
Always place the robot in the ABB recommended transport position for robot
with tool, described in sub section Transport position with a transport support
on page 48 .
•
Always use the recommended transport support described in sub section
Recommended transport support on page 49 .
IRB 7600
A
B
D
C
xx0800000037
Transport Support
A
Hexagon socket head cap screw M16x140
B
Threaded bar M10x200
C
Nut M10
D
Continues on next page
Product manual - IRB 7600
47
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 47
|
2.2 Robot transportation precautions
General
This section describes ABB approved transportation precautions for ABB robots.
CAUTION
All transportation in or outside the plant, must be carried out according to the
method described in this section.
Transportation in any other way can seriously damage the robot. If the robot
is incorrectly transported and the instructions are not followed, the robot is
not covered by the warranty and ABB will not accept any compensation claim.
Method 1 - recommended method
Transportation according to method 1 is strongly recommended by ABB.
xx0800000030
Always follow these instructions when transporting an ABB robot according to
method 1:
•
Always remove the tool before transportation of the robot.
•
Always place the robot in the ABB recommended transport position, described
in section Risk of tipping/stability on page 60 .
•
Always read and follow the instructions in section Pre-installation procedure
on page 52
Method 2 - transportation with a tool mounted to the robot
Transportation according to method 2 is approved by ABB, only if use of method
1 is not possible.
Continues on next page
46
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Always follow these instructions when transporting an ABB robot according to
method 2:
•
Always read and follow the instructions in section Securing the robot with a
transport support on page 50
•
Always place the robot in the ABB recommended transport position for robot
with tool, described in sub section Transport position with a transport support
on page 48 .
•
Always use the recommended transport support described in sub section
Recommended transport support on page 49 .
IRB 7600
A
B
D
C
xx0800000037
Transport Support
A
Hexagon socket head cap screw M16x140
B
Threaded bar M10x200
C
Nut M10
D
Continues on next page
Product manual - IRB 7600
47
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
Transport position with a transport support
All transportation of the robot with tool must follow these instructions.
IRB 7600
![Image]
![Image]
xx0800000040
Continues on next page
48
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 48
|
Always follow these instructions when transporting an ABB robot according to
method 2:
•
Always read and follow the instructions in section Securing the robot with a
transport support on page 50
•
Always place the robot in the ABB recommended transport position for robot
with tool, described in sub section Transport position with a transport support
on page 48 .
•
Always use the recommended transport support described in sub section
Recommended transport support on page 49 .
IRB 7600
A
B
D
C
xx0800000037
Transport Support
A
Hexagon socket head cap screw M16x140
B
Threaded bar M10x200
C
Nut M10
D
Continues on next page
Product manual - IRB 7600
47
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
Transport position with a transport support
All transportation of the robot with tool must follow these instructions.
IRB 7600
![Image]
![Image]
xx0800000040
Continues on next page
48
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
Recommended transport support
Always use the recommended transport support when transporting a robot with
tool.
IRB 7600
xx0800000039
Product manual - IRB 7600
49
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 49
|
Transport position with a transport support
All transportation of the robot with tool must follow these instructions.
IRB 7600
![Image]
![Image]
xx0800000040
Continues on next page
48
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
Recommended transport support
Always use the recommended transport support when transporting a robot with
tool.
IRB 7600
xx0800000039
Product manual - IRB 7600
49
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
2.3 Securing the robot with a transport support
General
This section describes how to fit the transport support to the robot in order to
secure the robot for transportation. The transport support is required if the robot
must be transported with mounted tools.
DANGER
Releasing the brakes is a hazardous action that may cause injury and damage
property. It must be done with great care and only when absolutely necessary.
Fitting the transport support
Illustration for fitting the transport support
A
B
xx0800000062
Continues on next page
50
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 50
|
Recommended transport support
Always use the recommended transport support when transporting a robot with
tool.
IRB 7600
xx0800000039
Product manual - IRB 7600
49
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.2 Robot transportation precautions
Continued
2.3 Securing the robot with a transport support
General
This section describes how to fit the transport support to the robot in order to
secure the robot for transportation. The transport support is required if the robot
must be transported with mounted tools.
DANGER
Releasing the brakes is a hazardous action that may cause injury and damage
property. It must be done with great care and only when absolutely necessary.
Fitting the transport support
Illustration for fitting the transport support
A
B
xx0800000062
Continues on next page
50
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
Fitting the transport support
Note
Action
Do not tighten the screw.
Fit the transport support’s lower end to the
robot using the recommended screw joint,
(A) in figure.
1
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48 .
CAUTION
Do not try to jog the robot to the exact
position (max distance 1mm).
Jog the robot into a position as near above
as possible to the recommended transport
position for the specific robot, as specified
in section Transport position with a transport
support on page 48 .
2
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48
Use the brake release for axis 3 to reach the
final resting position on the transport support,
see the section Manually releasing the brakes
on page 72 .
3
CAUTION
Do not attempt to tighten any attachment
screws without first releasing the brakes.
This can seriously damage the robot.
Tighten all the attachment screws, (A) and
(B), in the figure with the brake release for
axis 3 still activated starting with the lower
attachment screw.
4
Use the brake release for axis 5 and 6 to
reach the final resting position for the tool,
see the section Manually releasing the brakes
on page 72
5
Product manual - IRB 7600
51
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 51
|
2.3 Securing the robot with a transport support
General
This section describes how to fit the transport support to the robot in order to
secure the robot for transportation. The transport support is required if the robot
must be transported with mounted tools.
DANGER
Releasing the brakes is a hazardous action that may cause injury and damage
property. It must be done with great care and only when absolutely necessary.
Fitting the transport support
Illustration for fitting the transport support
A
B
xx0800000062
Continues on next page
50
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
Fitting the transport support
Note
Action
Do not tighten the screw.
Fit the transport support’s lower end to the
robot using the recommended screw joint,
(A) in figure.
1
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48 .
CAUTION
Do not try to jog the robot to the exact
position (max distance 1mm).
Jog the robot into a position as near above
as possible to the recommended transport
position for the specific robot, as specified
in section Transport position with a transport
support on page 48 .
2
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48
Use the brake release for axis 3 to reach the
final resting position on the transport support,
see the section Manually releasing the brakes
on page 72 .
3
CAUTION
Do not attempt to tighten any attachment
screws without first releasing the brakes.
This can seriously damage the robot.
Tighten all the attachment screws, (A) and
(B), in the figure with the brake release for
axis 3 still activated starting with the lower
attachment screw.
4
Use the brake release for axis 5 and 6 to
reach the final resting position for the tool,
see the section Manually releasing the brakes
on page 72
5
Product manual - IRB 7600
51
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
Continued
2.4 Unpacking
2.4.1 Pre-installation procedure
Introduction
This section is intended for use when unpacking and installing the robot for the
first time. It also contains information useful during later re-installation of the robot.
Prerequisites for installation personnel
Installation personnel working with an ABB product must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/maintenance/repair work
•
conform to all national and local codes.
Checking the pre-requisites for installation
Action
Make a visual inspection of the packaging and make sure that nothing is damaged.
1
Remove the packaging.
2
Check for any visible transport damage.
Note
Stop unpacking and contact ABB if transport damages are found.
3
Clean the unit with a lint-free cloth, if necessary.
4
Make sure that the lifting accessory used (if required) is suitable to handle the weight
of the robot as specified in: Weight, robot on page 53
5
If the robot is not installed directly, it must be stored as described in: Storage condi-
tions, robot on page 54
6
Make sure that the expected operating environment of the robot conforms to the
specifications as described in: Operating conditions, robot on page 55
7
Before taking the robot to its installation site, make sure that the site conforms to:
•
Loads on foundation, robot on page 53
•
Protection classes, robot on page 55
•
Requirements, foundation on page 54
8
Before moving the robot, please observe the stability of the robot: Risk of tipping/sta-
bility on page 60
9
When these prerequisites are met, the robot can be taken to its installation site as
described in section: On-site installation on page 62
10
Install required equipment, if any.
•
Safety lamp (option for IRC5) on page 99
•
Installation of base spacers (option) on page 88
11
Continues on next page
52
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
|
ABB_IRB7600_Product_Manual.pdf
|
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| 52
|
Fitting the transport support
Note
Action
Do not tighten the screw.
Fit the transport support’s lower end to the
robot using the recommended screw joint,
(A) in figure.
1
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48 .
CAUTION
Do not try to jog the robot to the exact
position (max distance 1mm).
Jog the robot into a position as near above
as possible to the recommended transport
position for the specific robot, as specified
in section Transport position with a transport
support on page 48 .
2
See attachment point for the specific ro-
bot in the section Transport position with
a transport support on page 48
Use the brake release for axis 3 to reach the
final resting position on the transport support,
see the section Manually releasing the brakes
on page 72 .
3
CAUTION
Do not attempt to tighten any attachment
screws without first releasing the brakes.
This can seriously damage the robot.
Tighten all the attachment screws, (A) and
(B), in the figure with the brake release for
axis 3 still activated starting with the lower
attachment screw.
4
Use the brake release for axis 5 and 6 to
reach the final resting position for the tool,
see the section Manually releasing the brakes
on page 72
5
Product manual - IRB 7600
51
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.3 Securing the robot with a transport support
Continued
2.4 Unpacking
2.4.1 Pre-installation procedure
Introduction
This section is intended for use when unpacking and installing the robot for the
first time. It also contains information useful during later re-installation of the robot.
Prerequisites for installation personnel
Installation personnel working with an ABB product must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/maintenance/repair work
•
conform to all national and local codes.
Checking the pre-requisites for installation
Action
Make a visual inspection of the packaging and make sure that nothing is damaged.
1
Remove the packaging.
2
Check for any visible transport damage.
Note
Stop unpacking and contact ABB if transport damages are found.
3
Clean the unit with a lint-free cloth, if necessary.
4
Make sure that the lifting accessory used (if required) is suitable to handle the weight
of the robot as specified in: Weight, robot on page 53
5
If the robot is not installed directly, it must be stored as described in: Storage condi-
tions, robot on page 54
6
Make sure that the expected operating environment of the robot conforms to the
specifications as described in: Operating conditions, robot on page 55
7
Before taking the robot to its installation site, make sure that the site conforms to:
•
Loads on foundation, robot on page 53
•
Protection classes, robot on page 55
•
Requirements, foundation on page 54
8
Before moving the robot, please observe the stability of the robot: Risk of tipping/sta-
bility on page 60
9
When these prerequisites are met, the robot can be taken to its installation site as
described in section: On-site installation on page 62
10
Install required equipment, if any.
•
Safety lamp (option for IRC5) on page 99
•
Installation of base spacers (option) on page 88
11
Continues on next page
52
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Weight, robot
The table shows the weight of the robot.
The weight does not include the weight of the DressPack.
Weight
Robot model
2500 kg
IRB 7600
Note
The weight does not include tools and other equipment fitted on the robot.
The weight does not include the weight of the DressPack.
Loads on foundation, robot
The illustration shows the directions of the robots stress forces.
The directions are valid for all floor mounted, suspended and inverted robots.
xy
xy
z
z
T
F
F
T
xx1100000521
Force in any direction in the XY plane
F xy
Force in the Z plane
F z
Bending torque in any direction in the XY plane
T xy
Bending torque in the Z plane
T z
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
Continues on next page
Product manual - IRB 7600
53
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 53
|
2.4 Unpacking
2.4.1 Pre-installation procedure
Introduction
This section is intended for use when unpacking and installing the robot for the
first time. It also contains information useful during later re-installation of the robot.
Prerequisites for installation personnel
Installation personnel working with an ABB product must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/maintenance/repair work
•
conform to all national and local codes.
Checking the pre-requisites for installation
Action
Make a visual inspection of the packaging and make sure that nothing is damaged.
1
Remove the packaging.
2
Check for any visible transport damage.
Note
Stop unpacking and contact ABB if transport damages are found.
3
Clean the unit with a lint-free cloth, if necessary.
4
Make sure that the lifting accessory used (if required) is suitable to handle the weight
of the robot as specified in: Weight, robot on page 53
5
If the robot is not installed directly, it must be stored as described in: Storage condi-
tions, robot on page 54
6
Make sure that the expected operating environment of the robot conforms to the
specifications as described in: Operating conditions, robot on page 55
7
Before taking the robot to its installation site, make sure that the site conforms to:
•
Loads on foundation, robot on page 53
•
Protection classes, robot on page 55
•
Requirements, foundation on page 54
8
Before moving the robot, please observe the stability of the robot: Risk of tipping/sta-
bility on page 60
9
When these prerequisites are met, the robot can be taken to its installation site as
described in section: On-site installation on page 62
10
Install required equipment, if any.
•
Safety lamp (option for IRC5) on page 99
•
Installation of base spacers (option) on page 88
11
Continues on next page
52
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Weight, robot
The table shows the weight of the robot.
The weight does not include the weight of the DressPack.
Weight
Robot model
2500 kg
IRB 7600
Note
The weight does not include tools and other equipment fitted on the robot.
The weight does not include the weight of the DressPack.
Loads on foundation, robot
The illustration shows the directions of the robots stress forces.
The directions are valid for all floor mounted, suspended and inverted robots.
xy
xy
z
z
T
F
F
T
xx1100000521
Force in any direction in the XY plane
F xy
Force in the Z plane
F z
Bending torque in any direction in the XY plane
T xy
Bending torque in the Z plane
T z
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
Continues on next page
Product manual - IRB 7600
53
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 31 kN
± 14 kN
Force xy
+39 ± 16 kN
+32 ± 10 kN
Force z
± 72 kNm
± 42 kNm
Torque xy
± 19.5 kNm
± 11 kNm
Torque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Note
Value
Requirement
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
0.3 mm
Flatness of foundation
surface
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
5°
Maximum tilt
The value is recommended for optimal perform-
ance.
22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment. i
For information about compensating for founda-
tion flexibility, see the application manual of the
controller software, section Motion Process
Mode .
i
The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Value
Parameter
-25° C
Minimum ambient temperature
Continues on next page
54
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 54
|
Weight, robot
The table shows the weight of the robot.
The weight does not include the weight of the DressPack.
Weight
Robot model
2500 kg
IRB 7600
Note
The weight does not include tools and other equipment fitted on the robot.
The weight does not include the weight of the DressPack.
Loads on foundation, robot
The illustration shows the directions of the robots stress forces.
The directions are valid for all floor mounted, suspended and inverted robots.
xy
xy
z
z
T
F
F
T
xx1100000521
Force in any direction in the XY plane
F xy
Force in the Z plane
F z
Bending torque in any direction in the XY plane
T xy
Bending torque in the Z plane
T z
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
Continues on next page
Product manual - IRB 7600
53
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 31 kN
± 14 kN
Force xy
+39 ± 16 kN
+32 ± 10 kN
Force z
± 72 kNm
± 42 kNm
Torque xy
± 19.5 kNm
± 11 kNm
Torque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Note
Value
Requirement
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
0.3 mm
Flatness of foundation
surface
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
5°
Maximum tilt
The value is recommended for optimal perform-
ance.
22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment. i
For information about compensating for founda-
tion flexibility, see the application manual of the
controller software, section Motion Process
Mode .
i
The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Value
Parameter
-25° C
Minimum ambient temperature
Continues on next page
54
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
Value
Parameter
+55° C
Maximum ambient temperature
+70° C
Maximum ambient temperature (less than 24 hrs)
95% at constant temperature
(gaseous only)
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Value
Parameter
+5° C
Minimum ambient temperature
+50° C
Maximum ambient temperature
Max. 95% at constant temperat-
ure
Maximum ambient humidity
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection class I
Protection type
IP 67
Manipulator, protection type Standard
IP 67
Manipulator, protection type Foundry Plus
Product manual - IRB 7600
55
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 55
|
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 31 kN
± 14 kN
Force xy
+39 ± 16 kN
+32 ± 10 kN
Force z
± 72 kNm
± 42 kNm
Torque xy
± 19.5 kNm
± 11 kNm
Torque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Note
Value
Requirement
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
0.3 mm
Flatness of foundation
surface
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
5°
Maximum tilt
The value is recommended for optimal perform-
ance.
22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment. i
For information about compensating for founda-
tion flexibility, see the application manual of the
controller software, section Motion Process
Mode .
i
The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Value
Parameter
-25° C
Minimum ambient temperature
Continues on next page
54
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
Value
Parameter
+55° C
Maximum ambient temperature
+70° C
Maximum ambient temperature (less than 24 hrs)
95% at constant temperature
(gaseous only)
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Value
Parameter
+5° C
Minimum ambient temperature
+50° C
Maximum ambient temperature
Max. 95% at constant temperat-
ure
Maximum ambient humidity
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection class I
Protection type
IP 67
Manipulator, protection type Standard
IP 67
Manipulator, protection type Foundry Plus
Product manual - IRB 7600
55
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
2.4.2 Working range, IRB 7600 - 150/3.5
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 150/3.5:
xx0100000101
56
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Working range, IRB 7600 - 150/3.5
|
ABB_IRB7600_Product_Manual.pdf
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| 56
|
Value
Parameter
+55° C
Maximum ambient temperature
+70° C
Maximum ambient temperature (less than 24 hrs)
95% at constant temperature
(gaseous only)
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Value
Parameter
+5° C
Minimum ambient temperature
+50° C
Maximum ambient temperature
Max. 95% at constant temperat-
ure
Maximum ambient humidity
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection class I
Protection type
IP 67
Manipulator, protection type Standard
IP 67
Manipulator, protection type Foundry Plus
Product manual - IRB 7600
55
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued
2.4.2 Working range, IRB 7600 - 150/3.5
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 150/3.5:
xx0100000101
56
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Working range, IRB 7600 - 150/3.5
2.4.3 Working range, IRB 7600 - 340/2.8
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 340/2.8:
xx0300000296
Product manual - IRB 7600
57
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Working range, IRB 7600 - 340/2.8
|
ABB_IRB7600_Product_Manual.pdf
|
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| 57
|
2.4.2 Working range, IRB 7600 - 150/3.5
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 150/3.5:
xx0100000101
56
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Working range, IRB 7600 - 150/3.5
2.4.3 Working range, IRB 7600 - 340/2.8
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 340/2.8:
xx0300000296
Product manual - IRB 7600
57
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Working range, IRB 7600 - 340/2.8
2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 400/2.55
and IRB 7600 - 500/2.55:
xx0100000100
58
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 58
|
2.4.3 Working range, IRB 7600 - 340/2.8
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 340/2.8:
xx0300000296
Product manual - IRB 7600
57
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Working range, IRB 7600 - 340/2.8
2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 400/2.55
and IRB 7600 - 500/2.55:
xx0100000100
58
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
2.4.5 Working range, IRB 7600 - 500/2.3
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 500/2.3:
en0100000099
Product manual - IRB 7600
59
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.5 Working range, IRB 7600 - 500/2.3
|
ABB_IRB7600_Product_Manual.pdf
|
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| 59
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2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 400/2.55
and IRB 7600 - 500/2.55:
xx0100000100
58
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.4 Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
2.4.5 Working range, IRB 7600 - 500/2.3
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 500/2.3:
en0100000099
Product manual - IRB 7600
59
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.5 Working range, IRB 7600 - 500/2.3
2.4.6 Risk of tipping/stability
Risk of tipping
Do not change the robot position before securing it to the foundation.
The shipping position is the most stable position.
Shipping and transportation position
This figure shows the robot in its shipping position and transportation position.
xx0100000103
WARNING
The robot will be mechanically unstable if not properly secured to the foundation.
60
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.6 Risk of tipping/stability
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ABB_IRB7600_Product_Manual.pdf
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| 60
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2.4.5 Working range, IRB 7600 - 500/2.3
Illustration
The illustration below shows the unrestricted working range of IRB 7600 - 500/2.3:
en0100000099
Product manual - IRB 7600
59
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.5 Working range, IRB 7600 - 500/2.3
2.4.6 Risk of tipping/stability
Risk of tipping
Do not change the robot position before securing it to the foundation.
The shipping position is the most stable position.
Shipping and transportation position
This figure shows the robot in its shipping position and transportation position.
xx0100000103
WARNING
The robot will be mechanically unstable if not properly secured to the foundation.
60
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.6 Risk of tipping/stability
2.4.7 The unit is sensitive to ESD
Description
ESD (electrostatic discharge) is the transfer of electrical static charge between two
bodies at different potentials, either through direct contact or through an induced
electrical field. When handling parts or their containers, personnel not grounded
may potentially transfer high static charges. This discharge may destroy sensitive
electronics.
Safe handling
Use one of the following alternatives:
•
Use a wrist strap.
Wrist straps must be tested frequently to ensure that they are not damaged
and are operating correctly.
•
Use an ESD protective floor mat.
The mat must be grounded through a current-limiting resistor.
•
Use a dissipative table mat.
The mat should provide a controlled discharge of static voltages and must
be grounded.
Product manual - IRB 7600
61
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.7 The unit is sensitive to ESD
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ABB_IRB7600_Product_Manual.pdf
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| 61
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2.4.6 Risk of tipping/stability
Risk of tipping
Do not change the robot position before securing it to the foundation.
The shipping position is the most stable position.
Shipping and transportation position
This figure shows the robot in its shipping position and transportation position.
xx0100000103
WARNING
The robot will be mechanically unstable if not properly secured to the foundation.
60
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.6 Risk of tipping/stability
2.4.7 The unit is sensitive to ESD
Description
ESD (electrostatic discharge) is the transfer of electrical static charge between two
bodies at different potentials, either through direct contact or through an induced
electrical field. When handling parts or their containers, personnel not grounded
may potentially transfer high static charges. This discharge may destroy sensitive
electronics.
Safe handling
Use one of the following alternatives:
•
Use a wrist strap.
Wrist straps must be tested frequently to ensure that they are not damaged
and are operating correctly.
•
Use an ESD protective floor mat.
The mat must be grounded through a current-limiting resistor.
•
Use a dissipative table mat.
The mat should provide a controlled discharge of static voltages and must
be grounded.
Product manual - IRB 7600
61
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.7 The unit is sensitive to ESD
2.5 On-site installation
2.5.1 Lifting robot with fork lift
General
The robot may be moved using a fork lift, provided that available special aids are
used.
This section describes how to attach the fork lift equipment to the robot.
Attachment points on robot
The attachment points for the fork lift equipment are shown in this figure.
xx0400000707
Attachment points, spacer and horizontal attachment screws
A
Attachment points, horizontal attachment screws
B
Attachment points, vertical attachment screws
C
Attachment points, horizontal attachment screws
D
Continues on next page
62
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
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ABB_IRB7600_Product_Manual.pdf
|
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| 62
|
2.4.7 The unit is sensitive to ESD
Description
ESD (electrostatic discharge) is the transfer of electrical static charge between two
bodies at different potentials, either through direct contact or through an induced
electrical field. When handling parts or their containers, personnel not grounded
may potentially transfer high static charges. This discharge may destroy sensitive
electronics.
Safe handling
Use one of the following alternatives:
•
Use a wrist strap.
Wrist straps must be tested frequently to ensure that they are not damaged
and are operating correctly.
•
Use an ESD protective floor mat.
The mat must be grounded through a current-limiting resistor.
•
Use a dissipative table mat.
The mat should provide a controlled discharge of static voltages and must
be grounded.
