Document Name stringclasses 11
values | URL stringclasses 11
values | page_number int64 1 1.26k | full_text stringlengths 65 18.2k |
|---|---|---|---|
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 141 | 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
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 142 | 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 ope... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 143 | 3.3.8 Inspecting the balancing device
General
Several points are to be checked on the balancing device during the