Product manual - IRB 7600
61
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.4.7 The unit is sensitive to ESD
2.5 On-site installation
2.5.1 Lifting robot with fork lift
General
The robot may be moved using a fork lift, provided that available special aids are
used.
This section describes how to attach the fork lift equipment to the robot.
Attachment points on robot
The attachment points for the fork lift equipment are shown in this figure.
xx0400000707
Attachment points, spacer and horizontal attachment screws
A
Attachment points, horizontal attachment screws
B
Attachment points, vertical attachment screws
C
Attachment points, horizontal attachment screws
D
Continues on next page
62
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Required equipment
Note
Art. no.
Equipment, etc.
3HAC0604-2
Fork lift accessory, incl. all
required hardware
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Fork lift accessory, 3HAC0604-2
The Fork lift accessory, 3HAC0604-2, is fitted to the robot as shown in the figure
below.
xx0200000379
Fork lift pocket (2 pcs, 3HAC15766-1 , 3HAC11264-1)
A
Spacer (2 pcs)
B
Horizontal attachment screws (4 pcs/ fork lift pocket)
C
Vertical attachment screws (2 pcs)
D
Continues on next page
Product manual - IRB 7600
63
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 63
|
2.5 On-site installation
2.5.1 Lifting robot with fork lift
General
The robot may be moved using a fork lift, provided that available special aids are
used.
This section describes how to attach the fork lift equipment to the robot.
Attachment points on robot
The attachment points for the fork lift equipment are shown in this figure.
xx0400000707
Attachment points, spacer and horizontal attachment screws
A
Attachment points, horizontal attachment screws
B
Attachment points, vertical attachment screws
C
Attachment points, horizontal attachment screws
D
Continues on next page
62
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Required equipment
Note
Art. no.
Equipment, etc.
3HAC0604-2
Fork lift accessory, incl. all
required hardware
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Fork lift accessory, 3HAC0604-2
The Fork lift accessory, 3HAC0604-2, is fitted to the robot as shown in the figure
below.
xx0200000379
Fork lift pocket (2 pcs, 3HAC15766-1 , 3HAC11264-1)
A
Spacer (2 pcs)
B
Horizontal attachment screws (4 pcs/ fork lift pocket)
C
Vertical attachment screws (2 pcs)
D
Continues on next page
Product manual - IRB 7600
63
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Lifting robot with fork lift
This section details how to secure the fork lift set to the robot in order to lift and
move the robot using the fork lift ONLY!
Note
Action
If a cooling fan for the axis 1 motor is used, it
must be removed in order to use the fork lift
device!
1
Release the brakes if required as de-
tailed in section Manually releasing the
brakes on page 72 .
m
10°
50°
xx0200000079
Position the robot as shown in the figure to the
right!
Note
No load is permitted on the robot if the fork lift
set 3HAC0604-2 is used!
2
When using fork lift set 3HAC0604-2,
no load is permitted on the robot!
xx0200000387
Attachment points are shown in figure
Attachment points on robot on page62 .
Fit the two spacers to the robot and secure.
3
CAUTION
The fork lift pocket weighs 60 kg!
4
Continues on next page
64
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 64
|
Required equipment
Note
Art. no.
Equipment, etc.
3HAC0604-2
Fork lift accessory, incl. all
required hardware
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Fork lift accessory, 3HAC0604-2
The Fork lift accessory, 3HAC0604-2, is fitted to the robot as shown in the figure
below.
xx0200000379
Fork lift pocket (2 pcs, 3HAC15766-1 , 3HAC11264-1)
A
Spacer (2 pcs)
B
Horizontal attachment screws (4 pcs/ fork lift pocket)
C
Vertical attachment screws (2 pcs)
D
Continues on next page
Product manual - IRB 7600
63
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Lifting robot with fork lift
This section details how to secure the fork lift set to the robot in order to lift and
move the robot using the fork lift ONLY!
Note
Action
If a cooling fan for the axis 1 motor is used, it
must be removed in order to use the fork lift
device!
1
Release the brakes if required as de-
tailed in section Manually releasing the
brakes on page 72 .
m
10°
50°
xx0200000079
Position the robot as shown in the figure to the
right!
Note
No load is permitted on the robot if the fork lift
set 3HAC0604-2 is used!
2
When using fork lift set 3HAC0604-2,
no load is permitted on the robot!
xx0200000387
Attachment points are shown in figure
Attachment points on robot on page62 .
Fit the two spacers to the robot and secure.
3
CAUTION
The fork lift pocket weighs 60 kg!
4
Continues on next page
64
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Secure the longer fork lift pocket to the spacers
with four of the horizontal attachment screws
and washers.
Note
The screws, which are attached horizontally
and vertically, are identical. However, they are
tightened with different torque!
5
Attachment points on the robot are
shown in figure Attachment points on
robot on page 62 .
xx0400001068
A
Horizontal attachment screws, 4
pcs, M16 x 60. Tightening torque:
60 Nm.
B
Spacers, 2 pcs.
xx0700000655
Make sure the securing screw is removed from
the fork lift pocket! It is only used for robot
model IRB 6650S.
6
A
Securing screw
Continues on next page
Product manual - IRB 7600
65
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 65
|
Lifting robot with fork lift
This section details how to secure the fork lift set to the robot in order to lift and
move the robot using the fork lift ONLY!
Note
Action
If a cooling fan for the axis 1 motor is used, it
must be removed in order to use the fork lift
device!
1
Release the brakes if required as de-
tailed in section Manually releasing the
brakes on page 72 .
m
10°
50°
xx0200000079
Position the robot as shown in the figure to the
right!
Note
No load is permitted on the robot if the fork lift
set 3HAC0604-2 is used!
2
When using fork lift set 3HAC0604-2,
no load is permitted on the robot!
xx0200000387
Attachment points are shown in figure
Attachment points on robot on page62 .
Fit the two spacers to the robot and secure.
3
CAUTION
The fork lift pocket weighs 60 kg!
4
Continues on next page
64
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Secure the longer fork lift pocket to the spacers
with four of the horizontal attachment screws
and washers.
Note
The screws, which are attached horizontally
and vertically, are identical. However, they are
tightened with different torque!
5
Attachment points on the robot are
shown in figure Attachment points on
robot on page 62 .
xx0400001068
A
Horizontal attachment screws, 4
pcs, M16 x 60. Tightening torque:
60 Nm.
B
Spacers, 2 pcs.
xx0700000655
Make sure the securing screw is removed from
the fork lift pocket! It is only used for robot
model IRB 6650S.
6
A
Securing screw
Continues on next page
Product manual - IRB 7600
65
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
xx0300000464
Secure fork lift pocket to robot with two vertical
attachment screws and washers.
(only valid for the Fork lift accessory
3HAC0604-2)
Note
Vertically and the horizontally attached screws
are identical, but tightened with different
torques!
7
A
Vertical attachment screws, 2
pcs, M16x60. Tightening torque:
270 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
CAUTION
The fork lift pocket weighs 22 kg!
8
4 pcs, M16x60.
Secure the shorter fork lift pocket on the other
side of the robot with the four remaining hori-
zontal attachment screws .
9
Tightening torque: 60 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
![Image]
![Image]
![Image]
![Image]
xx0200000380
Double-check that pockets are properly se-
cured to the robot! Insert fork lift forks into the
pockets.
10
Reposition harness, if any, before using
a fork lift!
Continues on next page
66
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 66
|
Note
Action
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Secure the longer fork lift pocket to the spacers
with four of the horizontal attachment screws
and washers.
Note
The screws, which are attached horizontally
and vertically, are identical. However, they are
tightened with different torque!
5
Attachment points on the robot are
shown in figure Attachment points on
robot on page 62 .
xx0400001068
A
Horizontal attachment screws, 4
pcs, M16 x 60. Tightening torque:
60 Nm.
B
Spacers, 2 pcs.
xx0700000655
Make sure the securing screw is removed from
the fork lift pocket! It is only used for robot
model IRB 6650S.
6
A
Securing screw
Continues on next page
Product manual - IRB 7600
65
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
xx0300000464
Secure fork lift pocket to robot with two vertical
attachment screws and washers.
(only valid for the Fork lift accessory
3HAC0604-2)
Note
Vertically and the horizontally attached screws
are identical, but tightened with different
torques!
7
A
Vertical attachment screws, 2
pcs, M16x60. Tightening torque:
270 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
CAUTION
The fork lift pocket weighs 22 kg!
8
4 pcs, M16x60.
Secure the shorter fork lift pocket on the other
side of the robot with the four remaining hori-
zontal attachment screws .
9
Tightening torque: 60 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
![Image]
![Image]
![Image]
![Image]
xx0200000380
Double-check that pockets are properly se-
cured to the robot! Insert fork lift forks into the
pockets.
10
Reposition harness, if any, before using
a fork lift!
Continues on next page
66
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
11
Carefully lift the robot and move it to its install-
ation site.
12
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
13
Detailed in section Installation of cool-
ing fan for motors (option) on page 90 .
Refit the cooling fan to the motor, if any.
14
Product manual - IRB 7600
67
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 67
|
Note
Action
xx0300000464
Secure fork lift pocket to robot with two vertical
attachment screws and washers.
(only valid for the Fork lift accessory
3HAC0604-2)
Note
Vertically and the horizontally attached screws
are identical, but tightened with different
torques!
7
A
Vertical attachment screws, 2
pcs, M16x60. Tightening torque:
270 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
CAUTION
The fork lift pocket weighs 22 kg!
8
4 pcs, M16x60.
Secure the shorter fork lift pocket on the other
side of the robot with the four remaining hori-
zontal attachment screws .
9
Tightening torque: 60 Nm.
Always use original screws (or replace-
ments of equivalent quality: M16, qual-
ity 12.9)!
Attachment points on robot are shown
in figure Attachment points on robot on
page 62 .
![Image]
![Image]
![Image]
![Image]
xx0200000380
Double-check that pockets are properly se-
cured to the robot! Insert fork lift forks into the
pockets.
10
Reposition harness, if any, before using
a fork lift!
Continues on next page
66
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
Note
Action
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
11
Carefully lift the robot and move it to its install-
ation site.
12
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
13
Detailed in section Installation of cool-
ing fan for motors (option) on page 90 .
Refit the cooling fan to the motor, if any.
14
Product manual - IRB 7600
67
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
General
This section contains a general overview of how to lift the complete robot using
special lifting accessory.
Illustration, lifting accessory
The following figure shows the principle for how to use and lift the entire robot with
lifting accessory. For a more detailed instruction, see the user instructions enclosed
with the accessory.
Note
The user manual may be out of date. The latest revision is available for download
via myABB Business Portal, www.abb.com/myABB .
xx0200000153
Required equipment
Note
Article number
Equipment
Includes user instructions 3HAC15971-2
3HAC15607-1
Lifting accessory, robot
Continues on next page
68
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
|
ABB_IRB7600_Product_Manual.pdf
|
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| 68
|
Note
Action
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
11
Carefully lift the robot and move it to its install-
ation site.
12
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
13
Detailed in section Installation of cool-
ing fan for motors (option) on page 90 .
Refit the cooling fan to the motor, if any.
14
Product manual - IRB 7600
67
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.1 Lifting robot with fork lift
Continued
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
General
This section contains a general overview of how to lift the complete robot using
special lifting accessory.
Illustration, lifting accessory
The following figure shows the principle for how to use and lift the entire robot with
lifting accessory. For a more detailed instruction, see the user instructions enclosed
with the accessory.
Note
The user manual may be out of date. The latest revision is available for download
via myABB Business Portal, www.abb.com/myABB .
xx0200000153
Required equipment
Note
Article number
Equipment
Includes user instructions 3HAC15971-2
3HAC15607-1
Lifting accessory, robot
Continues on next page
68
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
Slings attached directly onto robot
This section details how to lift and move the robot using lifting slings when these
are attached directly onto the robot frame.
Note
Please refer to the enclosed user instruction for instruction how to place the
manipulator in an correct position. Attempting to lift a manipulator in any other
position may result in the robot tipping over, causing severe damage or injury!
Note
Action
Run the overhead crane to a position above
the robot.
1
Article number is specified in Required
equipment on page 68 .
Position the robot as detailed in enclosed in-
struction!
2
Release the brakes, if required, as de-
tailed in section Manually releasing the
brakes on page 72 .
Article number is specified in Required
equipment on page 68 .
Fit the lifting accessory to the robot as de-
scribed in the enclosed instruction!
3
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
4
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
5
Make sure all hooks and attachments
maintain their correct positions while
lifting the robot!
Raise overhead crane to lift the robot.
6
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
69
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 69
|
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
General
This section contains a general overview of how to lift the complete robot using
special lifting accessory.
Illustration, lifting accessory
The following figure shows the principle for how to use and lift the entire robot with
lifting accessory. For a more detailed instruction, see the user instructions enclosed
with the accessory.
Note
The user manual may be out of date. The latest revision is available for download
via myABB Business Portal, www.abb.com/myABB .
xx0200000153
Required equipment
Note
Article number
Equipment
Includes user instructions 3HAC15971-2
3HAC15607-1
Lifting accessory, robot
Continues on next page
68
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
Slings attached directly onto robot
This section details how to lift and move the robot using lifting slings when these
are attached directly onto the robot frame.
Note
Please refer to the enclosed user instruction for instruction how to place the
manipulator in an correct position. Attempting to lift a manipulator in any other
position may result in the robot tipping over, causing severe damage or injury!
Note
Action
Run the overhead crane to a position above
the robot.
1
Article number is specified in Required
equipment on page 68 .
Position the robot as detailed in enclosed in-
struction!
2
Release the brakes, if required, as de-
tailed in section Manually releasing the
brakes on page 72 .
Article number is specified in Required
equipment on page 68 .
Fit the lifting accessory to the robot as de-
scribed in the enclosed instruction!
3
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
4
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
5
Make sure all hooks and attachments
maintain their correct positions while
lifting the robot!
Raise overhead crane to lift the robot.
6
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
69
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
Continued
2.5.3 Lifting robot with roundslings
General
The figure below shows how to lift the complete robot with roundslings.
Notice the recommended robot position shown in the figure below!
Roundslings attached to the robot
![Image]
xx0200000315
Chain sling with shortener, 4250 kg, 3 pcs (0.5 m, 0.5 m, 0.265 m)
A
Roundsling, 1000 kg, 2 pcs
B
Roundsling, 2000 kg, 3 pcs (4 m)
C
Continues on next page
70
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
|
ABB_IRB7600_Product_Manual.pdf
|
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| 70
|
Slings attached directly onto robot
This section details how to lift and move the robot using lifting slings when these
are attached directly onto the robot frame.
Note
Please refer to the enclosed user instruction for instruction how to place the
manipulator in an correct position. Attempting to lift a manipulator in any other
position may result in the robot tipping over, causing severe damage or injury!
Note
Action
Run the overhead crane to a position above
the robot.
1
Article number is specified in Required
equipment on page 68 .
Position the robot as detailed in enclosed in-
struction!
2
Release the brakes, if required, as de-
tailed in section Manually releasing the
brakes on page 72 .
Article number is specified in Required
equipment on page 68 .
Fit the lifting accessory to the robot as de-
scribed in the enclosed instruction!
3
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
4
WARNING
Personnel must not, under any circumstances,
be present under the suspended load!
5
Make sure all hooks and attachments
maintain their correct positions while
lifting the robot!
Raise overhead crane to lift the robot.
6
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
69
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.2 Lifting robot with lifting accessory (recommended lifting method)
Continued
2.5.3 Lifting robot with roundslings
General
The figure below shows how to lift the complete robot with roundslings.
Notice the recommended robot position shown in the figure below!
Roundslings attached to the robot
![Image]
xx0200000315
Chain sling with shortener, 4250 kg, 3 pcs (0.5 m, 0.5 m, 0.265 m)
A
Roundsling, 1000 kg, 2 pcs
B
Roundsling, 2000 kg, 3 pcs (4 m)
C
Continues on next page
70
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
Required equipment
Note
Equipment
Lengths: 0.5 m (2 pcs), 0.265 m (1 pc).
Chain sling with shortener, 4250 kg, 3 pcs
Roundslings, 1000 kg, 2 pcs
Lengths: 4 m (3 pcs).
Roundslings, 2000 kg, 3 pcs
Slings attached directly on to robot
The section below details how to attach roundslings to the robot in order to lift the
complete robot.
Note
Action
Recommended robot position is de-
scribed in section Risk of tipping/sta-
bility on page 60 .
CAUTION
Attempting to lift the robot in any other position
than that recommended may result in the robot
tipping over and causing severe damage or in-
jury!
1
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
2
Run the overhead crane to a position above the
robot.
3
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the three chain slings with shorteners
to the overhead crane hook.
4
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Fit the three roundslings, 2000 kg to the robot.
Attach the roundslings to the chain slings
hanging from the overhead crane.
5
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the two roundslings, 1000 kg to the up-
per arm and the overhead crane hook!
6
Make sure all hooks and attachments
maintain correct position while lifting
the robot!
Raise the overhead crane to lift the robot.
7
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
71
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 71
|
2.5.3 Lifting robot with roundslings
General
The figure below shows how to lift the complete robot with roundslings.
Notice the recommended robot position shown in the figure below!
Roundslings attached to the robot
![Image]
xx0200000315
Chain sling with shortener, 4250 kg, 3 pcs (0.5 m, 0.5 m, 0.265 m)
A
Roundsling, 1000 kg, 2 pcs
B
Roundsling, 2000 kg, 3 pcs (4 m)
C
Continues on next page
70
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
Required equipment
Note
Equipment
Lengths: 0.5 m (2 pcs), 0.265 m (1 pc).
Chain sling with shortener, 4250 kg, 3 pcs
Roundslings, 1000 kg, 2 pcs
Lengths: 4 m (3 pcs).
Roundslings, 2000 kg, 3 pcs
Slings attached directly on to robot
The section below details how to attach roundslings to the robot in order to lift the
complete robot.
Note
Action
Recommended robot position is de-
scribed in section Risk of tipping/sta-
bility on page 60 .
CAUTION
Attempting to lift the robot in any other position
than that recommended may result in the robot
tipping over and causing severe damage or in-
jury!
1
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
2
Run the overhead crane to a position above the
robot.
3
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the three chain slings with shorteners
to the overhead crane hook.
4
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Fit the three roundslings, 2000 kg to the robot.
Attach the roundslings to the chain slings
hanging from the overhead crane.
5
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the two roundslings, 1000 kg to the up-
per arm and the overhead crane hook!
6
Make sure all hooks and attachments
maintain correct position while lifting
the robot!
Raise the overhead crane to lift the robot.
7
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
71
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
Continued
2.5.4 Manually releasing the brakes
General
This section details how to release the holding brakes of each axis motor.
The brakes may be released by:
•
Internal brake release unit: using push buttons on the robot. This requires
either the controller to be connected or that power is supplied to the R1.MP
connector, according to the section Supplying power to connector R1.MP
on page 73 .
Location of brake release unit
The internal brake release unit is located as shown in the figure.
Brake release at base
The figure below shows the unit located at the base.
xx0200000375
Internal brake release unit with push buttons, located on the robot base
-
Brake release at frame
The figure below shows the unit located at the frame.
xx0200000376
Internal brake release unit with push buttons, located on the robot frame
-
Continues on next page
72
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
|
ABB_IRB7600_Product_Manual.pdf
|
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| 72
|
Required equipment
Note
Equipment
Lengths: 0.5 m (2 pcs), 0.265 m (1 pc).
Chain sling with shortener, 4250 kg, 3 pcs
Roundslings, 1000 kg, 2 pcs
Lengths: 4 m (3 pcs).
Roundslings, 2000 kg, 3 pcs
Slings attached directly on to robot
The section below details how to attach roundslings to the robot in order to lift the
complete robot.
Note
Action
Recommended robot position is de-
scribed in section Risk of tipping/sta-
bility on page 60 .
CAUTION
Attempting to lift the robot in any other position
than that recommended may result in the robot
tipping over and causing severe damage or in-
jury!
1
CAUTION
The IRB 7600 robot weighs 2500 kg.
All lifting accessories used must be sized ac-
cordingly!
2
Run the overhead crane to a position above the
robot.
3
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the three chain slings with shorteners
to the overhead crane hook.
4
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Fit the three roundslings, 2000 kg to the robot.
Attach the roundslings to the chain slings
hanging from the overhead crane.
5
Lengths are specified in Required
equipment on page 71 .
Shown in the figure Roundslings at-
tached to the robot on page 70 .
Attach the two roundslings, 1000 kg to the up-
per arm and the overhead crane hook!
6
Make sure all hooks and attachments
maintain correct position while lifting
the robot!
Raise the overhead crane to lift the robot.
7
Always move the robot at very low
speeds, making sure it does not tip.
Product manual - IRB 7600
71
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.3 Lifting robot with roundslings
Continued
2.5.4 Manually releasing the brakes
General
This section details how to release the holding brakes of each axis motor.
The brakes may be released by:
•
Internal brake release unit: using push buttons on the robot. This requires
either the controller to be connected or that power is supplied to the R1.MP
connector, according to the section Supplying power to connector R1.MP
on page 73 .
Location of brake release unit
The internal brake release unit is located as shown in the figure.
Brake release at base
The figure below shows the unit located at the base.
xx0200000375
Internal brake release unit with push buttons, located on the robot base
-
Brake release at frame
The figure below shows the unit located at the frame.
xx0200000376
Internal brake release unit with push buttons, located on the robot frame
-
Continues on next page
72
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
Releasing the brakes
This procedure details how to release the holding brakes when the robot is equipped
with an internal brake release unit.
Note
Action
Buttons are shown in figure Location of
brake release unit on page 72 .
The internal brake release unit is equipped
with buttons for controlling the axes brakes.
The buttons are numbered according to the
numbers of the axes.
If the robot is not connected to the control-
ler, power must be supplied to the connect-
or R1.MP according to the section Supply-
ing power to connector R1.MP on page 73 .
1
DANGER
When releasing the holding brakes, the ro-
bot axes may move very quickly and
sometimes in unexpected ways!
Make sure no personnel is near or beneath
the robot arm!
2
Release the holding brake on a particular
robot axis by pressing the corresponding
button on the internal brake release unit.
3
The brake will function again as soon as
the button is released.
Supplying power to connector R1.MP
If the robot is not connected to the controller, power must be supplied to connector
R1.MP on the robot in order to enable the brake release buttons.
Note
Action
DANGER
Incorrect connections, such as supplying
power to the wrong pin, may cause all
brakes to be released simultaneously!
1
xx0600002937
Supply 0V on pin 12 and 24V on pin 11.
2
Product manual - IRB 7600
73
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 73
|
2.5.4 Manually releasing the brakes
General
This section details how to release the holding brakes of each axis motor.
The brakes may be released by:
•
Internal brake release unit: using push buttons on the robot. This requires
either the controller to be connected or that power is supplied to the R1.MP
connector, according to the section Supplying power to connector R1.MP
on page 73 .
Location of brake release unit
The internal brake release unit is located as shown in the figure.
Brake release at base
The figure below shows the unit located at the base.
xx0200000375
Internal brake release unit with push buttons, located on the robot base
-
Brake release at frame
The figure below shows the unit located at the frame.
xx0200000376
Internal brake release unit with push buttons, located on the robot frame
-
Continues on next page
72
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
Releasing the brakes
This procedure details how to release the holding brakes when the robot is equipped
with an internal brake release unit.
Note
Action
Buttons are shown in figure Location of
brake release unit on page 72 .
The internal brake release unit is equipped
with buttons for controlling the axes brakes.
The buttons are numbered according to the
numbers of the axes.
If the robot is not connected to the control-
ler, power must be supplied to the connect-
or R1.MP according to the section Supply-
ing power to connector R1.MP on page 73 .
1
DANGER
When releasing the holding brakes, the ro-
bot axes may move very quickly and
sometimes in unexpected ways!
Make sure no personnel is near or beneath
the robot arm!
2
Release the holding brake on a particular
robot axis by pressing the corresponding
button on the internal brake release unit.
3
The brake will function again as soon as
the button is released.
Supplying power to connector R1.MP
If the robot is not connected to the controller, power must be supplied to connector
R1.MP on the robot in order to enable the brake release buttons.
Note
Action
DANGER
Incorrect connections, such as supplying
power to the wrong pin, may cause all
brakes to be released simultaneously!
1
xx0600002937
Supply 0V on pin 12 and 24V on pin 11.
2
Product manual - IRB 7600
73
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
Continued
2.5.5 Lifting the base plate
Required equipment
Note
Article number
Equipment
3 pcs
3HAC14457-4
Lifting eye, M16
Length: approx. 2 m
Lifting slings
Hole configuration
xx0200000096
Attachment holes for lifting eyes (x3)
A
Lifting, base plate
Note
Action
CAUTION
The base plate weighs 353 kg. All lifting accessories
used must be sized accordingly.
1
Shown in figure Hole configur-
ation on page 74 .
Fit lifting eyes in specified holes.
2
Fit lifting slings to the eyes and to the lifting accessory.
CAUTION
Lift and move the base plate very slowly. If the base
plate starts to swing it is a risk for injuries or damage.
3
74
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.5 Lifting the base plate
|
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|
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| 74
|
Releasing the brakes
This procedure details how to release the holding brakes when the robot is equipped
with an internal brake release unit.
Note
Action
Buttons are shown in figure Location of
brake release unit on page 72 .
The internal brake release unit is equipped
with buttons for controlling the axes brakes.
The buttons are numbered according to the
numbers of the axes.
If the robot is not connected to the control-
ler, power must be supplied to the connect-
or R1.MP according to the section Supply-
ing power to connector R1.MP on page 73 .
1
DANGER
When releasing the holding brakes, the ro-
bot axes may move very quickly and
sometimes in unexpected ways!
Make sure no personnel is near or beneath
the robot arm!
2
Release the holding brake on a particular
robot axis by pressing the corresponding
button on the internal brake release unit.
3
The brake will function again as soon as
the button is released.
Supplying power to connector R1.MP
If the robot is not connected to the controller, power must be supplied to connector
R1.MP on the robot in order to enable the brake release buttons.
Note
Action
DANGER
Incorrect connections, such as supplying
power to the wrong pin, may cause all
brakes to be released simultaneously!
1
xx0600002937
Supply 0V on pin 12 and 24V on pin 11.
2
Product manual - IRB 7600
73
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.4 Manually releasing the brakes
Continued
2.5.5 Lifting the base plate
Required equipment
Note
Article number
Equipment
3 pcs
3HAC14457-4
Lifting eye, M16
Length: approx. 2 m
Lifting slings
Hole configuration
xx0200000096
Attachment holes for lifting eyes (x3)
A
Lifting, base plate
Note
Action
CAUTION
The base plate weighs 353 kg. All lifting accessories
used must be sized accordingly.
1
Shown in figure Hole configur-
ation on page 74 .
Fit lifting eyes in specified holes.
2
Fit lifting slings to the eyes and to the lifting accessory.
CAUTION
Lift and move the base plate very slowly. If the base
plate starts to swing it is a risk for injuries or damage.
3
74
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.5 Lifting the base plate
2.5.6 Securing the base plate
Base plate, dimensions
A
A
B
B
C
D
G
H
E
F
2x R525
598,31
560,85
487,01
243,5
0
73,84
111,30
1020
857,3
73,84
132,64
317,3
502,04
560,85
634,68
0
2x 50x45º
231,5
2x 450
950
(Ø 800)
12x M24
Ø1 A
455
C
A
4x48
13
(2)
1,6
3x45º
0.3
Ø 45P7
A-A
Ø1.5
(4x)
6,3
(48)
(2)
1,6
3x45º
B-B
(2)
13
3x R1
3x4
3x 90º
C-C
45K7
+0,5
0
47
0,25 c
(2x R22,5)
1,6
D
(2)
c
52,5º
Common Zone
E, F, G, H
xx1000001053
Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)
E, F, G, H
Continues on next page
Product manual - IRB 7600
75
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
|
ABB_IRB7600_Product_Manual.pdf
|
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| 75
|
2.5.5 Lifting the base plate
Required equipment
Note
Article number
Equipment
3 pcs
3HAC14457-4
Lifting eye, M16
Length: approx. 2 m
Lifting slings
Hole configuration
xx0200000096
Attachment holes for lifting eyes (x3)
A
Lifting, base plate
Note
Action
CAUTION
The base plate weighs 353 kg. All lifting accessories
used must be sized accordingly.
1
Shown in figure Hole configur-
ation on page 74 .
Fit lifting eyes in specified holes.
2
Fit lifting slings to the eyes and to the lifting accessory.
CAUTION
Lift and move the base plate very slowly. If the base
plate starts to swing it is a risk for injuries or damage.
3
74
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.5 Lifting the base plate
2.5.6 Securing the base plate
Base plate, dimensions
A
A
B
B
C
D
G
H
E
F
2x R525
598,31
560,85
487,01
243,5
0
73,84
111,30
1020
857,3
73,84
132,64
317,3
502,04
560,85
634,68
0
2x 50x45º
231,5
2x 450
950
(Ø 800)
12x M24
Ø1 A
455
C
A
4x48
13
(2)
1,6
3x45º
0.3
Ø 45P7
A-A
Ø1.5
(4x)
6,3
(48)
(2)
1,6
3x45º
B-B
(2)
13
3x R1
3x4
3x 90º
C-C
45K7
+0,5
0
47
0,25 c
(2x R22,5)
1,6
D
(2)
c
52,5º
Common Zone
E, F, G, H
xx1000001053
Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)
E, F, G, H
Continues on next page
Product manual - IRB 7600
75
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
xx0400000715
Four holes for alternative clamping, 4x Ø18
A
Continues on next page
76
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 76
|
2.5.6 Securing the base plate
Base plate, dimensions
A
A
B
B
C
D
G
H
E
F
2x R525
598,31
560,85
487,01
243,5
0
73,84
111,30
1020
857,3
73,84
132,64
317,3
502,04
560,85
634,68
0
2x 50x45º
231,5
2x 450
950
(Ø 800)
12x M24
Ø1 A
455
C
A
4x48
13
(2)
1,6
3x45º
0.3
Ø 45P7
A-A
Ø1.5
(4x)
6,3
(48)
(2)
1,6
3x45º
B-B
(2)
13
3x R1
3x4
3x 90º
C-C
45K7
+0,5
0
47
0,25 c
(2x R22,5)
1,6
D
(2)
c
52,5º
Common Zone
E, F, G, H
xx1000001053
Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)
E, F, G, H
Continues on next page
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75
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
xx0400000715
Four holes for alternative clamping, 4x Ø18
A
Continues on next page
76
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Base plate, orienting grooves and leveling bolts
The illustration below shows the orienting grooves and attachment holes for leveling
bolts in the base plate.
A
A
A
B
B
B
B
xx1500000312
Orienting grooves (3 pcs)
A
Levelling bolts, attachment holes (4 pcs)
B
Continues on next page
Product manual - IRB 7600
77
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 77
|
xx0400000715
Four holes for alternative clamping, 4x Ø18
A
Continues on next page
76
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Base plate, orienting grooves and leveling bolts
The illustration below shows the orienting grooves and attachment holes for leveling
bolts in the base plate.
A
A
A
B
B
B
B
xx1500000312
Orienting grooves (3 pcs)
A
Levelling bolts, attachment holes (4 pcs)
B
Continues on next page
Product manual - IRB 7600
77
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Base plate, guide sleeve holes
The illustration below shows the orienting grooves and guide sleeve holes in the
base plate.
A
xx0300000045
Guide sleeve holes (2 pcs)
A
Required equipment
Note
Article number
Equipment
Includes
•
guide sleeves, 3HAC12937-3
•
levelling screws, 9ADA120-79
•
attachment screws and washers
for securing the robot to the
base plate.
3HAC12937-7
Base plate
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
These procedures include references
to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Base plate
This section details how to secure the base plate to the foundation.
Note
Action
Make sure the foundation is levelled.
1
Continues on next page
78
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 78
|
Base plate, orienting grooves and leveling bolts
The illustration below shows the orienting grooves and attachment holes for leveling
bolts in the base plate.
A
A
A
B
B
B
B
xx1500000312
Orienting grooves (3 pcs)
A
Levelling bolts, attachment holes (4 pcs)
B
Continues on next page
Product manual - IRB 7600
77
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Base plate, guide sleeve holes
The illustration below shows the orienting grooves and guide sleeve holes in the
base plate.
A
xx0300000045
Guide sleeve holes (2 pcs)
A
Required equipment
Note
Article number
Equipment
Includes
•
guide sleeves, 3HAC12937-3
•
levelling screws, 9ADA120-79
•
attachment screws and washers
for securing the robot to the
base plate.
3HAC12937-7
Base plate
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
These procedures include references
to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Base plate
This section details how to secure the base plate to the foundation.
Note
Action
Make sure the foundation is levelled.
1
Continues on next page
78
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Note
Action
CAUTION
The base plate weighs 353 kg! All lifting
equipment used must be sized accordingly!
2
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Position base plate in relation to the robot
work location using the grooves in the base
plate.
3
Detailed in section Lifting the base plate
on page 74 .
Lift the base plate to its mounting position.
4
Attachment holes: 16 pcs.
Use the base plate as a template and drill at-
tachment holes as required by the selected
bolt dimension.
5
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Fit the base plate and use the levelling bolts
to level the base plate.
6
If required, fit strips of sheet metal underneath
the base plate to fill any gaps.
7
Secure the base plate to the foundation with
screws and sleeves.
8
Maximum allowed deviation all over the
base plate, from one contact surface to
the other: 0.3 mm.
Recheck the four contact surfaces on the
base plate to make sure the base plate is
levelled and flat.
9
If it is not, use pieces of sheet metal or similar
to bring the base plate to a levelled position.
Product manual - IRB 7600
79
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 79
|
Base plate, guide sleeve holes
The illustration below shows the orienting grooves and guide sleeve holes in the
base plate.
A
xx0300000045
Guide sleeve holes (2 pcs)
A
Required equipment
Note
Article number
Equipment
Includes
•
guide sleeves, 3HAC12937-3
•
levelling screws, 9ADA120-79
•
attachment screws and washers
for securing the robot to the
base plate.
3HAC12937-7
Base plate
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
These procedures include references
to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Base plate
This section details how to secure the base plate to the foundation.
Note
Action
Make sure the foundation is levelled.
1
Continues on next page
78
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
Note
Action
CAUTION
The base plate weighs 353 kg! All lifting
equipment used must be sized accordingly!
2
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Position base plate in relation to the robot
work location using the grooves in the base
plate.
3
Detailed in section Lifting the base plate
on page 74 .
Lift the base plate to its mounting position.
4
Attachment holes: 16 pcs.
Use the base plate as a template and drill at-
tachment holes as required by the selected
bolt dimension.
5
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Fit the base plate and use the levelling bolts
to level the base plate.
6
If required, fit strips of sheet metal underneath
the base plate to fill any gaps.
7
Secure the base plate to the foundation with
screws and sleeves.
8
Maximum allowed deviation all over the
base plate, from one contact surface to
the other: 0.3 mm.
Recheck the four contact surfaces on the
base plate to make sure the base plate is
levelled and flat.
9
If it is not, use pieces of sheet metal or similar
to bring the base plate to a levelled position.
Product manual - IRB 7600
79
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
2.5.7 Orienting and securing the robot
General
This section details how to orient and secure the robot to the base plate in order
to run the robot safely.
Illustration, robot fitted to base plate
This illustration shows the robot base fitted to the base plate.
xx0100000107
Robot attachment bolts and washers, 12 pcs (M24 x 140)
A
Orienting grooves in the robot base and in the base plate
B
Levelling screws
C
Base plate attachment screws
D
Attachment screws
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base plate/foundation.
M24 x 140
Suitable screws, lightly lubricated:
Quality 8.8
Quality:
Thickness: 4 mm
Suitable washer:
Outer diameter: 44 mm
Inner diameter: 25 mm
725 Nm
Tightening torque:
Continues on next page
80
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 80
|
Note
Action
CAUTION
The base plate weighs 353 kg! All lifting
equipment used must be sized accordingly!
2
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Position base plate in relation to the robot
work location using the grooves in the base
plate.
3
Detailed in section Lifting the base plate
on page 74 .
Lift the base plate to its mounting position.
4
Attachment holes: 16 pcs.
Use the base plate as a template and drill at-
tachment holes as required by the selected
bolt dimension.
5
Shown in figure Base plate, orienting
grooves and leveling bolts on page 77 .
Fit the base plate and use the levelling bolts
to level the base plate.
6
If required, fit strips of sheet metal underneath
the base plate to fill any gaps.
7
Secure the base plate to the foundation with
screws and sleeves.
8
Maximum allowed deviation all over the
base plate, from one contact surface to
the other: 0.3 mm.
Recheck the four contact surfaces on the
base plate to make sure the base plate is
levelled and flat.
9
If it is not, use pieces of sheet metal or similar
to bring the base plate to a levelled position.
Product manual - IRB 7600
79
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.6 Securing the base plate
Continued
2.5.7 Orienting and securing the robot
General
This section details how to orient and secure the robot to the base plate in order
to run the robot safely.
Illustration, robot fitted to base plate
This illustration shows the robot base fitted to the base plate.
xx0100000107
Robot attachment bolts and washers, 12 pcs (M24 x 140)
A
Orienting grooves in the robot base and in the base plate
B
Levelling screws
C
Base plate attachment screws
D
Attachment screws
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base plate/foundation.
M24 x 140
Suitable screws, lightly lubricated:
Quality 8.8
Quality:
Thickness: 4 mm
Suitable washer:
Outer diameter: 44 mm
Inner diameter: 25 mm
725 Nm
Tightening torque:
Continues on next page
80
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Securing the robot
Use this procedure to secure robot to base plate after fitting plate to the foundation.
Note
Action
See section Lifting robot with lifting
accessory (recommended lifting
method) on page 68 .
Lift the robot.
1
See section Lifting robot with round-
slings on page 70 .
Move robot to the vicinity of its installation loca-
tion.
2
Shown in figure Base plate, guide
sleeve holes on page 78 .
Note
One of the guide sleeve holes is
elongated!
Fit two guide sleeves to the guide sleeve holes
in the base plate.
3
Make sure the robot base is correctly
fitted onto the guide sleeves!
Guide the robot gently using two M24 screws
while lowering it into its mounting position.
4
Specified in Attachment screws on
page 80 .
Fit the bolts and washers in the base attach-
ment holes.
5
Shown in figure Illustration, robot fitted
to base plate on page 80 .
Note
Lightly lubricate screws before as-
sembly!
Tighten bolts in a criss-cross pattern to ensure
that the base is not distorted.
6
Continues on next page
Product manual - IRB 7600
81
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 81
|
2.5.7 Orienting and securing the robot
General
This section details how to orient and secure the robot to the base plate in order
to run the robot safely.
Illustration, robot fitted to base plate
This illustration shows the robot base fitted to the base plate.
xx0100000107
Robot attachment bolts and washers, 12 pcs (M24 x 140)
A
Orienting grooves in the robot base and in the base plate
B
Levelling screws
C
Base plate attachment screws
D
Attachment screws
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base plate/foundation.
M24 x 140
Suitable screws, lightly lubricated:
Quality 8.8
Quality:
Thickness: 4 mm
Suitable washer:
Outer diameter: 44 mm
Inner diameter: 25 mm
725 Nm
Tightening torque:
Continues on next page
80
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Securing the robot
Use this procedure to secure robot to base plate after fitting plate to the foundation.
Note
Action
See section Lifting robot with lifting
accessory (recommended lifting
method) on page 68 .
Lift the robot.
1
See section Lifting robot with round-
slings on page 70 .
Move robot to the vicinity of its installation loca-
tion.
2
Shown in figure Base plate, guide
sleeve holes on page 78 .
Note
One of the guide sleeve holes is
elongated!
Fit two guide sleeves to the guide sleeve holes
in the base plate.
3
Make sure the robot base is correctly
fitted onto the guide sleeves!
Guide the robot gently using two M24 screws
while lowering it into its mounting position.
4
Specified in Attachment screws on
page 80 .
Fit the bolts and washers in the base attach-
ment holes.
5
Shown in figure Illustration, robot fitted
to base plate on page 80 .
Note
Lightly lubricate screws before as-
sembly!
Tighten bolts in a criss-cross pattern to ensure
that the base is not distorted.
6
Continues on next page
Product manual - IRB 7600
81
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
Hole configuration, base
This illustration shows the hole configuration used when securing the robot.
xx0300000046
Cross section, guide sleeve hole
This illustration shows the cross section of the guide sleeve holes.
xx0100000109
82
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 82
|
Securing the robot
Use this procedure to secure robot to base plate after fitting plate to the foundation.
Note
Action
See section Lifting robot with lifting
accessory (recommended lifting
method) on page 68 .
Lift the robot.
1
See section Lifting robot with round-
slings on page 70 .
Move robot to the vicinity of its installation loca-
tion.
2
Shown in figure Base plate, guide
sleeve holes on page 78 .
Note
One of the guide sleeve holes is
elongated!
Fit two guide sleeves to the guide sleeve holes
in the base plate.
3
Make sure the robot base is correctly
fitted onto the guide sleeves!
Guide the robot gently using two M24 screws
while lowering it into its mounting position.
4
Specified in Attachment screws on
page 80 .
Fit the bolts and washers in the base attach-
ment holes.
5
Shown in figure Illustration, robot fitted
to base plate on page 80 .
Note
Lightly lubricate screws before as-
sembly!
Tighten bolts in a criss-cross pattern to ensure
that the base is not distorted.
6
Continues on next page
Product manual - IRB 7600
81
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
Hole configuration, base
This illustration shows the hole configuration used when securing the robot.
xx0300000046
Cross section, guide sleeve hole
This illustration shows the cross section of the guide sleeve holes.
xx0100000109
82
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
2.5.8 Fitting equipment on robot
General
The robot features mounting holes for additional equipment.
Access to any of the following mounting holes may be obstructed by any additional
cabling, equipment, etc., fitted by the robot user. Make sure the required mounting
holes are accessible when planning the robot cell.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Illustration, fitting of extra equipment on lower arm
The illustration below shows the mounting holes available for fitting extra equipment
on the lower arm.
Make sure not to damage the robot cabling on the inside of the lower arm when
fitting extra equipment. Always use appropriate attachment screws!
xx0700000722
A
Robot variant
2442 mm
IRB 7600 - 500/2.55
2192 mm
IRB 7600 - 500/2.3
2442 mm
IRB 7600 - 400/2.55
2692 mm
IRB 7600 - 340/2.8
2942 mm
IRB 7600 - 325/3.1
Continues on next page
Product manual - IRB 7600
83
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
|
ABB_IRB7600_Product_Manual.pdf
|
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| 83
|
Hole configuration, base
This illustration shows the hole configuration used when securing the robot.
xx0300000046
Cross section, guide sleeve hole
This illustration shows the cross section of the guide sleeve holes.
xx0100000109
82
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.7 Orienting and securing the robot
Continued
2.5.8 Fitting equipment on robot
General
The robot features mounting holes for additional equipment.
Access to any of the following mounting holes may be obstructed by any additional
cabling, equipment, etc., fitted by the robot user. Make sure the required mounting
holes are accessible when planning the robot cell.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Illustration, fitting of extra equipment on lower arm
The illustration below shows the mounting holes available for fitting extra equipment
on the lower arm.
Make sure not to damage the robot cabling on the inside of the lower arm when
fitting extra equipment. Always use appropriate attachment screws!
xx0700000722
A
Robot variant
2442 mm
IRB 7600 - 500/2.55
2192 mm
IRB 7600 - 500/2.3
2442 mm
IRB 7600 - 400/2.55
2692 mm
IRB 7600 - 340/2.8
2942 mm
IRB 7600 - 325/3.1
Continues on next page
Product manual - IRB 7600
83
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
A
Robot variant
3398 mm
IRB 7600 - 130/3.5
xx0100000120
Illustration, fitting of extra equipment on upper arm
The illustration below shows the mounting holes available for fitting extra equipment
on the upper arm.
xx0100000116
Continues on next page
84
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 84
|
2.5.8 Fitting equipment on robot
General
The robot features mounting holes for additional equipment.
Access to any of the following mounting holes may be obstructed by any additional
cabling, equipment, etc., fitted by the robot user. Make sure the required mounting
holes are accessible when planning the robot cell.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Illustration, fitting of extra equipment on lower arm
The illustration below shows the mounting holes available for fitting extra equipment
on the lower arm.
Make sure not to damage the robot cabling on the inside of the lower arm when
fitting extra equipment. Always use appropriate attachment screws!
xx0700000722
A
Robot variant
2442 mm
IRB 7600 - 500/2.55
2192 mm
IRB 7600 - 500/2.3
2442 mm
IRB 7600 - 400/2.55
2692 mm
IRB 7600 - 340/2.8
2942 mm
IRB 7600 - 325/3.1
Continues on next page
Product manual - IRB 7600
83
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
A
Robot variant
3398 mm
IRB 7600 - 130/3.5
xx0100000120
Illustration, fitting of extra equipment on upper arm
The illustration below shows the mounting holes available for fitting extra equipment
on the upper arm.
xx0100000116
Continues on next page
84
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
xx0300000299
A
Robot variant
1056 mm
IRB 7600 - 500/2.55
806 mm
IRB 7600 - 500/2.3
1056 mm
IRB 7600 - 400/2.55
1306 mm
IRB 7600 - 340/2.8
1556 mm
IRB 7600 - 325/3.1
2012 mm
IRB 7600 - 150/3.5
Illustration, fitting of extra equipment on frame
The mounting holes available for fitting extra equipment on the frame are shown
below.
xx0100000117
Continues on next page
Product manual - IRB 7600
85
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 85
|
A
Robot variant
3398 mm
IRB 7600 - 130/3.5
xx0100000120
Illustration, fitting of extra equipment on upper arm
The illustration below shows the mounting holes available for fitting extra equipment
on the upper arm.
xx0100000116
Continues on next page
84
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
xx0300000299
A
Robot variant
1056 mm
IRB 7600 - 500/2.55
806 mm
IRB 7600 - 500/2.3
1056 mm
IRB 7600 - 400/2.55
1306 mm
IRB 7600 - 340/2.8
1556 mm
IRB 7600 - 325/3.1
2012 mm
IRB 7600 - 150/3.5
Illustration, fitting of extra equipment on frame
The mounting holes available for fitting extra equipment on the frame are shown
below.
xx0100000117
Continues on next page
Product manual - IRB 7600
85
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
xx0100000118
Tool flange, standard
The illustration below shows the mounting holes available for fitting equipment on
the turning disc.
xx0100000119
Continues on next page
86
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 86
|
xx0300000299
A
Robot variant
1056 mm
IRB 7600 - 500/2.55
806 mm
IRB 7600 - 500/2.3
1056 mm
IRB 7600 - 400/2.55
1306 mm
IRB 7600 - 340/2.8
1556 mm
IRB 7600 - 325/3.1
2012 mm
IRB 7600 - 150/3.5
Illustration, fitting of extra equipment on frame
The mounting holes available for fitting extra equipment on the frame are shown
below.
xx0100000117
Continues on next page
Product manual - IRB 7600
85
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
xx0100000118
Tool flange, standard
The illustration below shows the mounting holes available for fitting equipment on
the turning disc.
xx0100000119
Continues on next page
86
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
Tool flange, LID (LeanID)
The illustration below shows the tool flange for option LID (LeanID).
12x M16
min 24
Drill
max 25,5
flat bottom hole
12x 30°
12 H7
15min
30max
12 H7
15min
16max
200
5°
15°
I
I
1,6
0,07 A
0,07 A
2 X
0,3 A
B
B
125 H7
8min
250
h8
1x45
227
1 x 45
SECTION I-I
2,5
3,2
2,5
0,04 A
0,08 CD
A
G
xx1600000980
Fastener quality
When fitting tools on the tool flange, only use screws with quality 12.9. For other
equipment use suitable screws and tightening torque for your application.
Product manual - IRB 7600
87
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 87
|
xx0100000118
Tool flange, standard
The illustration below shows the mounting holes available for fitting equipment on
the turning disc.
xx0100000119
Continues on next page
86
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
Tool flange, LID (LeanID)
The illustration below shows the tool flange for option LID (LeanID).
12x M16
min 24
Drill
max 25,5
flat bottom hole
12x 30°
12 H7
15min
30max
12 H7
15min
16max
200
5°
15°
I
I
1,6
0,07 A
0,07 A
2 X
0,3 A
B
B
125 H7
8min
250
h8
1x45
227
1 x 45
SECTION I-I
2,5
3,2
2,5
0,04 A
0,08 CD
A
G
xx1600000980
Fastener quality
When fitting tools on the tool flange, only use screws with quality 12.9. For other
equipment use suitable screws and tightening torque for your application.
Product manual - IRB 7600
87
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
2.5.9 Installation of base spacers (option)
Illustration, installation of base spacers
xx0500001570
Base spacer (4 pcs)
A
Guide sleeve (4 pcs)
B
Attachment screws and washers (12 pcs)
C
Required equipment
Note
Art. no.
Equipment
Includes mounting set with at-
tachment screws and mount-
ing instruction.
3HAC021899-002
Base spacers
3HAC12937-7
Base plate
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
88
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
|
ABB_IRB7600_Product_Manual.pdf
|
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| 88
|
Tool flange, LID (LeanID)
The illustration below shows the tool flange for option LID (LeanID).
12x M16
min 24
Drill
max 25,5
flat bottom hole
12x 30°
12 H7
15min
30max
12 H7
15min
16max
200
5°
15°
I
I
1,6
0,07 A
0,07 A
2 X
0,3 A
B
B
125 H7
8min
250
h8
1x45
227
1 x 45
SECTION I-I
2,5
3,2
2,5
0,04 A
0,08 CD
A
G
xx1600000980
Fastener quality
When fitting tools on the tool flange, only use screws with quality 12.9. For other
equipment use suitable screws and tightening torque for your application.
Product manual - IRB 7600
87
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Fitting equipment on robot
Continued
2.5.9 Installation of base spacers (option)
Illustration, installation of base spacers
xx0500001570
Base spacer (4 pcs)
A
Guide sleeve (4 pcs)
B
Attachment screws and washers (12 pcs)
C
Required equipment
Note
Art. no.
Equipment
Includes mounting set with at-
tachment screws and mount-
ing instruction.
3HAC021899-002
Base spacers
3HAC12937-7
Base plate
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
88
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
Note
Art. no.
Equipment
These procedures include ref-
erences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Installation, base spacers
The procedure below details how to fit the base spacers between the robot and
the base plate.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Detailed in section Lifting robot with
lifting accessory (recommended lifting
method) on page 68 .
Unfasten the robot from the foundation, if
fastened, and lift it away with lifting slings.
Make sure the robot is positioned in the most
stable position; the transport position!
2
Detailed in section Securing the base
plate on page 75 .
Install the base plate to the foundation, if not
used previously.
3
Shown in the figure Illustration, install-
ation of base spacers on page 88 .
Fit the four base spacers and guiding sleeves
to the base plate.
4
Lift the robot with lifting slings and move it to
the prepared base plate.
5
Guide the robot with the guiding sleeves as
lowering it towards the base plate and spacers.
6
M24 x 240, tightening torque: 775 Nm.
Fasten the robot base to the spacers with en-
closed attachment screws and washers.
7
DANGER
Make sure all safety requirements are met when
performing the first test run.
8
Product manual - IRB 7600
89
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 89
|
2.5.9 Installation of base spacers (option)
Illustration, installation of base spacers
xx0500001570
Base spacer (4 pcs)
A
Guide sleeve (4 pcs)
B
Attachment screws and washers (12 pcs)
C
Required equipment
Note
Art. no.
Equipment
Includes mounting set with at-
tachment screws and mount-
ing instruction.
3HAC021899-002
Base spacers
3HAC12937-7
Base plate
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
88
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
Note
Art. no.
Equipment
These procedures include ref-
erences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Installation, base spacers
The procedure below details how to fit the base spacers between the robot and
the base plate.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Detailed in section Lifting robot with
lifting accessory (recommended lifting
method) on page 68 .
Unfasten the robot from the foundation, if
fastened, and lift it away with lifting slings.
Make sure the robot is positioned in the most
stable position; the transport position!
2
Detailed in section Securing the base
plate on page 75 .
Install the base plate to the foundation, if not
used previously.
3
Shown in the figure Illustration, install-
ation of base spacers on page 88 .
Fit the four base spacers and guiding sleeves
to the base plate.
4
Lift the robot with lifting slings and move it to
the prepared base plate.
5
Guide the robot with the guiding sleeves as
lowering it towards the base plate and spacers.
6
M24 x 240, tightening torque: 775 Nm.
Fasten the robot base to the spacers with en-
closed attachment screws and washers.
7
DANGER
Make sure all safety requirements are met when
performing the first test run.
8
Product manual - IRB 7600
89
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
Continued
2.5.10 Installation of cooling fan for motors (option)
General
A cooling fan can be installed on the motors of axes 1 or 2.
Cooling fans for axes 1 and 2 can not be combined!
The cabling for the fans is available in different designs:
•
complete cabling, including connections for cooling fans at axes 1 and 2.
•
separate cabling for axis 1 or 2, including only connections for the cooling
fans on axes 1 or 2. Installation of this cabling is detailed in section
Installation, separate fan cabling axis 1 or 2 on page 94 .
If both cooling fans and position switches are installed on the robot, the complete
cabling must be used! It can not be combined with the separate cabling.
Location of cooling fans
The fans are installed on the motors, axes 1 or 2, as shown in the figure below.
![Image]
xx1800000170
![Image]
xx1800000169
Cooling fan, axis 1
A
Cooling fan, axis 2
B
Continues on next page
90
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
|
ABB_IRB7600_Product_Manual.pdf
|
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| 90
|
Note
Art. no.
Equipment
These procedures include ref-
erences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Installation, base spacers
The procedure below details how to fit the base spacers between the robot and
the base plate.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Detailed in section Lifting robot with
lifting accessory (recommended lifting
method) on page 68 .
Unfasten the robot from the foundation, if
fastened, and lift it away with lifting slings.
Make sure the robot is positioned in the most
stable position; the transport position!
2
Detailed in section Securing the base
plate on page 75 .
Install the base plate to the foundation, if not
used previously.
3
Shown in the figure Illustration, install-
ation of base spacers on page 88 .
Fit the four base spacers and guiding sleeves
to the base plate.
4
Lift the robot with lifting slings and move it to
the prepared base plate.
5
Guide the robot with the guiding sleeves as
lowering it towards the base plate and spacers.
6
M24 x 240, tightening torque: 775 Nm.
Fasten the robot base to the spacers with en-
closed attachment screws and washers.
7
DANGER
Make sure all safety requirements are met when
performing the first test run.
8
Product manual - IRB 7600
89
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.9 Installation of base spacers (option)
Continued
2.5.10 Installation of cooling fan for motors (option)
General
A cooling fan can be installed on the motors of axes 1 or 2.
Cooling fans for axes 1 and 2 can not be combined!
The cabling for the fans is available in different designs:
•
complete cabling, including connections for cooling fans at axes 1 and 2.
•
separate cabling for axis 1 or 2, including only connections for the cooling
fans on axes 1 or 2. Installation of this cabling is detailed in section
Installation, separate fan cabling axis 1 or 2 on page 94 .
If both cooling fans and position switches are installed on the robot, the complete
cabling must be used! It can not be combined with the separate cabling.
Location of cooling fans
The fans are installed on the motors, axes 1 or 2, as shown in the figure below.
![Image]
xx1800000170
![Image]
xx1800000169
Cooling fan, axis 1
A
Cooling fan, axis 2
B
Continues on next page
90
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Cooling fan
The details of the cooling fan are shown in the figure below.
xx0500002158
Fanbox
A
Attachment screws, fanbox plates (9 pcs)
B
Groove in the connector
C
Tightening screws, fanbox (3 pcs)
D
Required equipment
Note
Article number
Equipment
3HAC15374-1
Cooling fan
Choose this cabling if equipping the robot
with cooling fans on axis 1 or 2.
3HAC023599-001
Cabling cooling fan, axes 1
or 2.
An additional connection plate must be
fitted to the robot base, if not already in-
stalled. The plate is shown in the figure
Plate for customer connections, at base
on page 92 .
3HAC025778-001
Plate for customer connec-
tions
Specified in section Robot cabling and
connection points on page 110 .
-
Additional cabling to and in-
side the controller
The set includes:
•
fan axes 1 & 2 cable harness
•
plate, customer
•
attachment screws and nuts.
3HAC023999-001
Material set fan axes 1 and
2
3HAC025488-001
Cable harness inside control-
ler
Continues on next page
Product manual - IRB 7600
91
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 91
|
2.5.10 Installation of cooling fan for motors (option)
General
A cooling fan can be installed on the motors of axes 1 or 2.
Cooling fans for axes 1 and 2 can not be combined!
The cabling for the fans is available in different designs:
•
complete cabling, including connections for cooling fans at axes 1 and 2.
•
separate cabling for axis 1 or 2, including only connections for the cooling
fans on axes 1 or 2. Installation of this cabling is detailed in section
Installation, separate fan cabling axis 1 or 2 on page 94 .
If both cooling fans and position switches are installed on the robot, the complete
cabling must be used! It can not be combined with the separate cabling.
Location of cooling fans
The fans are installed on the motors, axes 1 or 2, as shown in the figure below.
![Image]
xx1800000170
![Image]
xx1800000169
Cooling fan, axis 1
A
Cooling fan, axis 2
B
Continues on next page
90
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Cooling fan
The details of the cooling fan are shown in the figure below.
xx0500002158
Fanbox
A
Attachment screws, fanbox plates (9 pcs)
B
Groove in the connector
C
Tightening screws, fanbox (3 pcs)
D
Required equipment
Note
Article number
Equipment
3HAC15374-1
Cooling fan
Choose this cabling if equipping the robot
with cooling fans on axis 1 or 2.
3HAC023599-001
Cabling cooling fan, axes 1
or 2.
An additional connection plate must be
fitted to the robot base, if not already in-
stalled. The plate is shown in the figure
Plate for customer connections, at base
on page 92 .
3HAC025778-001
Plate for customer connec-
tions
Specified in section Robot cabling and
connection points on page 110 .
-
Additional cabling to and in-
side the controller
The set includes:
•
fan axes 1 & 2 cable harness
•
plate, customer
•
attachment screws and nuts.
3HAC023999-001
Material set fan axes 1 and
2
3HAC025488-001
Cable harness inside control-
ler
Continues on next page
Product manual - IRB 7600
91
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Note
Article number
Equipment
Loctite 243. Used for the three tightening
screws.
-
Locking liquid
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
See chapter Circuit diagram on page427 .
-
Circuit diagram
These procedures include references to
the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Plate for customer connections, at base
xx0500002301
Plate for customer connections
A
Attachment screws, 3 pcs, M6x16 quality 8.8-A2F
B
Continues on next page
92
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 92
|
Cooling fan
The details of the cooling fan are shown in the figure below.
xx0500002158
Fanbox
A
Attachment screws, fanbox plates (9 pcs)
B
Groove in the connector
C
Tightening screws, fanbox (3 pcs)
D
Required equipment
Note
Article number
Equipment
3HAC15374-1
Cooling fan
Choose this cabling if equipping the robot
with cooling fans on axis 1 or 2.
3HAC023599-001
Cabling cooling fan, axes 1
or 2.
An additional connection plate must be
fitted to the robot base, if not already in-
stalled. The plate is shown in the figure
Plate for customer connections, at base
on page 92 .
3HAC025778-001
Plate for customer connec-
tions
Specified in section Robot cabling and
connection points on page 110 .
-
Additional cabling to and in-
side the controller
The set includes:
•
fan axes 1 & 2 cable harness
•
plate, customer
•
attachment screws and nuts.
3HAC023999-001
Material set fan axes 1 and
2
3HAC025488-001
Cable harness inside control-
ler
Continues on next page
Product manual - IRB 7600
91
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Note
Article number
Equipment
Loctite 243. Used for the three tightening
screws.
-
Locking liquid
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
See chapter Circuit diagram on page427 .
-
Circuit diagram
These procedures include references to
the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Plate for customer connections, at base
xx0500002301
Plate for customer connections
A
Attachment screws, 3 pcs, M6x16 quality 8.8-A2F
B
Continues on next page
92
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Installation, fan
The procedure below details how to install the cooling fan on any of the motors,
axes 1-3 .
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Shown in the figure Cool-
ing fan on page 91 .
Prepare the fanbox for installation:
•
disassemble the two parts of the box by removing the
nine attachment screws
•
loosen the three tightening screws , to avoid damaging
the surfaces of the motor when fitting the fanbox
•
turn the connector to the correct position; axis 1:
groove pointing inwards, as shown in the figure
Cooling fan on page 91 . Positions for axis 2 and 3
are shown in the figure Location of cooling fans on
page 90 .
2
Temporarily lift the motor cabling out of the way of the current
motor to make room for the fanbox.
3
Fit the parts of the fanbox to the motor and reassemble with
the nine attachment screws .
4
Lift the box (axis 1) so that it does not rest directly on the
robot and secure the box with the three tightening screws,
using locking liquid. Tighten them properly so that the box
is firmly attached to the motor.
5
Install the cabling and make adjustments in RobotWare, as
described in the following procedures.
6
Separate cabling for axis 1 or 2
The figure below shows the cabling used only for the fan on axis 1 or 2.
xx0500002173
Continues on next page
Product manual - IRB 7600
93
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 93
|
Note
Article number
Equipment
Loctite 243. Used for the three tightening
screws.
-
Locking liquid
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
See chapter Circuit diagram on page427 .
-
Circuit diagram
These procedures include references to
the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Plate for customer connections, at base
xx0500002301
Plate for customer connections
A
Attachment screws, 3 pcs, M6x16 quality 8.8-A2F
B
Continues on next page
92
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Installation, fan
The procedure below details how to install the cooling fan on any of the motors,
axes 1-3 .
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Shown in the figure Cool-
ing fan on page 91 .
Prepare the fanbox for installation:
•
disassemble the two parts of the box by removing the
nine attachment screws
•
loosen the three tightening screws , to avoid damaging
the surfaces of the motor when fitting the fanbox
•
turn the connector to the correct position; axis 1:
groove pointing inwards, as shown in the figure
Cooling fan on page 91 . Positions for axis 2 and 3
are shown in the figure Location of cooling fans on
page 90 .
2
Temporarily lift the motor cabling out of the way of the current
motor to make room for the fanbox.
3
Fit the parts of the fanbox to the motor and reassemble with
the nine attachment screws .
4
Lift the box (axis 1) so that it does not rest directly on the
robot and secure the box with the three tightening screws,
using locking liquid. Tighten them properly so that the box
is firmly attached to the motor.
5
Install the cabling and make adjustments in RobotWare, as
described in the following procedures.
6
Separate cabling for axis 1 or 2
The figure below shows the cabling used only for the fan on axis 1 or 2.
xx0500002173
Continues on next page
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93
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Cable bracket
A
Connector R1.SW2/3, connected to the robot base
B
Connector R3.FAN2, connected to the fan of axis 1 or 2
C
Installation, separate fan cabling axis 1 or 2
The procedure below details how to install the separate cabling for the cooling fan
of axis 1 or 2.
Note
Action
This is detailed in section Syn-
chronization marks and synchron-
ization position for axes on
page 376 .
Move the robot to its calibration position.
1
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
2
![Image]
xx1800000161
Remove the rear cover plate from the robot base.
3
Shown in the figure Separate
cabling for axis 1 or 2 on page 93
Remove the cable bracket (A)
4
Art. no. is specified in Required
equipment on page 91 .
![Image]
xx1800000162
Fit the plate for customer connections , if not
already fitted, to the connection plate of the robot
base.
5
Run the cabling up through the base and frame,
beneath the balancing device.
6
Continues on next page
94
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
|
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| 94
|
Installation, fan
The procedure below details how to install the cooling fan on any of the motors,
axes 1-3 .
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Shown in the figure Cool-
ing fan on page 91 .
Prepare the fanbox for installation:
•
disassemble the two parts of the box by removing the
nine attachment screws
•
loosen the three tightening screws , to avoid damaging
the surfaces of the motor when fitting the fanbox
•
turn the connector to the correct position; axis 1:
groove pointing inwards, as shown in the figure
Cooling fan on page 91 . Positions for axis 2 and 3
are shown in the figure Location of cooling fans on
page 90 .
2
Temporarily lift the motor cabling out of the way of the current
motor to make room for the fanbox.
3
Fit the parts of the fanbox to the motor and reassemble with
the nine attachment screws .
4
Lift the box (axis 1) so that it does not rest directly on the
robot and secure the box with the three tightening screws,
using locking liquid. Tighten them properly so that the box
is firmly attached to the motor.
5
Install the cabling and make adjustments in RobotWare, as
described in the following procedures.
6
Separate cabling for axis 1 or 2
The figure below shows the cabling used only for the fan on axis 1 or 2.
xx0500002173
Continues on next page
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93
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Cable bracket
A
Connector R1.SW2/3, connected to the robot base
B
Connector R3.FAN2, connected to the fan of axis 1 or 2
C
Installation, separate fan cabling axis 1 or 2
The procedure below details how to install the separate cabling for the cooling fan
of axis 1 or 2.
Note
Action
This is detailed in section Syn-
chronization marks and synchron-
ization position for axes on
page 376 .
Move the robot to its calibration position.
1
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
2
![Image]
xx1800000161
Remove the rear cover plate from the robot base.
3
Shown in the figure Separate
cabling for axis 1 or 2 on page 93
Remove the cable bracket (A)
4
Art. no. is specified in Required
equipment on page 91 .
![Image]
xx1800000162
Fit the plate for customer connections , if not
already fitted, to the connection plate of the robot
base.
5
Run the cabling up through the base and frame,
beneath the balancing device.
6
Continues on next page
94
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Note
Action
xx0500002174
Secure the cable bracket to the bracket of the ro-
bot cabling inside the frame.
Run the cable underneath the robot cabling and
out through the side of the frame, at motor, axis
1 . The correct cable run is shown in the figure to
the right!
Note
There is a risk of the balancing device damaging
the cable if it is not protected by the robot cabling!
7
A
Cable bracket. Also shown
in the figure Separate
cabling for axis 1 or 2 on
page 93 .
Note
Fans on both axis 1 and 2 can not
be used at the same time!
Connect the connector R3.FAN2 to the fan of axis
1 or 2.
8
Connect the connector R1.SW2/3 to the base of
the robot. Make sure that the cabling, run through
the frame and base, is not twisted and runs freely
from the robot cabling.
9
Refit the rear cover plate to the robot base.
10
Cabling is specified in section
Robot cabling and connection
points on page 110 .
Install additional cabling to and inside the control-
ler.
Also make adjustments in RobotWare, as de-
scribed in the following procedure.
11
Continues on next page
Product manual - IRB 7600
95
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 95
|
Cable bracket
A
Connector R1.SW2/3, connected to the robot base
B
Connector R3.FAN2, connected to the fan of axis 1 or 2
C
Installation, separate fan cabling axis 1 or 2
The procedure below details how to install the separate cabling for the cooling fan
of axis 1 or 2.
Note
Action
This is detailed in section Syn-
chronization marks and synchron-
ization position for axes on
page 376 .
Move the robot to its calibration position.
1
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
2
![Image]
xx1800000161
Remove the rear cover plate from the robot base.
3
Shown in the figure Separate
cabling for axis 1 or 2 on page 93
Remove the cable bracket (A)
4
Art. no. is specified in Required
equipment on page 91 .
![Image]
xx1800000162
Fit the plate for customer connections , if not
already fitted, to the connection plate of the robot
base.
5
Run the cabling up through the base and frame,
beneath the balancing device.
6
Continues on next page
94
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3HAC022033-001 Revision: AF
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Note
Action
xx0500002174
Secure the cable bracket to the bracket of the ro-
bot cabling inside the frame.
Run the cable underneath the robot cabling and
out through the side of the frame, at motor, axis
1 . The correct cable run is shown in the figure to
the right!
Note
There is a risk of the balancing device damaging
the cable if it is not protected by the robot cabling!
7
A
Cable bracket. Also shown
in the figure Separate
cabling for axis 1 or 2 on
page 93 .
Note
Fans on both axis 1 and 2 can not
be used at the same time!
Connect the connector R3.FAN2 to the fan of axis
1 or 2.
8
Connect the connector R1.SW2/3 to the base of
the robot. Make sure that the cabling, run through
the frame and base, is not twisted and runs freely
from the robot cabling.
9
Refit the rear cover plate to the robot base.
10
Cabling is specified in section
Robot cabling and connection
points on page 110 .
Install additional cabling to and inside the control-
ler.
Also make adjustments in RobotWare, as de-
scribed in the following procedure.
11
Continues on next page
Product manual - IRB 7600
95
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Adjustments in RobotWare
Note
Action
RobotWare 4.0: modify the settings in RobIn-
stall. RobotWare 4.063 and older must be up-
dated with a newer release.
Modify the settings in RobotWare to
include the cooling fans.
1
RobotWare 5: modify the option information
in System Builder (RobotStudio). Read more
about modifying the system in Operating
manual - RobotStudio .
RobotWare 6: modify the option information
in Installation Manager (RobotStudio). Read
more about modifying the system in Operating
manual - RobotStudio .
96
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2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
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| 96
|
Note
Action
xx0500002174
Secure the cable bracket to the bracket of the ro-
bot cabling inside the frame.
Run the cable underneath the robot cabling and
out through the side of the frame, at motor, axis
1 . The correct cable run is shown in the figure to
the right!
Note
There is a risk of the balancing device damaging
the cable if it is not protected by the robot cabling!
7
A
Cable bracket. Also shown
in the figure Separate
cabling for axis 1 or 2 on
page 93 .
Note
Fans on both axis 1 and 2 can not
be used at the same time!
Connect the connector R3.FAN2 to the fan of axis
1 or 2.
8
Connect the connector R1.SW2/3 to the base of
the robot. Make sure that the cabling, run through
the frame and base, is not twisted and runs freely
from the robot cabling.
9
Refit the rear cover plate to the robot base.
10
Cabling is specified in section
Robot cabling and connection
points on page 110 .
Install additional cabling to and inside the control-
ler.
Also make adjustments in RobotWare, as de-
scribed in the following procedure.
11
Continues on next page
Product manual - IRB 7600
95
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© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
Adjustments in RobotWare
Note
Action
RobotWare 4.0: modify the settings in RobIn-
stall. RobotWare 4.063 and older must be up-
dated with a newer release.
Modify the settings in RobotWare to
include the cooling fans.
1
RobotWare 5: modify the option information
in System Builder (RobotStudio). Read more
about modifying the system in Operating
manual - RobotStudio .
RobotWare 6: modify the option information
in Installation Manager (RobotStudio). Read
more about modifying the system in Operating
manual - RobotStudio .
96
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© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
Introduction
How to install the Foundry Plus Cable guard is described in the instruction delivered
with the cable guard.
Separate instructions for IRB 2600, 4600, 6620, 6640, 6650S, 6660 and 7600 are
available in English, German, French, Spanish, and Italian and can be found for
registered users on myABB Business Portal ( www.abb.com/myabb ) and delivered
with the Cable guard, article number 3HAC035933-001.
Product manual - IRB 7600
97
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
|
ABB_IRB7600_Product_Manual.pdf
|
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| 97
|
Adjustments in RobotWare
Note
Action
RobotWare 4.0: modify the settings in RobIn-
stall. RobotWare 4.063 and older must be up-
dated with a newer release.
Modify the settings in RobotWare to
include the cooling fans.
1
RobotWare 5: modify the option information
in System Builder (RobotStudio). Read more
about modifying the system in Operating
manual - RobotStudio .
RobotWare 6: modify the option information
in Installation Manager (RobotStudio). Read
more about modifying the system in Operating
manual - RobotStudio .
96
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.10 Installation of cooling fan for motors (option)
Continued
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
Introduction
How to install the Foundry Plus Cable guard is described in the instruction delivered
with the cable guard.
Separate instructions for IRB 2600, 4600, 6620, 6640, 6650S, 6660 and 7600 are
available in English, German, French, Spanish, and Italian and can be found for
registered users on myABB Business Portal ( www.abb.com/myabb ) and delivered
with the Cable guard, article number 3HAC035933-001.
Product manual - IRB 7600
97
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
2.5.12 Loads fitted to the robot, stopping time and braking distances
General
Any loads mounted on the robot must be defined correctly and carefully (with
regard to the position of center of gravity and mass moments of inertia) in order
to avoid jolting movements and overloading motors, gears and structure.
CAUTION
Incorrectly defined loads may result in operational stops or major damage to the
robot.
References
Load diagrams, permitted extra loads (equipment) and their positions are specified
in the product specification. The loads must be defined in the software.
•
User’s guide - S4Cplus (BaseWare OS 4.0)
•
Operating manual - IRC5 with FlexPendant
Stopping time and braking distances
The performance of the motor brake depends on if there are any loads attached
to the robot. For more information, see product specification for the robot.
98
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.12 Loads fitted to the robot, stopping time and braking distances
|
ABB_IRB7600_Product_Manual.pdf
|
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| 98
|
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
Introduction
How to install the Foundry Plus Cable guard is described in the instruction delivered
with the cable guard.
Separate instructions for IRB 2600, 4600, 6620, 6640, 6650S, 6660 and 7600 are
available in English, German, French, Spanish, and Italian and can be found for
registered users on myABB Business Portal ( www.abb.com/myabb ) and delivered
with the Cable guard, article number 3HAC035933-001.
Product manual - IRB 7600
97
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.11 Installation of Foundry Plus Cable guard (option no. 908-1)
2.5.12 Loads fitted to the robot, stopping time and braking distances
General
Any loads mounted on the robot must be defined correctly and carefully (with
regard to the position of center of gravity and mass moments of inertia) in order
to avoid jolting movements and overloading motors, gears and structure.
CAUTION
Incorrectly defined loads may result in operational stops or major damage to the
robot.
References
Load diagrams, permitted extra loads (equipment) and their positions are specified
in the product specification. The loads must be defined in the software.
•
User’s guide - S4Cplus (BaseWare OS 4.0)
•
Operating manual - IRC5 with FlexPendant
Stopping time and braking distances
The performance of the motor brake depends on if there are any loads attached
to the robot. For more information, see product specification for the robot.
98
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.12 Loads fitted to the robot, stopping time and braking distances
2.5.13 Safety lamp (option for IRC5)
Description
A signal lamp with a yellow fixed light can be mounted on the robot, as a safety
device.
Installation
See the assembly instruction delivered with the signal lamp.
Function
The lamp is active in MOTORS ON mode.
Further information
Further information about the MOTORS ON/MOTORS OFF mode may be found in
the product manual for the controller.
Product manual - IRB 7600
99
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.13 Safety lamp (option for IRC5)
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ABB_IRB7600_Product_Manual.pdf
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| 99
|
2.5.12 Loads fitted to the robot, stopping time and braking distances
General
Any loads mounted on the robot must be defined correctly and carefully (with
regard to the position of center of gravity and mass moments of inertia) in order
to avoid jolting movements and overloading motors, gears and structure.
CAUTION
Incorrectly defined loads may result in operational stops or major damage to the
robot.
References
Load diagrams, permitted extra loads (equipment) and their positions are specified
in the product specification. The loads must be defined in the software.
•
User’s guide - S4Cplus (BaseWare OS 4.0)
•
Operating manual - IRC5 with FlexPendant
Stopping time and braking distances
The performance of the motor brake depends on if there are any loads attached
to the robot. For more information, see product specification for the robot.
98
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.12 Loads fitted to the robot, stopping time and braking distances
2.5.13 Safety lamp (option for IRC5)
Description
A signal lamp with a yellow fixed light can be mounted on the robot, as a safety
device.
Installation
See the assembly instruction delivered with the signal lamp.
Function
The lamp is active in MOTORS ON mode.
Further information
Further information about the MOTORS ON/MOTORS OFF mode may be found in
the product manual for the controller.
Product manual - IRB 7600
99
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.13 Safety lamp (option for IRC5)
2.5.14 Extended working range, axis 1 (option)
Overview
The working range of axis 1 can be extended on a floor-mounted robot, from the
default range limited by mechanical stops. The working range can be extended to
±220°.
CAUTION
The option Extended work range enables an extension of the working range for
axis 1, through a software configuration. With this option installed, the working
range can exceed the range limited by the mechanical stop on axis 1. The working
range shall be limited through the option SafeMove.
A risk analysis must be done to ensure that no risks remain when using option
Extended work range , to limit the working range, and before removing the
mechanical stops.
For information about the option SafeMove, see Application manual - Functional
safety and SafeMove .
If the mechanical stop is removed, then the manipulator should have a marking
for this, for example, a label. If the robot is delivered with the option Extended
work range , then such a label is included on delivery.
Extending the working range
Note/Illustration
Action
Configure the safety setup and verify it by
test.
1
xx0400001034
Hold the mechanical stop pin in a firm grip,
and remove it by unscrewing the attach-
ment screw.
2
With the option Extended working range ,
the maximum value for the system paramet-
ers Upper Joint Bound and Lower Joint
Bound is 3.84 respectively -3.84. The val-
ues are in radians, that is 3.84 radians =
220 degrees.
In RobotWare, redefine the working range
limitations in the system parameters, topic
Motion . The Arm parameters Upper Joint
Bound and Lower Joint Bound can be
changed to the values corresponding to
the actual installation.
3
Related information
The system parameters are described in detail in the reference manual, see
References on page 10 .
Continues on next page
100
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2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
|
ABB_IRB7600_Product_Manual.pdf
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| 100
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2.5.13 Safety lamp (option for IRC5)
Description
A signal lamp with a yellow fixed light can be mounted on the robot, as a safety
device.
Installation
See the assembly instruction delivered with the signal lamp.
Function
The lamp is active in MOTORS ON mode.
Further information
Further information about the MOTORS ON/MOTORS OFF mode may be found in
the product manual for the controller.
Product manual - IRB 7600
99
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.13 Safety lamp (option for IRC5)
2.5.14 Extended working range, axis 1 (option)
Overview
The working range of axis 1 can be extended on a floor-mounted robot, from the
default range limited by mechanical stops. The working range can be extended to
±220°.
CAUTION
The option Extended work range enables an extension of the working range for
axis 1, through a software configuration. With this option installed, the working
range can exceed the range limited by the mechanical stop on axis 1. The working
range shall be limited through the option SafeMove.
A risk analysis must be done to ensure that no risks remain when using option
Extended work range , to limit the working range, and before removing the
mechanical stops.
For information about the option SafeMove, see Application manual - Functional
safety and SafeMove .
If the mechanical stop is removed, then the manipulator should have a marking
for this, for example, a label. If the robot is delivered with the option Extended
work range , then such a label is included on delivery.
Extending the working range
Note/Illustration
Action
Configure the safety setup and verify it by
test.
1
xx0400001034
Hold the mechanical stop pin in a firm grip,
and remove it by unscrewing the attach-
ment screw.
2
With the option Extended working range ,
the maximum value for the system paramet-
ers Upper Joint Bound and Lower Joint
Bound is 3.84 respectively -3.84. The val-
ues are in radians, that is 3.84 radians =
220 degrees.
In RobotWare, redefine the working range
limitations in the system parameters, topic
Motion . The Arm parameters Upper Joint
Bound and Lower Joint Bound can be
changed to the values corresponding to
the actual installation.
3
Related information
The system parameters are described in detail in the reference manual, see
References on page 10 .
Continues on next page
100
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
For more information about SafeMove, see Application manual - Functional safety
and SafeMove2 .
How to define the range of movement in M2000/M2000A is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0) , chapter System Parameters - topic Manipulator .
Product manual - IRB 7600
101
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2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 101
|
2.5.14 Extended working range, axis 1 (option)
Overview
The working range of axis 1 can be extended on a floor-mounted robot, from the
default range limited by mechanical stops. The working range can be extended to
±220°.
CAUTION
The option Extended work range enables an extension of the working range for
axis 1, through a software configuration. With this option installed, the working
range can exceed the range limited by the mechanical stop on axis 1. The working
range shall be limited through the option SafeMove.
A risk analysis must be done to ensure that no risks remain when using option
Extended work range , to limit the working range, and before removing the
mechanical stops.
For information about the option SafeMove, see Application manual - Functional
safety and SafeMove .
If the mechanical stop is removed, then the manipulator should have a marking
for this, for example, a label. If the robot is delivered with the option Extended
work range , then such a label is included on delivery.
Extending the working range
Note/Illustration
Action
Configure the safety setup and verify it by
test.
1
xx0400001034
Hold the mechanical stop pin in a firm grip,
and remove it by unscrewing the attach-
ment screw.
2
With the option Extended working range ,
the maximum value for the system paramet-
ers Upper Joint Bound and Lower Joint
Bound is 3.84 respectively -3.84. The val-
ues are in radians, that is 3.84 radians =
220 degrees.
In RobotWare, redefine the working range
limitations in the system parameters, topic
Motion . The Arm parameters Upper Joint
Bound and Lower Joint Bound can be
changed to the values corresponding to
the actual installation.
3
Related information
The system parameters are described in detail in the reference manual, see
References on page 10 .
Continues on next page
100
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2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
For more information about SafeMove, see Application manual - Functional safety
and SafeMove2 .
How to define the range of movement in M2000/M2000A is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0) , chapter System Parameters - topic Manipulator .
Product manual - IRB 7600
101
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
Continued
2.6 Restricting the working range
2.6.1 Axes with restricted working range
General
When installing the robot, make sure that it can move freely within its entire working
space. If there is a risk that it may collide with other objects, its working space
should be limited.
The working range of the following axes may be restricted:
•
Axis 1, hardware (mechanical stop)
•
Axis 2, hardware (mechanical stop)
•
Axis 3, hardware (mechanical stop)
As standard configuration, axis 1 is allowed to move ± 180º. The working range
may however be increased to ± 220º with option 561-1 Extended working range
axis 1 . Note that this option also requires installation of option 810-1 Electronic
position switch .
This section describes how to install hardware that restricts the working range.
Note
Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation
procedures.
102
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© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.1 Axes with restricted working range
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| 102
|
For more information about SafeMove, see Application manual - Functional safety
and SafeMove2 .
How to define the range of movement in M2000/M2000A is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0) , chapter System Parameters - topic Manipulator .
Product manual - IRB 7600
101
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.5.14 Extended working range, axis 1 (option)
Continued
2.6 Restricting the working range
2.6.1 Axes with restricted working range
General
When installing the robot, make sure that it can move freely within its entire working
space. If there is a risk that it may collide with other objects, its working space
should be limited.
The working range of the following axes may be restricted:
•
Axis 1, hardware (mechanical stop)
•
Axis 2, hardware (mechanical stop)
•
Axis 3, hardware (mechanical stop)
As standard configuration, axis 1 is allowed to move ± 180º. The working range
may however be increased to ± 220º with option 561-1 Extended working range
axis 1 . Note that this option also requires installation of option 810-1 Electronic
position switch .
This section describes how to install hardware that restricts the working range.
Note
Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation
procedures.
102
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.1 Axes with restricted working range
2.6.2 Mechanically restricting the working range of axis 1
General
The working range of axis 1 is limited by fixed mechanical stops and adjustment
of the system parameter configuration. The working range can be reduced by
adding additional mechanical stops giving 7.5 or 15 graduation, between 22.5°
and 135° in both directions.
Mechanical stops, axis 1
The illustration shows the mounting position of the stop pin and one of the additional
mechanical stops available for axis 1.
xx0300000049
Additional mechanical stop
A
Stop pin
B
Required equipment
Note
Article number
Equipment, etc.
Includes attachment screws and
an assembly drawing.
3HAC11076-1
Mechanical stop for axis 1, 7.5°
Includes attachment screws and
an assembly drawing.
3HAC11076-2
Mechanical stop for axis 1, 15°
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
103
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
|
ABB_IRB7600_Product_Manual.pdf
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| 103
|
2.6 Restricting the working range
2.6.1 Axes with restricted working range
General
When installing the robot, make sure that it can move freely within its entire working
space. If there is a risk that it may collide with other objects, its working space
should be limited.
The working range of the following axes may be restricted:
•
Axis 1, hardware (mechanical stop)
•
Axis 2, hardware (mechanical stop)
•
Axis 3, hardware (mechanical stop)
As standard configuration, axis 1 is allowed to move ± 180º. The working range
may however be increased to ± 220º with option 561-1 Extended working range
axis 1 . Note that this option also requires installation of option 810-1 Electronic
position switch .
This section describes how to install hardware that restricts the working range.
Note
Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation
procedures.
102
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.1 Axes with restricted working range
2.6.2 Mechanically restricting the working range of axis 1
General
The working range of axis 1 is limited by fixed mechanical stops and adjustment
of the system parameter configuration. The working range can be reduced by
adding additional mechanical stops giving 7.5 or 15 graduation, between 22.5°
and 135° in both directions.
Mechanical stops, axis 1
The illustration shows the mounting position of the stop pin and one of the additional
mechanical stops available for axis 1.
xx0300000049
Additional mechanical stop
A
Stop pin
B
Required equipment
Note
Article number
Equipment, etc.
Includes attachment screws and
an assembly drawing.
3HAC11076-1
Mechanical stop for axis 1, 7.5°
Includes attachment screws and
an assembly drawing.
3HAC11076-2
Mechanical stop for axis 1, 15°
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
103
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© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Note
Article number
Equipment, etc.
Article number is specified in
section References on page10 .
-
User’s guide - S4Cplus (BaseWare OS
4.0) (BaseWare 4.0)
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
Use this procedure to fit the additional mechanical stops to axis 1 of the robot. An
assembly drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 120 Nm.
Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 103 .
2
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Ma-
nipulator .
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
104
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 104
|
2.6.2 Mechanically restricting the working range of axis 1
General
The working range of axis 1 is limited by fixed mechanical stops and adjustment
of the system parameter configuration. The working range can be reduced by
adding additional mechanical stops giving 7.5 or 15 graduation, between 22.5°
and 135° in both directions.
Mechanical stops, axis 1
The illustration shows the mounting position of the stop pin and one of the additional
mechanical stops available for axis 1.
xx0300000049
Additional mechanical stop
A
Stop pin
B
Required equipment
Note
Article number
Equipment, etc.
Includes attachment screws and
an assembly drawing.
3HAC11076-1
Mechanical stop for axis 1, 7.5°
Includes attachment screws and
an assembly drawing.
3HAC11076-2
Mechanical stop for axis 1, 15°
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
103
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Note
Article number
Equipment, etc.
Article number is specified in
section References on page10 .
-
User’s guide - S4Cplus (BaseWare OS
4.0) (BaseWare 4.0)
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
Use this procedure to fit the additional mechanical stops to axis 1 of the robot. An
assembly drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 120 Nm.
Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 103 .
2
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Ma-
nipulator .
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
104
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Continued
2.6.3 Mechanically restricting the working range of axis 2
General
The working range of axis 2 is limited by fixed mechanical stops and can be reduced
by adding up to six additional mechanical stops with 15 graduation in respective
direction.
Mechanical stops, axis 2
The illustration shows the mounting position of the mechanical stops on axis 2.
xx0300000047
Additional mechanical stops
A
Fixed mechanical stop
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, 3HAC11407-1, each
one restricting the working range by
15°.
3HAC11077-1
Mechanical stop set, axis 2
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
105
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
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|
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| 105
|
Note
Article number
Equipment, etc.
Article number is specified in
section References on page10 .
-
User’s guide - S4Cplus (BaseWare OS
4.0) (BaseWare 4.0)
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
Use this procedure to fit the additional mechanical stops to axis 1 of the robot. An
assembly drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 120 Nm.
Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 103 .
2
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Ma-
nipulator .
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
104
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Continued
2.6.3 Mechanically restricting the working range of axis 2
General
The working range of axis 2 is limited by fixed mechanical stops and can be reduced
by adding up to six additional mechanical stops with 15 graduation in respective
direction.
Mechanical stops, axis 2
The illustration shows the mounting position of the mechanical stops on axis 2.
xx0300000047
Additional mechanical stops
A
Fixed mechanical stop
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, 3HAC11407-1, each
one restricting the working range by
15°.
3HAC11077-1
Mechanical stop set, axis 2
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
105
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Note
Art. no.
Equipment, etc.
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus
(BaseWare OS 4.0) (Robot-
Ware 4.0)
Technical reference manu-
al - System parameters
Installation, mechanical stops axis 2
Use the procedure to fit the mechanical stops for axis 2 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 2 on page 105 .
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
The software working range limitations must
be redefined to correspond to the changes
in the mechanical limitations of the working
range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
106
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 106
|
2.6.3 Mechanically restricting the working range of axis 2
General
The working range of axis 2 is limited by fixed mechanical stops and can be reduced
by adding up to six additional mechanical stops with 15 graduation in respective
direction.
Mechanical stops, axis 2
The illustration shows the mounting position of the mechanical stops on axis 2.
xx0300000047
Additional mechanical stops
A
Fixed mechanical stop
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, 3HAC11407-1, each
one restricting the working range by
15°.
3HAC11077-1
Mechanical stop set, axis 2
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
105
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Note
Art. no.
Equipment, etc.
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus
(BaseWare OS 4.0) (Robot-
Ware 4.0)
Technical reference manu-
al - System parameters
Installation, mechanical stops axis 2
Use the procedure to fit the mechanical stops for axis 2 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 2 on page 105 .
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
The software working range limitations must
be redefined to correspond to the changes
in the mechanical limitations of the working
range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
106
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Continued
2.6.4 Mechanically restricting the working range of axis 3
General
The working range of axis 3 is limited by fixed mechanical stops and can be reduced
by adding additional mechanical stops with 20 graduation in respective direction.
Mechanical stops, axis 3
The illustration shows the mounting position of the mechanical stops on axis 3.
The figure shows IRB 7600 but the principle is the same.
xx0300000048
Additional mechanical stops
A
Fixed mechanical stop
B
Attachment screw M16x60 quality 12.9
C
Continues on next page
Product manual - IRB 7600
107
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
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ABB_IRB7600_Product_Manual.pdf
|
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| 107
|
Note
Art. no.
Equipment, etc.
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus
(BaseWare OS 4.0) (Robot-
Ware 4.0)
Technical reference manu-
al - System parameters
Installation, mechanical stops axis 2
Use the procedure to fit the mechanical stops for axis 2 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 2 on page 105 .
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
The software working range limitations must
be redefined to correspond to the changes
in the mechanical limitations of the working
range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
106
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Continued
2.6.4 Mechanically restricting the working range of axis 3
General
The working range of axis 3 is limited by fixed mechanical stops and can be reduced
by adding additional mechanical stops with 20 graduation in respective direction.
Mechanical stops, axis 3
The illustration shows the mounting position of the mechanical stops on axis 3.
The figure shows IRB 7600 but the principle is the same.
xx0300000048
Additional mechanical stops
A
Fixed mechanical stop
B
Attachment screw M16x60 quality 12.9
C
Continues on next page
Product manual - IRB 7600
107
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
![Image]
![Image]
xx0600002973
Mechanical stop pin, axis 3
A
Attachment screw and washer
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, one with 80° re-
striction, 3HAC12708-4 (use when
limitation angle >=80), and five with
20°, 3HAC 12708-2.
3HAC13128-2
Mechanical stop set, axis 3
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus (Base-
Ware OS 4.0) (RobotWare 4.0)
Technical reference manu-
al - System parameters
Continues on next page
108
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 108
|
2.6.4 Mechanically restricting the working range of axis 3
General
The working range of axis 3 is limited by fixed mechanical stops and can be reduced
by adding additional mechanical stops with 20 graduation in respective direction.
Mechanical stops, axis 3
The illustration shows the mounting position of the mechanical stops on axis 3.
The figure shows IRB 7600 but the principle is the same.
xx0300000048
Additional mechanical stops
A
Fixed mechanical stop
B
Attachment screw M16x60 quality 12.9
C
Continues on next page
Product manual - IRB 7600
107
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
![Image]
![Image]
xx0600002973
Mechanical stop pin, axis 3
A
Attachment screw and washer
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, one with 80° re-
striction, 3HAC12708-4 (use when
limitation angle >=80), and five with
20°, 3HAC 12708-2.
3HAC13128-2
Mechanical stop set, axis 3
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus (Base-
Ware OS 4.0) (RobotWare 4.0)
Technical reference manu-
al - System parameters
Continues on next page
108
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 3 on page 107
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al limitations of the working range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
Product manual - IRB 7600
109
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 109
|
![Image]
![Image]
xx0600002973
Mechanical stop pin, axis 3
A
Attachment screw and washer
B
Required equipment
Note
Art. no.
Equipment, etc.
Includes six stops, one with 80° re-
striction, 3HAC12708-4 (use when
limitation angle >=80), and five with
20°, 3HAC 12708-2.
3HAC13128-2
Mechanical stop set, axis 3
Includes attachment screws.
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Art. no. is specified in section Refer-
ences on page 10 .
-
User’s guide - S4Cplus (Base-
Ware OS 4.0) (RobotWare 4.0)
Technical reference manu-
al - System parameters
Continues on next page
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2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 3 on page 107
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al limitations of the working range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
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2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
2.7 Electrical connections
2.7.1 Robot cabling and connection points
Introduction
Connect the robot and controller to each other after securing them to the foundation.
The lists below specify which cables to use for each respective application.
CAUTION
Connect the male and female connectors perfectly aligned horizontally to avoid
any kind of tilt or skew.
CAUTION
Verify that the robot serial number is according to the number(s) in the Declaration
of Incorporation (DoI).
Main cable categories
All cables between the robot and controller are divided into the following categories:
Description
Cable category
Handles power supply to and control of the robot's motors
as well as feedback from the serial measurement board.
Robot cables
Specified in the table Robot cables on page 111 .
Handles supply to and feedback from any cooling fan on
the robot.
Fan cables (option)
Specified in the table Fan cables (option) on page 112 .
Handles communication with equipment fitted on the robot
by the customer, low voltage signals and high voltage power
supply + protective ground.
Customer cables (option)
The customer cables also handle databus communication.
See the product manual for the controller, see document
number in References on page 10 .
Handles power supply to and control of the external axes'
motors as well as feedback from the servo system.
External axes cables (option)
See Application manual - Additional axes and stand alone
controller , document number in References on page 10 .
Handles signals, process media and power feeding for
customer use, regarding material handling or spot welding.
DressPack cables (option)
See the Product manual - DressPack/SpotPack IRB
6650S/7600 , see document number in References on
page 10 .
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
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Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
2
Shown in the figure Mechanical stops,
axis 3 on page 107
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator .
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al limitations of the working range.
3
The system parameters that must be
changed ( Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
Product manual - IRB 7600
109
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2 Installation and commissioning
2.6.4 Mechanically restricting the working range of axis 3
Continued
2.7 Electrical connections
2.7.1 Robot cabling and connection points
Introduction
Connect the robot and controller to each other after securing them to the foundation.
The lists below specify which cables to use for each respective application.
CAUTION
Connect the male and female connectors perfectly aligned horizontally to avoid
any kind of tilt or skew.
CAUTION
Verify that the robot serial number is according to the number(s) in the Declaration
of Incorporation (DoI).
Main cable categories
All cables between the robot and controller are divided into the following categories:
Description
Cable category
Handles power supply to and control of the robot's motors
as well as feedback from the serial measurement board.
Robot cables
Specified in the table Robot cables on page 111 .
Handles supply to and feedback from any cooling fan on
the robot.
Fan cables (option)
Specified in the table Fan cables (option) on page 112 .
Handles communication with equipment fitted on the robot
by the customer, low voltage signals and high voltage power
supply + protective ground.
Customer cables (option)
The customer cables also handle databus communication.
See the product manual for the controller, see document
number in References on page 10 .
Handles power supply to and control of the external axes'
motors as well as feedback from the servo system.
External axes cables (option)
See Application manual - Additional axes and stand alone
controller , document number in References on page 10 .
Handles signals, process media and power feeding for
customer use, regarding material handling or spot welding.
DressPack cables (option)
See the Product manual - DressPack/SpotPack IRB
6650S/7600 , see document number in References on
page 10 .
Continues on next page
110
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© Copyright 2007 - 2022 ABB. All rights reserved.
2 Installation and commissioning
2.7.1 Robot cabling and connection points
Robot cables
These cables are included in the standard delivery. They are completely
pre-manufactured and ready to plug in.
Connection
point, robot
Connection
point, cabinet
Description
Cable sub-category
R1.MP
XS1
Transfers drive power from the
drive units in the control cabinet
to the robot motors.
Robot cable, power
(OmniCore con-
trollers)
R1.SMB
XS2
Transfers resolver data from
and power supply to the serial
measurement board.
Robot cable, signals
(OmniCore con-
trollers)
Robot cable, power
Art. no.
Cable
3HAC026787-001
Robot cable, power: 7 m
3HAC026787-002
Robot cable, power: 15 m
3HAC026787-003
Robot cable, power: 22 m
3HAC026787-004
Robot cable, power: 30 m
Robot cable, signals
Art. no.
Cable
3HAC7998-1
Robot cable signal, shielded: 7 m
3HAC7998-2
Robot cable signal, shielded: 15 m
3HAC7998-3
Robot cable signal, shielded: 22 m
3HAC7998-4
Robot cable signal, shielded: 30 m
Bending radius for static floor cables
The minimum bending radius is 10 times the cable diameter for static floor cables.
A
B
xx1600002016
Diameter
A
Diameter x10
B
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
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2.7 Electrical connections
2.7.1 Robot cabling and connection points
Introduction
Connect the robot and controller to each other after securing them to the foundation.
The lists below specify which cables to use for each respective application.
CAUTION
Connect the male and female connectors perfectly aligned horizontally to avoid
any kind of tilt or skew.
CAUTION
Verify that the robot serial number is according to the number(s) in the Declaration
of Incorporation (DoI).
Main cable categories
All cables between the robot and controller are divided into the following categories:
Description
Cable category
Handles power supply to and control of the robot's motors
as well as feedback from the serial measurement board.
Robot cables
Specified in the table Robot cables on page 111 .
Handles supply to and feedback from any cooling fan on
the robot.
Fan cables (option)
Specified in the table Fan cables (option) on page 112 .
Handles communication with equipment fitted on the robot
by the customer, low voltage signals and high voltage power
supply + protective ground.
Customer cables (option)
The customer cables also handle databus communication.
See the product manual for the controller, see document
number in References on page 10 .
Handles power supply to and control of the external axes'
motors as well as feedback from the servo system.
External axes cables (option)
See Application manual - Additional axes and stand alone
controller , document number in References on page 10 .
Handles signals, process media and power feeding for
customer use, regarding material handling or spot welding.
DressPack cables (option)
See the Product manual - DressPack/SpotPack IRB
6650S/7600 , see document number in References on
page 10 .
Continues on next page
110
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Robot cables
These cables are included in the standard delivery. They are completely
pre-manufactured and ready to plug in.
Connection
point, robot
Connection
point, cabinet
Description
Cable sub-category
R1.MP
XS1
Transfers drive power from the
drive units in the control cabinet
to the robot motors.
Robot cable, power
(OmniCore con-
trollers)
R1.SMB
XS2
Transfers resolver data from
and power supply to the serial
measurement board.
Robot cable, signals
(OmniCore con-
trollers)
Robot cable, power
Art. no.
Cable
3HAC026787-001
Robot cable, power: 7 m
3HAC026787-002
Robot cable, power: 15 m
3HAC026787-003
Robot cable, power: 22 m
3HAC026787-004
Robot cable, power: 30 m
Robot cable, signals
Art. no.
Cable
3HAC7998-1
Robot cable signal, shielded: 7 m
3HAC7998-2
Robot cable signal, shielded: 15 m
3HAC7998-3
Robot cable signal, shielded: 22 m
3HAC7998-4
Robot cable signal, shielded: 30 m
Bending radius for static floor cables
The minimum bending radius is 10 times the cable diameter for static floor cables.
A
B
xx1600002016
Diameter
A
Diameter x10
B
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
Grounding and bonding point on manipulator
There is a grounding/bonding point on the manipulator base. The grounding/bonding
point is used for potential equalizing between control cabinet, manipulator and any
peripheral devices.
![Image]
xx1500001601
Note
How to ground DressPack/SpotPack cables is detailed in the Product
manual - DressPack/SpotPack IRB 6650S/7600 , see the document number in
References on page 10 .
Fan cables (option)
These cables are not included in the standard delivery, but are included in the
delivery if the fan option is ordered. The cables are completely pre-manufactured
and ready to plug in.
Cabling to be installed on the robot is specified in section Installation of cooling
fan for motors (option) on page 90 .
Cabling between robot base and control cabinet, cooling fans, M2004
The cables specified below are specific for the IRC5 controller and used when the
robot is equipped with cooling fans. The cabling for the cooling fans runs all the
way from the robot base to the inside of the cabinet. Fans can also be ordered
without cables.
If equipping the robot with cooling fans, use the cabling specified below. The cables
for cooling fans listed below are used together with a distributing cable, also
specified below.
Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-001
Harness - cooling, 7 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-004
Harness - cooling, 15 m
Inside cabinet: A43.X10 and A43.X11
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
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Robot cables
These cables are included in the standard delivery. They are completely
pre-manufactured and ready to plug in.
Connection
point, robot
Connection
point, cabinet
Description
Cable sub-category
R1.MP
XS1
Transfers drive power from the
drive units in the control cabinet
to the robot motors.
Robot cable, power
(OmniCore con-
trollers)
R1.SMB
XS2
Transfers resolver data from
and power supply to the serial
measurement board.
Robot cable, signals
(OmniCore con-
trollers)
Robot cable, power
Art. no.
Cable
3HAC026787-001
Robot cable, power: 7 m
3HAC026787-002
Robot cable, power: 15 m
3HAC026787-003
Robot cable, power: 22 m
3HAC026787-004
Robot cable, power: 30 m
Robot cable, signals
Art. no.
Cable
3HAC7998-1
Robot cable signal, shielded: 7 m
3HAC7998-2
Robot cable signal, shielded: 15 m
3HAC7998-3
Robot cable signal, shielded: 22 m
3HAC7998-4
Robot cable signal, shielded: 30 m
Bending radius for static floor cables
The minimum bending radius is 10 times the cable diameter for static floor cables.
A
B
xx1600002016
Diameter
A
Diameter x10
B
Continues on next page
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111
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
Grounding and bonding point on manipulator
There is a grounding/bonding point on the manipulator base. The grounding/bonding
point is used for potential equalizing between control cabinet, manipulator and any
peripheral devices.
![Image]
xx1500001601
Note
How to ground DressPack/SpotPack cables is detailed in the Product
manual - DressPack/SpotPack IRB 6650S/7600 , see the document number in
References on page 10 .
Fan cables (option)
These cables are not included in the standard delivery, but are included in the
delivery if the fan option is ordered. The cables are completely pre-manufactured
and ready to plug in.
Cabling to be installed on the robot is specified in section Installation of cooling
fan for motors (option) on page 90 .
Cabling between robot base and control cabinet, cooling fans, M2004
The cables specified below are specific for the IRC5 controller and used when the
robot is equipped with cooling fans. The cabling for the cooling fans runs all the
way from the robot base to the inside of the cabinet. Fans can also be ordered
without cables.
If equipping the robot with cooling fans, use the cabling specified below. The cables
for cooling fans listed below are used together with a distributing cable, also
specified below.
Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-001
Harness - cooling, 7 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-004
Harness - cooling, 15 m
Inside cabinet: A43.X10 and A43.X11
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-005
Harness - cooling, 22 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-006
Harness - cooling, 30 m
Inside cabinet: A43.X10 and A43.X11
Product manual - IRB 7600
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
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Grounding and bonding point on manipulator
There is a grounding/bonding point on the manipulator base. The grounding/bonding
point is used for potential equalizing between control cabinet, manipulator and any
peripheral devices.
![Image]
xx1500001601
Note
How to ground DressPack/SpotPack cables is detailed in the Product
manual - DressPack/SpotPack IRB 6650S/7600 , see the document number in
References on page 10 .
Fan cables (option)
These cables are not included in the standard delivery, but are included in the
delivery if the fan option is ordered. The cables are completely pre-manufactured
and ready to plug in.
Cabling to be installed on the robot is specified in section Installation of cooling
fan for motors (option) on page 90 .
Cabling between robot base and control cabinet, cooling fans, M2004
The cables specified below are specific for the IRC5 controller and used when the
robot is equipped with cooling fans. The cabling for the cooling fans runs all the
way from the robot base to the inside of the cabinet. Fans can also be ordered
without cables.
If equipping the robot with cooling fans, use the cabling specified below. The cables
for cooling fans listed below are used together with a distributing cable, also
specified below.
Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-001
Harness - cooling, 7 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-004
Harness - cooling, 15 m
Inside cabinet: A43.X10 and A43.X11
Continues on next page
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-005
Harness - cooling, 22 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-006
Harness - cooling, 30 m
Inside cabinet: A43.X10 and A43.X11
Product manual - IRB 7600
113
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
2.8 Start of robot in cold environments
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
Problems with starting the robot
Event message from Motion Supervision
Use this procedure if an event message indicates a problem with Motion supervision
at start-up. More information about Motion Supervision is found in Technical
reference manual - System parameters .
Note
Action
Turn off Motion Supervision.
1
Start the robot.
2
When the robot has reached normal working temper-
ature, the Motion Supervision can be turned on
again.
3
Robot stopping with other event message
Use this procedure if the robot is not starting.
Note
Action
The speed can be regulated with the
RAPID instruction VelSet .
Start the robot with its normal program but
with reduced speed.
1
Adjusting the speed and acceleration during warm-up
Depending on how cold the environment is and what program is being used, the
speed might need to be ramped up until reached maximum. The table shows
examples of how to adjust the speed:
Speed/velocity
AccSet
Work cycles
v100 (100 mm/s)
20, 20
3 Work cycles
v400 (400 mm/s)
40, 40
5 Work cycles
v600 (600 mm/s)
60, 60
5 Work cycles
v1000 (1000 mm/s)
100, 100
5 Work cycles
Max.
100, 100
More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
114
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2 Installation and commissioning
2.8 Start of robot in cold environments
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Connection point
Art. no.
Cable
Distributing cable: R1.FAN.SW2/3
3HAC022723-005
Harness - cooling, 22 m
Inside cabinet: A43.X10 and A43.X11
Distributing cable: R1.FAN.SW2/3
3HAC022723-006
Harness - cooling, 30 m
Inside cabinet: A43.X10 and A43.X11
Product manual - IRB 7600
113
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2 Installation and commissioning
2.7.1 Robot cabling and connection points
Continued
2.8 Start of robot in cold environments
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
Problems with starting the robot
Event message from Motion Supervision
Use this procedure if an event message indicates a problem with Motion supervision
at start-up. More information about Motion Supervision is found in Technical
reference manual - System parameters .
Note
Action
Turn off Motion Supervision.
1
Start the robot.
2
When the robot has reached normal working temper-
ature, the Motion Supervision can be turned on
again.
3
Robot stopping with other event message
Use this procedure if the robot is not starting.
Note
Action
The speed can be regulated with the
RAPID instruction VelSet .
Start the robot with its normal program but
with reduced speed.
1
Adjusting the speed and acceleration during warm-up
Depending on how cold the environment is and what program is being used, the
speed might need to be ramped up until reached maximum. The table shows
examples of how to adjust the speed:
Speed/velocity
AccSet
Work cycles
v100 (100 mm/s)
20, 20
3 Work cycles
v400 (400 mm/s)
40, 40
5 Work cycles
v600 (600 mm/s)
60, 60
5 Work cycles
v1000 (1000 mm/s)
100, 100
5 Work cycles
Max.
100, 100
More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
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2 Installation and commissioning
2.8 Start of robot in cold environments
3 Maintenance
3.1 Introduction
Structure of this chapter
This chapter describes all the maintenance activities recommended for the IRB
7600.
It is based on the maintenance schedule found at the beginning of the chapter.
The schedule contains information about required maintenance activities including
intervals, and refers to procedures for the activities.
Each procedure contains all the information required to perform the activity,
including required tools and materials.
The procedures are gathered in different sections and divided according to the
maintenance activity.
Safety information
Observe all safety information before conducting any service work.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page 23 before performing any service
work.
The maintenance must be done by qualified personnel in accordance with the
safety requirements set forth in the applicable national and regional standards and
regulations.
Note
If the IRB 7600 is connected to power, always make sure that the IRB 7600 is
connected to protective earth and a residual current device (RCD) before starting
any maintenance work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
•
Robot cabling and connection points on page 110 .
Product manual - IRB 7600
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3 Maintenance
3.1 Introduction
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| 115
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2.8 Start of robot in cold environments
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
Problems with starting the robot
Event message from Motion Supervision
Use this procedure if an event message indicates a problem with Motion supervision
at start-up. More information about Motion Supervision is found in Technical
reference manual - System parameters .
Note
Action
Turn off Motion Supervision.
1
Start the robot.
2
When the robot has reached normal working temper-
ature, the Motion Supervision can be turned on
again.
3
Robot stopping with other event message
Use this procedure if the robot is not starting.
Note
Action
The speed can be regulated with the
RAPID instruction VelSet .
Start the robot with its normal program but
with reduced speed.
1
Adjusting the speed and acceleration during warm-up
Depending on how cold the environment is and what program is being used, the
speed might need to be ramped up until reached maximum. The table shows
examples of how to adjust the speed:
Speed/velocity
AccSet
Work cycles
v100 (100 mm/s)
20, 20
3 Work cycles
v400 (400 mm/s)
40, 40
5 Work cycles
v600 (600 mm/s)
60, 60
5 Work cycles
v1000 (1000 mm/s)
100, 100
5 Work cycles
Max.
100, 100
More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
114
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2 Installation and commissioning
2.8 Start of robot in cold environments
3 Maintenance
3.1 Introduction
Structure of this chapter
This chapter describes all the maintenance activities recommended for the IRB
7600.
It is based on the maintenance schedule found at the beginning of the chapter.
The schedule contains information about required maintenance activities including
intervals, and refers to procedures for the activities.
Each procedure contains all the information required to perform the activity,
including required tools and materials.
The procedures are gathered in different sections and divided according to the
maintenance activity.
Safety information
Observe all safety information before conducting any service work.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page 23 before performing any service
work.
The maintenance must be done by qualified personnel in accordance with the
safety requirements set forth in the applicable national and regional standards and
regulations.
Note
If the IRB 7600 is connected to power, always make sure that the IRB 7600 is
connected to protective earth and a residual current device (RCD) before starting
any maintenance work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
•
Robot cabling and connection points on page 110 .
Product manual - IRB 7600
115
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.1 Introduction
3.2 Maintenance schedule and expected life
3.2.1 Specification of maintenance intervals
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 IRB 7600:
•
Calendar time: specified in months regardless of whether the system is
running or not.
•
Operating time: specified in operating hours. More frequent running means
more frequent maintenance activities.
•
SIS: specified by the robot's SIS (Service Information System). A typical
value is given for a typical work cycle, but the value will differ depending on
how hard each part is run.
The SIS used in M2004 is further described in the Operating manual - Service
Information System .
Robots with the functionality Service Information System activated can show active
counters in the device browser in RobotStudio, or on the FlexPendant.
Overhaul
Depending on application and operational environment a complete overhaul may
be necessary in average around 40000 hours.
ABB Connected Services and its Assessment tools can help you to identify the
real stress level of your robot, and define the optimal ABB support to maintain your
robot working.
Contact your local ABB Customer Service to get more information.
116
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© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.1 Specification of maintenance intervals
|
ABB_IRB7600_Product_Manual.pdf
|
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| 116
|
3 Maintenance
3.1 Introduction
Structure of this chapter
This chapter describes all the maintenance activities recommended for the IRB
7600.
It is based on the maintenance schedule found at the beginning of the chapter.
The schedule contains information about required maintenance activities including
intervals, and refers to procedures for the activities.
Each procedure contains all the information required to perform the activity,
including required tools and materials.
The procedures are gathered in different sections and divided according to the
maintenance activity.
Safety information
Observe all safety information before conducting any service work.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page 23 before performing any service
work.
The maintenance must be done by qualified personnel in accordance with the
safety requirements set forth in the applicable national and regional standards and
regulations.
Note
If the IRB 7600 is connected to power, always make sure that the IRB 7600 is
connected to protective earth and a residual current device (RCD) before starting
any maintenance work.
For more information see:
•
Product manual - IRC5
•
Product manual - IRC5 Panel Mounted Controller
•
Robot cabling and connection points on page 110 .
Product manual - IRB 7600
115
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.1 Introduction
3.2 Maintenance schedule and expected life
3.2.1 Specification of maintenance intervals
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 IRB 7600:
•
Calendar time: specified in months regardless of whether the system is
running or not.
•
Operating time: specified in operating hours. More frequent running means
more frequent maintenance activities.
•
SIS: specified by the robot's SIS (Service Information System). A typical
value is given for a typical work cycle, but the value will differ depending on
how hard each part is run.
The SIS used in M2004 is further described in the Operating manual - Service
Information System .
Robots with the functionality Service Information System activated can show active
counters in the device browser in RobotStudio, or on the FlexPendant.
Overhaul
Depending on application and operational environment a complete overhaul may
be necessary in average around 40000 hours.
ABB Connected Services and its Assessment tools can help you to identify the
real stress level of your robot, and define the optimal ABB support to maintain your
robot working.
Contact your local ABB Customer Service to get more information.
116
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.1 Specification of maintenance intervals
3.2.2 Maintenance schedule
General
The robot must be maintained regularly to ensure proper function. The maintenance
activities and intervals are specified in the following table.
Non-predictable situations also give rise to inspections of the robot. Any damage
must be attended to immediately.
The inspection intervals do not specify the life of each component. Values for these
are specified in the section Expected component life on page 121
Instructions for how to perform the different maintenance activities are found in
sections:
•
Inspection activities on page 122
•
Changing/replacement activities on page 161
•
Cleaning activities on page 191
Activities and intervals, standard equipment
The following tables specifies the required maintenance activities and intervals.
Inspecting activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Inspecting the motor seal
on page 122
Every:
•
12 months
Motor seal i
Inspection
Inspecting the balancing
device on page 142
Every:
•
6 months
Balancing device
Inspection
Inspecting the cable har-
ness on page 148
Every:
12 months ii
Robot harness
Inspection
Inspecting the information
labels on page 157
Every:
•
12 months
Information labels
Inspection
Inspecting the damper on
axes 2 to 5 on page 155
Every:
•
12 months
Dampers
Inspection
•
Inspecting the axis-
1 mechanical stop
pin on page 151
•
Inspecting the
mechanical stops on
axes 1, 2, and 3 on
page 153
Every:
•
12 months
Mechanical stops
Inspection
i
Only valid for robots that are equipped with Type B motors.
Type B motors include evacuation on the motor flange to indicate failure of primary sealing between
the gearbox and the motor. Robots with protection type Foundry Plus have a sight glass installed
in the evacuation holes.
See Type A vs type B motors on page 409 .
ii
Replace when damage or cracks is detected or life limit is approaching that specified in section
Expected component life on page 121 .
Continues on next page
Product manual - IRB 7600
117
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3 Maintenance
3.2.2 Maintenance schedule
|
ABB_IRB7600_Product_Manual.pdf
|
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| 117
|
3.2 Maintenance schedule and expected life
3.2.1 Specification of maintenance intervals
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 IRB 7600:
•
Calendar time: specified in months regardless of whether the system is
running or not.
•
Operating time: specified in operating hours. More frequent running means
more frequent maintenance activities.
•
SIS: specified by the robot's SIS (Service Information System). A typical
value is given for a typical work cycle, but the value will differ depending on
how hard each part is run.
The SIS used in M2004 is further described in the Operating manual - Service
Information System .
Robots with the functionality Service Information System activated can show active
counters in the device browser in RobotStudio, or on the FlexPendant.
Overhaul
Depending on application and operational environment a complete overhaul may
be necessary in average around 40000 hours.
ABB Connected Services and its Assessment tools can help you to identify the
real stress level of your robot, and define the optimal ABB support to maintain your
robot working.
Contact your local ABB Customer Service to get more information.
116
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.1 Specification of maintenance intervals
3.2.2 Maintenance schedule
General
The robot must be maintained regularly to ensure proper function. The maintenance
activities and intervals are specified in the following table.
Non-predictable situations also give rise to inspections of the robot. Any damage
must be attended to immediately.
The inspection intervals do not specify the life of each component. Values for these
are specified in the section Expected component life on page 121
Instructions for how to perform the different maintenance activities are found in
sections:
•
Inspection activities on page 122
•
Changing/replacement activities on page 161
•
Cleaning activities on page 191
Activities and intervals, standard equipment
The following tables specifies the required maintenance activities and intervals.
Inspecting activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Inspecting the motor seal
on page 122
Every:
•
12 months
Motor seal i
Inspection
Inspecting the balancing
device on page 142
Every:
•
6 months
Balancing device
Inspection
Inspecting the cable har-
ness on page 148
Every:
12 months ii
Robot harness
Inspection
Inspecting the information
labels on page 157
Every:
•
12 months
Information labels
Inspection
Inspecting the damper on
axes 2 to 5 on page 155
Every:
•
12 months
Dampers
Inspection
•
Inspecting the axis-
1 mechanical stop
pin on page 151
•
Inspecting the
mechanical stops on
axes 1, 2, and 3 on
page 153
Every:
•
12 months
Mechanical stops
Inspection
i
Only valid for robots that are equipped with Type B motors.
Type B motors include evacuation on the motor flange to indicate failure of primary sealing between
the gearbox and the motor. Robots with protection type Foundry Plus have a sight glass installed
in the evacuation holes.
See Type A vs type B motors on page 409 .
ii
Replace when damage or cracks is detected or life limit is approaching that specified in section
Expected component life on page 121 .
Continues on next page
Product manual - IRB 7600
117
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© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Changing activities
Note
It is very important not to mix different types of oil. The oil change intervals are
determined based on the generation of the robot. For more information, see
Technical reference manual - Lubrication in gearboxes .
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-1
gearbox on page163
Every:
•
12,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-1
gearbox on page163
First change when DTC i
reads:
6,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-2
gearbox on page167
Every:
•
12,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-2
gearbox on page167
First change when DTC i
reads:
6,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-3
gearbox on page170
Every:
•
12,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-3
gearbox on page170
First change when DTC i
reads:
6,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Continues on next page
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3 Maintenance
3.2.2 Maintenance schedule
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 118
|
3.2.2 Maintenance schedule
General
The robot must be maintained regularly to ensure proper function. The maintenance
activities and intervals are specified in the following table.
Non-predictable situations also give rise to inspections of the robot. Any damage
must be attended to immediately.
The inspection intervals do not specify the life of each component. Values for these
are specified in the section Expected component life on page 121
Instructions for how to perform the different maintenance activities are found in
sections:
•
Inspection activities on page 122
•
Changing/replacement activities on page 161
•
Cleaning activities on page 191
Activities and intervals, standard equipment
The following tables specifies the required maintenance activities and intervals.
Inspecting activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Inspecting the motor seal
on page 122
Every:
•
12 months
Motor seal i
Inspection
Inspecting the balancing
device on page 142
Every:
•
6 months
Balancing device
Inspection
Inspecting the cable har-
ness on page 148
Every:
12 months ii
Robot harness
Inspection
Inspecting the information
labels on page 157
Every:
•
12 months
Information labels
Inspection
Inspecting the damper on
axes 2 to 5 on page 155
Every:
•
12 months
Dampers
Inspection
•
Inspecting the axis-
1 mechanical stop
pin on page 151
•
Inspecting the
mechanical stops on
axes 1, 2, and 3 on
page 153
Every:
•
12 months
Mechanical stops
Inspection
i
Only valid for robots that are equipped with Type B motors.
Type B motors include evacuation on the motor flange to indicate failure of primary sealing between
the gearbox and the motor. Robots with protection type Foundry Plus have a sight glass installed
in the evacuation holes.
See Type A vs type B motors on page 409 .
ii
Replace when damage or cracks is detected or life limit is approaching that specified in section
Expected component life on page 121 .
Continues on next page
Product manual - IRB 7600
117
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© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Changing activities
Note
It is very important not to mix different types of oil. The oil change intervals are
determined based on the generation of the robot. For more information, see
Technical reference manual - Lubrication in gearboxes .
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-1
gearbox on page163
Every:
•
12,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-1
gearbox on page163
First change when DTC i
reads:
6,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-2
gearbox on page167
Every:
•
12,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-2
gearbox on page167
First change when DTC i
reads:
6,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-3
gearbox on page170
Every:
•
12,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-3
gearbox on page170
First change when DTC i
reads:
6,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-4
gearbox on page173
Every:
•
12,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-5
gearbox on page176
Every:
•
12,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-6
gearbox on page180
First change when DTC i
reads:
6,000 hours
Oil in axis-6 gear-
box, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
i
DTC = Duty Time Counter. Shows the operational time of the robot.
Continues on next page
Product manual - IRB 7600
119
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© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 119
|
Changing activities
Note
It is very important not to mix different types of oil. The oil change intervals are
determined based on the generation of the robot. For more information, see
Technical reference manual - Lubrication in gearboxes .
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-1
gearbox on page163
Every:
•
12,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-1
gearbox on page163
First change when DTC i
reads:
6,000 hours
Oil in axis-1 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-2
gearbox on page167
Every:
•
12,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-2
gearbox on page167
First change when DTC i
reads:
6,000 hours
Oil in axis-2 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-3
gearbox on page170
Every:
•
12,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-3
gearbox on page170
First change when DTC i
reads:
6,000 hours
Oil in axis-3 gear-
box, robot genera-
tion 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Continues on next page
118
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3 Maintenance
3.2.2 Maintenance schedule
Continued
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-4
gearbox on page173
Every:
•
12,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-5
gearbox on page176
Every:
•
12,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-6
gearbox on page180
First change when DTC i
reads:
6,000 hours
Oil in axis-6 gear-
box, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
i
DTC = Duty Time Counter. Shows the operational time of the robot.
Continues on next page
Product manual - IRB 7600
119
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3 Maintenance
3.2.2 Maintenance schedule
Continued
Miscellaneous activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Expected component life
on page 121
Every:
40,000 hours
Robot
Overhaul
Replacing the SMB battery
on page 183
36 months or battery low
alert i
Battery pack,
measurement sys-
tem of type
RMU101 or
RMU102 (3-pole
battery contact)
Replacement
Replacing the SMB battery
on page 183
Battery low alert ii
Battery pack,
measurement sys-
tem with 2-pole bat-
tery contact, e.g.
DSQC633A
Replacement
Every:
Balancing device
bearings
Lubrication
12,000 hours iii
i
The battery low alert (38213 Battery charge low ) is displayed when the battery needs to be replaced.
The recommendation to avoid an unsynchronized robot is to keep the power to the controller turned
on until the battery is to be replaced.
See the replacement instruction for more details.
ii
The battery low alert (38213 Battery charge low ) is displayed when remaining backup capacity
(robot powered off) is less than 2 months. The typical lifetime of a new battery is 36 months if the
robot is powered off 2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime
can be extended with a battery shutdown service routine. See Operating manual - IRC5 with
FlexPendant for instructions.
iii
Always lubricate the front eye bearing after refitting the shaft of the balancing device.
Activities and intervals, optional equipment
The following table specifies the required maintenance activities and intervals for
common optional equipment. The maintenance of other external equipment for the
robot is detailed in separate documents.
Detailed in section
Note
Interval
Equipment
Maintenance
activity
Inspecting the UL
lamp on page 159
Every:
12 months
Signal lamp
Inspection
Inspecting the mech-
anical stops on axes
1, 2, and 3 on
page 153
Mechanical stops in
addition to the fixed
stops
Every:
12 months
Mechanical stop
axes 1-2-3
Inspection
-
Inspect the fans for
contamination that
could hinder the air
supply. Clean if ne-
cessary.
Every 12
months
Motor fans, axes
1-2-3
Inspection
120
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
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| 120
|
Detailed in section
Interval
Equipment
Maintenance
activity
•
Changing oil, axis-4
gearbox on page173
Every:
•
12,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-4
gearbox on page173
First change when DTC i
reads:
6,000 hours
Oil in axis-4 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 primary
gearbox, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
•
Changing oil, axis-5
gearbox on page176
Every:
•
12,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 1:
Changing
Do not mix with other oils!
•
Changing oil, axis-5
gearbox on page176
First change when DTC i
reads:
6,000 hours
Oil in axis-5 second-
ary gearbox, robot
generation 2 and 3:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
Do not mix with other oils!
•
Changing oil, axis-6
gearbox on page180
First change when DTC i
reads:
6,000 hours
Oil in axis-6 gear-
box, all genera-
tions:
Changing
Second change when DTC
i reads:
24,000 hours
Following changes:
Every 24,000 hours
i
DTC = Duty Time Counter. Shows the operational time of the robot.
Continues on next page
Product manual - IRB 7600
119
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
Miscellaneous activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Expected component life
on page 121
Every:
40,000 hours
Robot
Overhaul
Replacing the SMB battery
on page 183
36 months or battery low
alert i
Battery pack,
measurement sys-
tem of type
RMU101 or
RMU102 (3-pole
battery contact)
Replacement
Replacing the SMB battery
on page 183
Battery low alert ii
Battery pack,
measurement sys-
tem with 2-pole bat-
tery contact, e.g.
DSQC633A
Replacement
Every:
Balancing device
bearings
Lubrication
12,000 hours iii
i
The battery low alert (38213 Battery charge low ) is displayed when the battery needs to be replaced.
The recommendation to avoid an unsynchronized robot is to keep the power to the controller turned
on until the battery is to be replaced.
See the replacement instruction for more details.
ii
The battery low alert (38213 Battery charge low ) is displayed when remaining backup capacity
(robot powered off) is less than 2 months. The typical lifetime of a new battery is 36 months if the
robot is powered off 2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime
can be extended with a battery shutdown service routine. See Operating manual - IRC5 with
FlexPendant for instructions.
iii
Always lubricate the front eye bearing after refitting the shaft of the balancing device.
Activities and intervals, optional equipment
The following table specifies the required maintenance activities and intervals for
common optional equipment. The maintenance of other external equipment for the
robot is detailed in separate documents.
Detailed in section
Note
Interval
Equipment
Maintenance
activity
Inspecting the UL
lamp on page 159
Every:
12 months
Signal lamp
Inspection
Inspecting the mech-
anical stops on axes
1, 2, and 3 on
page 153
Mechanical stops in
addition to the fixed
stops
Every:
12 months
Mechanical stop
axes 1-2-3
Inspection
-
Inspect the fans for
contamination that
could hinder the air
supply. Clean if ne-
cessary.
Every 12
months
Motor fans, axes
1-2-3
Inspection
120
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
3.2.3 Expected component life
General
The expected life of a specific component of the robot can vary greatly depending
on how hard it is run.
Expected component life - protection type Standard
Note
Expected life
Component
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
40,000 hours ii
Cable harness
Normal usage i
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
20,000 hours ii
Cable harness
Extreme usage iii
40,000 hours iv
Balancing device
40,000 hours
Gearboxes v
i
Examples of "normal usage" in regard to movement: most material handling applications and limited
use of bending backwards mode of axis 3.
ii
Severe chemical or thermal environments, or similar environments, can result in shortened life
expectancy.
iii
Examples of "extreme usage" in regard to movement: press tending, very severe palletizing
applications, major use of axis 1 movement and major use of bending backwards of axis 3.
iv
The given life for the balancing device is based on a test cycle of 4,000,000 cycles that starts from
the initial position and goes to maximum extension, and back. Deviations from this cycle will result
in differences in expected life!
v
Depending on application, the lifetime can vary. The Service Information System (SIS) that is
integrated in the robot software can be used as guidance when planning gearbox service for the
individual robot. This applies to gearboxes on axes 1, 2, 3 and 6. The lifetime of gearbox axes 4
and 5 is not calculated by SIS (See the Operating manual - Service Information System ). In some
applications, such as Foundry or Washing, the robot can be exposed to chemicals, high temperature
or humidity, which can have an effect on the lifetime of the gearboxes. Contact the local ABB
Robotics Service team for more information.
The SIS for an IRC5 system is described in the Operating manual - Service Information System .
For an M2000 system, the SIS is described in section Service Information System, M2000 on
page 196 .
Product manual - IRB 7600
121
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.3 Expected component life
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| 121
|
Miscellaneous activities
Detailed in section
Interval
Equipment
Maintenance
activity
Cleaning the IRB 7600 on
page 193
-
Robot
Cleaning
Expected component life
on page 121
Every:
40,000 hours
Robot
Overhaul
Replacing the SMB battery
on page 183
36 months or battery low
alert i
Battery pack,
measurement sys-
tem of type
RMU101 or
RMU102 (3-pole
battery contact)
Replacement
Replacing the SMB battery
on page 183
Battery low alert ii
Battery pack,
measurement sys-
tem with 2-pole bat-
tery contact, e.g.
DSQC633A
Replacement
Every:
Balancing device
bearings
Lubrication
12,000 hours iii
i
The battery low alert (38213 Battery charge low ) is displayed when the battery needs to be replaced.
The recommendation to avoid an unsynchronized robot is to keep the power to the controller turned
on until the battery is to be replaced.
See the replacement instruction for more details.
ii
The battery low alert (38213 Battery charge low ) is displayed when remaining backup capacity
(robot powered off) is less than 2 months. The typical lifetime of a new battery is 36 months if the
robot is powered off 2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime
can be extended with a battery shutdown service routine. See Operating manual - IRC5 with
FlexPendant for instructions.
iii
Always lubricate the front eye bearing after refitting the shaft of the balancing device.
Activities and intervals, optional equipment
The following table specifies the required maintenance activities and intervals for
common optional equipment. The maintenance of other external equipment for the
robot is detailed in separate documents.
Detailed in section
Note
Interval
Equipment
Maintenance
activity
Inspecting the UL
lamp on page 159
Every:
12 months
Signal lamp
Inspection
Inspecting the mech-
anical stops on axes
1, 2, and 3 on
page 153
Mechanical stops in
addition to the fixed
stops
Every:
12 months
Mechanical stop
axes 1-2-3
Inspection
-
Inspect the fans for
contamination that
could hinder the air
supply. Clean if ne-
cessary.
Every 12
months
Motor fans, axes
1-2-3
Inspection
120
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.2 Maintenance schedule
Continued
3.2.3 Expected component life
General
The expected life of a specific component of the robot can vary greatly depending
on how hard it is run.
Expected component life - protection type Standard
Note
Expected life
Component
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
40,000 hours ii
Cable harness
Normal usage i
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
20,000 hours ii
Cable harness
Extreme usage iii
40,000 hours iv
Balancing device
40,000 hours
Gearboxes v
i
Examples of "normal usage" in regard to movement: most material handling applications and limited
use of bending backwards mode of axis 3.
ii
Severe chemical or thermal environments, or similar environments, can result in shortened life
expectancy.
iii
Examples of "extreme usage" in regard to movement: press tending, very severe palletizing
applications, major use of axis 1 movement and major use of bending backwards of axis 3.
iv
The given life for the balancing device is based on a test cycle of 4,000,000 cycles that starts from
the initial position and goes to maximum extension, and back. Deviations from this cycle will result
in differences in expected life!
v
Depending on application, the lifetime can vary. The Service Information System (SIS) that is
integrated in the robot software can be used as guidance when planning gearbox service for the
individual robot. This applies to gearboxes on axes 1, 2, 3 and 6. The lifetime of gearbox axes 4
and 5 is not calculated by SIS (See the Operating manual - Service Information System ). In some
applications, such as Foundry or Washing, the robot can be exposed to chemicals, high temperature
or humidity, which can have an effect on the lifetime of the gearboxes. Contact the local ABB
Robotics Service team for more information.
The SIS for an IRC5 system is described in the Operating manual - Service Information System .
For an M2000 system, the SIS is described in section Service Information System, M2000 on
page 196 .
Product manual - IRB 7600
121
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.3 Expected component life
3.3 Inspection activities
3.3.1 Inspecting the motor seal
Purpose of evacuation holes
This section is only valid for robots that are equipped with Type B motors.
The motors include evacuation on the motor flange to indicate failure of primary
sealing between the gearbox and the motor.
More information is found in Type A vs type B motors on page 409 .
Location of evacuation hole on motor
The evacuation hole is located on each motor flange. The figure shows axis-1
motor as an example.
![Image]
xx1500001057
Plug in the evacuation hole
Robots with protection type Standard have a protection filter installed in the
evacuation hole.
Robots with protection type Foundry Plus have a transparent plug/sight glass
installed in the evacuation holes.
![Image]
xx1800000102
![Image]
xx1800000101
Transparent plug (Foundry Plus).
Protection filter (Standard).
Continues on next page
122
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
|
ABB_IRB7600_Product_Manual.pdf
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| 122
|
3.2.3 Expected component life
General
The expected life of a specific component of the robot can vary greatly depending
on how hard it is run.
Expected component life - protection type Standard
Note
Expected life
Component
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
40,000 hours ii
Cable harness
Normal usage i
Not including:
•
Possible SpotPack
harnesses
•
Optional upper arm
harnesses
20,000 hours ii
Cable harness
Extreme usage iii
40,000 hours iv
Balancing device
40,000 hours
Gearboxes v
i
Examples of "normal usage" in regard to movement: most material handling applications and limited
use of bending backwards mode of axis 3.
ii
Severe chemical or thermal environments, or similar environments, can result in shortened life
expectancy.
iii
Examples of "extreme usage" in regard to movement: press tending, very severe palletizing
applications, major use of axis 1 movement and major use of bending backwards of axis 3.
iv
The given life for the balancing device is based on a test cycle of 4,000,000 cycles that starts from
the initial position and goes to maximum extension, and back. Deviations from this cycle will result
in differences in expected life!
v
Depending on application, the lifetime can vary. The Service Information System (SIS) that is
integrated in the robot software can be used as guidance when planning gearbox service for the
individual robot. This applies to gearboxes on axes 1, 2, 3 and 6. The lifetime of gearbox axes 4
and 5 is not calculated by SIS (See the Operating manual - Service Information System ). In some
applications, such as Foundry or Washing, the robot can be exposed to chemicals, high temperature
or humidity, which can have an effect on the lifetime of the gearboxes. Contact the local ABB
Robotics Service team for more information.
The SIS for an IRC5 system is described in the Operating manual - Service Information System .
For an M2000 system, the SIS is described in section Service Information System, M2000 on
page 196 .
Product manual - IRB 7600
121
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.2.3 Expected component life
3.3 Inspection activities
3.3.1 Inspecting the motor seal
Purpose of evacuation holes
This section is only valid for robots that are equipped with Type B motors.
The motors include evacuation on the motor flange to indicate failure of primary
sealing between the gearbox and the motor.
More information is found in Type A vs type B motors on page 409 .
Location of evacuation hole on motor
The evacuation hole is located on each motor flange. The figure shows axis-1
motor as an example.
![Image]
xx1500001057
Plug in the evacuation hole
Robots with protection type Standard have a protection filter installed in the
evacuation hole.
Robots with protection type Foundry Plus have a transparent plug/sight glass
installed in the evacuation holes.
![Image]
xx1800000102
![Image]
xx1800000101
Transparent plug (Foundry Plus).
Protection filter (Standard).
Continues on next page
122
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
Inspecting the evacuation hole
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
2
![Image]
xx1500001057
Do a leakage check of the sight glass/evacuation
hole of each motor.
If any oil is available on the sight glass or if any
oil has been spilled out from the evacuation hole,
replacement of the motor is recommended.
3
Replacing of motors is described
in the repair chapter Motors on
page 291 .
Product manual - IRB 7600
123
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 123
|
3.3 Inspection activities
3.3.1 Inspecting the motor seal
Purpose of evacuation holes
This section is only valid for robots that are equipped with Type B motors.
The motors include evacuation on the motor flange to indicate failure of primary
sealing between the gearbox and the motor.
More information is found in Type A vs type B motors on page 409 .
Location of evacuation hole on motor
The evacuation hole is located on each motor flange. The figure shows axis-1
motor as an example.
![Image]
xx1500001057
Plug in the evacuation hole
Robots with protection type Standard have a protection filter installed in the
evacuation hole.
Robots with protection type Foundry Plus have a transparent plug/sight glass
installed in the evacuation holes.
![Image]
xx1800000102
![Image]
xx1800000101
Transparent plug (Foundry Plus).
Protection filter (Standard).
Continues on next page
122
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
Inspecting the evacuation hole
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
2
![Image]
xx1500001057
Do a leakage check of the sight glass/evacuation
hole of each motor.
If any oil is available on the sight glass or if any
oil has been spilled out from the evacuation hole,
replacement of the motor is recommended.
3
Replacing of motors is described
in the repair chapter Motors on
page 291 .
Product manual - IRB 7600
123
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
Continued
3.3.2 Inspecting the oil level in axis-1 gearbox
Location of gearbox
The axis-1 gearbox is located between the frame and base as shown in the following
figure.
xx0200000111
Gearbox axis 1
A
Oil plug, filling
B
Motor, axis 1
C
Oil plug, inspection (not available in all designs)
D
Label, specifies type of oil in the axis 1 gearbox
E
Required equipment
Note
Art. no.
Equipment, etc.
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
124
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
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ABB_IRB7600_Product_Manual.pdf
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| 124
|
Inspecting the evacuation hole
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
2
![Image]
xx1500001057
Do a leakage check of the sight glass/evacuation
hole of each motor.
If any oil is available on the sight glass or if any
oil has been spilled out from the evacuation hole,
replacement of the motor is recommended.
3
Replacing of motors is described
in the repair chapter Motors on
page 291 .
Product manual - IRB 7600
123
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.1 Inspecting the motor seal
Continued
3.3.2 Inspecting the oil level in axis-1 gearbox
Location of gearbox
The axis-1 gearbox is located between the frame and base as shown in the following
figure.
xx0200000111
Gearbox axis 1
A
Oil plug, filling
B
Motor, axis 1
C
Oil plug, inspection (not available in all designs)
D
Label, specifies type of oil in the axis 1 gearbox
E
Required equipment
Note
Art. no.
Equipment, etc.
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
124
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Note
Art. no.
Equipment, etc.
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspection through the oil plug, filling
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is not available .
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease)
on page 38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Detailed in section Removal, motor
axis 1 on page 293 .
Remove the motor, axis 1.
4
Measure the oil level through the motor hole.
5
Required oil level: 35-45 mm to the motor hole.
Where to find type of oil and total
amount is detailed in Type and amount
of oil in gearboxes on page 161 .
Adjust the oil level, if required.
6
Filling and draining detailed in Chan-
ging oil, axis-1 gearbox on page 163 .
Detailed in section Refitting, motor
axis 1 on page 294 .
Refit the motor, axis 1.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technic-
al reference manual - Lubrication in gearboxes .
8
Continues on next page
Product manual - IRB 7600
125
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
|
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|
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| 125
|
3.3.2 Inspecting the oil level in axis-1 gearbox
Location of gearbox
The axis-1 gearbox is located between the frame and base as shown in the following
figure.
xx0200000111
Gearbox axis 1
A
Oil plug, filling
B
Motor, axis 1
C
Oil plug, inspection (not available in all designs)
D
Label, specifies type of oil in the axis 1 gearbox
E
Required equipment
Note
Art. no.
Equipment, etc.
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
124
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Note
Art. no.
Equipment, etc.
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspection through the oil plug, filling
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is not available .
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease)
on page 38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Detailed in section Removal, motor
axis 1 on page 293 .
Remove the motor, axis 1.
4
Measure the oil level through the motor hole.
5
Required oil level: 35-45 mm to the motor hole.
Where to find type of oil and total
amount is detailed in Type and amount
of oil in gearboxes on page 161 .
Adjust the oil level, if required.
6
Filling and draining detailed in Chan-
ging oil, axis-1 gearbox on page 163 .
Detailed in section Refitting, motor
axis 1 on page 294 .
Refit the motor, axis 1.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technic-
al reference manual - Lubrication in gearboxes .
8
Continues on next page
Product manual - IRB 7600
125
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
Inspection through the oil plug, inspection
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is available .
Note
Action
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Shown in the figure Location of
gearbox on page 124 .
Open the oil plug, inspection .
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Changing oil,
axis-1 gearbox on page 163 .
Tightening torque: 24 Nm.
Refit the oil plug, inspection.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
126
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 126
|
Note
Art. no.
Equipment, etc.
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspection through the oil plug, filling
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is not available .
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease)
on page 38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Detailed in section Removal, motor
axis 1 on page 293 .
Remove the motor, axis 1.
4
Measure the oil level through the motor hole.
5
Required oil level: 35-45 mm to the motor hole.
Where to find type of oil and total
amount is detailed in Type and amount
of oil in gearboxes on page 161 .
Adjust the oil level, if required.
6
Filling and draining detailed in Chan-
ging oil, axis-1 gearbox on page 163 .
Detailed in section Refitting, motor
axis 1 on page 294 .
Refit the motor, axis 1.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technic-
al reference manual - Lubrication in gearboxes .
8
Continues on next page
Product manual - IRB 7600
125
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
Inspection through the oil plug, inspection
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is available .
Note
Action
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Shown in the figure Location of
gearbox on page 124 .
Open the oil plug, inspection .
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Changing oil,
axis-1 gearbox on page 163 .
Tightening torque: 24 Nm.
Refit the oil plug, inspection.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
126
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
3.3.3 Inspecting the oil level in axis-2 gearbox
Different designs
The cover of the axis-2 gearbox is available in different designs, with different
locations of the oil plug hole for filling. The oil plug hole of the later design is located
33 mm lower than on the earlier design. The measured distance to the oil level
varies, depending on the design of the cover.
Oil plug, early design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the early design of the gearbox cover.
A
B
C
D
xx0300000068
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling (early design)
B
Oil plug, draining
C
Label, specifies the type of oil in the axis-2 gearbox
D
Continues on next page
Product manual - IRB 7600
127
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
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ABB_IRB7600_Product_Manual.pdf
|
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| 127
|
Inspection through the oil plug, inspection
Use this procedure to inspect the oil level in the axis-1 gearbox, when the oil plug
for inspection (shown in figure Location of gearbox on page 124 ) is available .
Note
Action
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page38 .
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Shown in the figure Location of
gearbox on page 124 .
Open the oil plug, inspection .
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Changing oil,
axis-1 gearbox on page 163 .
Tightening torque: 24 Nm.
Refit the oil plug, inspection.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
126
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.2 Inspecting the oil level in axis-1 gearbox
Continued
3.3.3 Inspecting the oil level in axis-2 gearbox
Different designs
The cover of the axis-2 gearbox is available in different designs, with different
locations of the oil plug hole for filling. The oil plug hole of the later design is located
33 mm lower than on the earlier design. The measured distance to the oil level
varies, depending on the design of the cover.
Oil plug, early design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the early design of the gearbox cover.
A
B
C
D
xx0300000068
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling (early design)
B
Oil plug, draining
C
Label, specifies the type of oil in the axis-2 gearbox
D
Continues on next page
Product manual - IRB 7600
127
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Oil plug, later design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the later design of the gearbox cover.
A
C
B
D
E
A
C
B
D
xx0200000112
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling/inspection (later design)
B
Oil plug, draining
C
Label, specifies the type of oil in axis-2 gearbox
D
Oil plug, ventilation (later design)
E
Required equipment
Note
Art. no.
Equipment etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-2 gearbox
Use this procedure to inspect the oil level in the axis-2 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Continues on next page
128
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 128
|
3.3.3 Inspecting the oil level in axis-2 gearbox
Different designs
The cover of the axis-2 gearbox is available in different designs, with different
locations of the oil plug hole for filling. The oil plug hole of the later design is located
33 mm lower than on the earlier design. The measured distance to the oil level
varies, depending on the design of the cover.
Oil plug, early design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the early design of the gearbox cover.
A
B
C
D
xx0300000068
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling (early design)
B
Oil plug, draining
C
Label, specifies the type of oil in the axis-2 gearbox
D
Continues on next page
Product manual - IRB 7600
127
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Oil plug, later design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the later design of the gearbox cover.
A
C
B
D
E
A
C
B
D
xx0200000112
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling/inspection (later design)
B
Oil plug, draining
C
Label, specifies the type of oil in axis-2 gearbox
D
Oil plug, ventilation (later design)
E
Required equipment
Note
Art. no.
Equipment etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-2 gearbox
Use this procedure to inspect the oil level in the axis-2 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Continues on next page
128
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Read more about the differences in
Changing oil, axis-2 gearbox on
page 167 !
Open the oil plug, filling/inspection (two different
designs).
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Shown in the figures Oil plug, early
design on page127 or Oil plug, later
design on page 128 !
Measure the oil level.
Required oil level, early design: 30-45 mm
Required oil level, later design: 0-15 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Filling, oil on
page 168 .
Tightening torque: 24 Nm.
Refit the oil plug, filling.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
Product manual - IRB 7600
129
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 129
|
Oil plug, later design
The axis-2 gearbox is located in the lower arm rotational center. The following
figure shows the later design of the gearbox cover.
A
C
B
D
E
A
C
B
D
xx0200000112
Gearbox, axis 2 (behind the motor attachment, not shown in figure)
A
Oil plug, filling/inspection (later design)
B
Oil plug, draining
C
Label, specifies the type of oil in axis-2 gearbox
D
Oil plug, ventilation (later design)
E
Required equipment
Note
Art. no.
Equipment etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-2 gearbox
Use this procedure to inspect the oil level in the axis-2 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Continues on next page
128
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Read more about the differences in
Changing oil, axis-2 gearbox on
page 167 !
Open the oil plug, filling/inspection (two different
designs).
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Shown in the figures Oil plug, early
design on page127 or Oil plug, later
design on page 128 !
Measure the oil level.
Required oil level, early design: 30-45 mm
Required oil level, later design: 0-15 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Filling, oil on
page 168 .
Tightening torque: 24 Nm.
Refit the oil plug, filling.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
Product manual - IRB 7600
129
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
3.3.4 Inspecting the oil level in axis-3 gearbox
Location of gearbox
The axis-3 gearbox is located in the upper arm rotational center as shown in the
following figure.
xx0200000113
Gearbox, axis 3
A
Oil plug, filling/inspection
B
Oil plug, draining
C
Label, specifies the oil type of axis-3 gearbox
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
130
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
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ABB_IRB7600_Product_Manual.pdf
|
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| 130
|
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
3
Read more about the differences in
Changing oil, axis-2 gearbox on
page 167 !
Open the oil plug, filling/inspection (two different
designs).
4
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Shown in the figures Oil plug, early
design on page127 or Oil plug, later
design on page 128 !
Measure the oil level.
Required oil level, early design: 30-45 mm
Required oil level, later design: 0-15 mm
5
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
6
Detailed in section Filling, oil on
page 168 .
Tightening torque: 24 Nm.
Refit the oil plug, filling.
7
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
8
Product manual - IRB 7600
129
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.3 Inspecting the oil level in axis-2 gearbox
Continued
3.3.4 Inspecting the oil level in axis-3 gearbox
Location of gearbox
The axis-3 gearbox is located in the upper arm rotational center as shown in the
following figure.
xx0200000113
Gearbox, axis 3
A
Oil plug, filling/inspection
B
Oil plug, draining
C
Label, specifies the oil type of axis-3 gearbox
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
130
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Note
Art. no.
Equipment
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-3 gearbox
Use this procedure to inspect the oil level in the axis-3 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Detailed in section Synchronization
marks and synchronization position
for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 130 !
Open the oil plug, filling/inspection .
5
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-20 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil,
axis-3 gearbox on page 170 .
Continues on next page
Product manual - IRB 7600
131
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 131
|
3.3.4 Inspecting the oil level in axis-3 gearbox
Location of gearbox
The axis-3 gearbox is located in the upper arm rotational center as shown in the
following figure.
xx0200000113
Gearbox, axis 3
A
Oil plug, filling/inspection
B
Oil plug, draining
C
Label, specifies the oil type of axis-3 gearbox
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
130
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Note
Art. no.
Equipment
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-3 gearbox
Use this procedure to inspect the oil level in the axis-3 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Detailed in section Synchronization
marks and synchronization position
for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 130 !
Open the oil plug, filling/inspection .
5
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-20 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil,
axis-3 gearbox on page 170 .
Continues on next page
Product manual - IRB 7600
131
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
Note
Action
Tightening torque: 24 Nm.
Refit the oil plug.
8
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
9
132
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 132
|
Note
Art. no.
Equipment
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-3 gearbox
Use this procedure to inspect the oil level in the axis-3 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
Detailed in section Synchronization
marks and synchronization position
for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 130 !
Open the oil plug, filling/inspection .
5
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-20 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil,
axis-3 gearbox on page 170 .
Continues on next page
Product manual - IRB 7600
131
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
Note
Action
Tightening torque: 24 Nm.
Refit the oil plug.
8
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
9
132
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
3.3.5 Inspecting the oil level in axis-4 gearbox
Location of gearbox
The axis-4 gearbox is located at the rear of the upper arm as shown in the following
figure.
xx0200000107
Upper arm housing
A
Cover, axis-4 gearbox
B
Oil plug, filling/inspection, secondary gearbox
C
Oil plug, draining, secondary gearbox
D
Oil plug, filling/inspection, primary gearbox
E
The oil plug for draining of the primary gearbox is not shown in the figure
Label, specifies the type of oil in the axis-4 secondary gearbox
F
Label, specifies the type of oil in the axis-4 primary gearbox
G
Required equipment
Note
Art. no.
Equipment, etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Continues on next page
Product manual - IRB 7600
133
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
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ABB_IRB7600_Product_Manual.pdf
|
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| 133
|
Note
Action
Tightening torque: 24 Nm.
Refit the oil plug.
8
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
9
132
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.4 Inspecting the oil level in axis-3 gearbox
Continued
3.3.5 Inspecting the oil level in axis-4 gearbox
Location of gearbox
The axis-4 gearbox is located at the rear of the upper arm as shown in the following
figure.
xx0200000107
Upper arm housing
A
Cover, axis-4 gearbox
B
Oil plug, filling/inspection, secondary gearbox
C
Oil plug, draining, secondary gearbox
D
Oil plug, filling/inspection, primary gearbox
E
The oil plug for draining of the primary gearbox is not shown in the figure
Label, specifies the type of oil in the axis-4 secondary gearbox
F
Label, specifies the type of oil in the axis-4 primary gearbox
G
Required equipment
Note
Art. no.
Equipment, etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Continues on next page
Product manual - IRB 7600
133
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Note
Art. no.
Equipment, etc.
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-4 gearbox
Use this procedure to inspect the oil level in the axis-4 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the primary
gearbox.
5
A
B
C
xx1400002859
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 30-40 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
7
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Continues on next page
134
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
|
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| 134
|
3.3.5 Inspecting the oil level in axis-4 gearbox
Location of gearbox
The axis-4 gearbox is located at the rear of the upper arm as shown in the following
figure.
xx0200000107
Upper arm housing
A
Cover, axis-4 gearbox
B
Oil plug, filling/inspection, secondary gearbox
C
Oil plug, draining, secondary gearbox
D
Oil plug, filling/inspection, primary gearbox
E
The oil plug for draining of the primary gearbox is not shown in the figure
Label, specifies the type of oil in the axis-4 secondary gearbox
F
Label, specifies the type of oil in the axis-4 primary gearbox
G
Required equipment
Note
Art. no.
Equipment, etc.
See Type and amount
of oil in gearboxes on
page 161 .
Lubricating oil
Continues on next page
Product manual - IRB 7600
133
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Note
Art. no.
Equipment, etc.
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-4 gearbox
Use this procedure to inspect the oil level in the axis-4 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the primary
gearbox.
5
A
B
C
xx1400002859
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 30-40 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
7
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Continues on next page
134
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
Note
Action
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the second-
ary gearbox.
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
10
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
Product manual - IRB 7600
135
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 135
|
Note
Art. no.
Equipment, etc.
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-4 gearbox
Use this procedure to inspect the oil level in the axis-4 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Move the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the primary
gearbox.
5
A
B
C
xx1400002859
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 30-40 mm
6
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
7
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Continues on next page
134
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
Note
Action
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the second-
ary gearbox.
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
10
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
Product manual - IRB 7600
135
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
3.3.6 Inspecting the oil level in axis-5 gearbox
Location of gearbox
The axis-5 gearbox is located in the wrist unit as shown in the following figure.
A
E
F
D
G
C
B
xx0200000108
Wrist housing
A
Oil plug, filling/inspection, primary gearbox
B
The oil plug for draining of the primary gearbox is on the opposite side of the
wrist housing, not shown in the figure.
Label, specifies the type of oil in the axis-5 primary gearbox
C
Oil plug, draining/inspection, secondary gearbox
D
Label, specifies the type of oil in the axis-5 secondary gearbox
E
Oil plug, filling, secondary gearbox
F
Cover, axis-5 gearbox
G
Continues on next page
136
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
|
ABB_IRB7600_Product_Manual.pdf
|
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| 136
|
Note
Action
Shown in the figure Location of
gearbox on page 133 !
Open the oil plug, filling/inspection, in the second-
ary gearbox.
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Add oil if required.
10
Detailed in section Changing oil,
axis-4 gearbox on page 173 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
Product manual - IRB 7600
135
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.5 Inspecting the oil level in axis-4 gearbox
Continued
3.3.6 Inspecting the oil level in axis-5 gearbox
Location of gearbox
The axis-5 gearbox is located in the wrist unit as shown in the following figure.
A
E
F
D
G
C
B
xx0200000108
Wrist housing
A
Oil plug, filling/inspection, primary gearbox
B
The oil plug for draining of the primary gearbox is on the opposite side of the
wrist housing, not shown in the figure.
Label, specifies the type of oil in the axis-5 primary gearbox
C
Oil plug, draining/inspection, secondary gearbox
D
Label, specifies the type of oil in the axis-5 secondary gearbox
E
Oil plug, filling, secondary gearbox
F
Cover, axis-5 gearbox
G
Continues on next page
136
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Required equipment
Note
Art. no.
Equipment etc.
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting oil level in axis-5 gearbox
Use this procedure to inspect the oil level in the axis-5 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Run the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, filling/inspection , in the
primary gearbox .
5
xx0500002222
Measure the oil level.
Required oil level to the upper edge of the filling
and inspection oil plug hole (a): 80-96 mm
6
Continues on next page
Product manual - IRB 7600
137
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 137
|
3.3.6 Inspecting the oil level in axis-5 gearbox
Location of gearbox
The axis-5 gearbox is located in the wrist unit as shown in the following figure.
A
E
F
D
G
C
B
xx0200000108
Wrist housing
A
Oil plug, filling/inspection, primary gearbox
B
The oil plug for draining of the primary gearbox is on the opposite side of the
wrist housing, not shown in the figure.
Label, specifies the type of oil in the axis-5 primary gearbox
C
Oil plug, draining/inspection, secondary gearbox
D
Label, specifies the type of oil in the axis-5 secondary gearbox
E
Oil plug, filling, secondary gearbox
F
Cover, axis-5 gearbox
G
Continues on next page
136
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Required equipment
Note
Art. no.
Equipment etc.
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting oil level in axis-5 gearbox
Use this procedure to inspect the oil level in the axis-5 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Run the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, filling/inspection , in the
primary gearbox .
5
xx0500002222
Measure the oil level.
Required oil level to the upper edge of the filling
and inspection oil plug hole (a): 80-96 mm
6
Continues on next page
Product manual - IRB 7600
137
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
Note
Action
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, draining/inspection , in the
secondary gearbox .
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
10
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
138
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 138
|
Required equipment
Note
Art. no.
Equipment etc.
See Type and
amount of oil in gear-
boxes on page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting oil level in axis-5 gearbox
Use this procedure to inspect the oil level in the axis-5 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety
risks, see Gearbox lubricants (oil or grease) on
page 38 .
1
This is detailed in section Synchron-
ization marks and synchronization
position for axes on page 376 .
Run the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C
±10°C.
4
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, filling/inspection , in the
primary gearbox .
5
xx0500002222
Measure the oil level.
Required oil level to the upper edge of the filling
and inspection oil plug hole (a): 80-96 mm
6
Continues on next page
Product manual - IRB 7600
137
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
Note
Action
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, draining/inspection , in the
secondary gearbox .
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
10
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
138
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
3.3.7 Inspecting the oil level in axis-6 gearbox
Location of gearbox
The axis-6 gearbox is located in the center of the wrist unit as shown in the following
figure.
xx0200000114
Gearbox, axis 6
A
Oil plug, filling/inspection (notice the different locations of the plug, shown as
B 1 and B 2 )
B
Oil plug, draining (can be located on the turning disk instead)
C
Label, specifies the type of oil in gearbox axis 6
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
139
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 139
|
Note
Action
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
7
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Shown in the figure Location of
gearbox on page 136 .
Open the oil plug, draining/inspection , in the
secondary gearbox .
8
A
B
C
xx1400002785
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Measure the oil level.
Required oil level: 0-10 mm
9
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
10
Detailed in section Changing oil, ax-
is-5 gearbox on page 176 .
Tightening torque: 24 Nm.
Refit the oil plugs.
11
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
12
138
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.6 Inspecting the oil level in axis-5 gearbox
Continued
3.3.7 Inspecting the oil level in axis-6 gearbox
Location of gearbox
The axis-6 gearbox is located in the center of the wrist unit as shown in the following
figure.
xx0200000114
Gearbox, axis 6
A
Oil plug, filling/inspection (notice the different locations of the plug, shown as
B 1 and B 2 )
B
Oil plug, draining (can be located on the turning disk instead)
C
Label, specifies the type of oil in gearbox axis 6
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
139
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
Note
Art. no.
Equipment
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-6 gearbox
Use this procedure to inspect the oil level in the axis-6 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page 38 .
1
Shown in the figure Location of
gearbox on page 139 .
Move axes 3 and 5 to a horizontal position, and
make sure that the oil plug, filling and inspection
(B1 or B2) is facing upwards.
2
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C ±10°C.
4
Open the oil plug, filling and inspection .
5
This is a precaution to avoid vacu-
um effects by allowing air to enter
at the top of the gearbox.
Note
If equipment that covers the oil
plug, draining is fitted on the robot
so that the oil plug cannot be
opened, then this step can be
skipped.
Open the oil plug, draining .
6
Slowly turn axis 4, while adjusting axis 6 so that the
oil plug, filling and inspection always faces upwards.
Turn axis 4 until the axis-4 angle reads:
•
-36° to -39° for oil plug position B1
•
-80° to -83° for oil plug position B2
7
Continues on next page
140
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
Continued
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ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 140
|
3.3.7 Inspecting the oil level in axis-6 gearbox
Location of gearbox
The axis-6 gearbox is located in the center of the wrist unit as shown in the following
figure.
xx0200000114
Gearbox, axis 6
A
Oil plug, filling/inspection (notice the different locations of the plug, shown as
B 1 and B 2 )
B
Oil plug, draining (can be located on the turning disk instead)
C
Label, specifies the type of oil in gearbox axis 6
D
Required equipment
Note
Art. no.
Equipment
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Continues on next page
Product manual - IRB 7600
139
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
Note
Art. no.
Equipment
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
Inspecting the oil level in axis-6 gearbox
Use this procedure to inspect the oil level in the axis-6 gearbox.
Note
Action
WARNING
Handling gearbox oil involves several safety risks,
see Gearbox lubricants (oil or grease) on page 38 .
1
Shown in the figure Location of
gearbox on page 139 .
Move axes 3 and 5 to a horizontal position, and
make sure that the oil plug, filling and inspection
(B1 or B2) is facing upwards.
2
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
3
This is a precaution to reduce the
temperature dependency of the
measurement.
Make sure that the oil temperature is +25°C ±10°C.
4
Open the oil plug, filling and inspection .
5
This is a precaution to avoid vacu-
um effects by allowing air to enter
at the top of the gearbox.
Note
If equipment that covers the oil
plug, draining is fitted on the robot
so that the oil plug cannot be
opened, then this step can be
skipped.
Open the oil plug, draining .
6
Slowly turn axis 4, while adjusting axis 6 so that the
oil plug, filling and inspection always faces upwards.
Turn axis 4 until the axis-4 angle reads:
•
-36° to -39° for oil plug position B1
•
-80° to -83° for oil plug position B2
7
Continues on next page
140
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
Continued
Note
Action
A
B
C
xx1400002786
A
Oil plug hole
B
Required oil level
C
Gearbox oil
Inspect the oil level in the hole for the oil plug, filling
and inspection .
The oil should reach all the way up to the external
edge of the thread for the oil plug, filling and inspec-
tion .
Note
If the oil plug, draining is not opened, then use a
clean, narrow object, for example an oil stick or a
cable tie, to gently poke the oil surface. This will
avoid surface tension from stopping air to enter into
the gearbox.
8
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Adjust the oil level, if required.
9
Detailed in section Changing oil,
axis-6 gearbox on page 180 .
Tightening torque: 20 Nm
Refit the oil plugs.
10
WARNING
Do not mix oil types! If wrong oil is refilled, the
gearbox must be rinsed as detailed in Technical
reference manual - Lubrication in gearboxes .
11
Product manual - IRB 7600
141
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.3.7 Inspecting the oil level in axis-6 gearbox
Continued
|
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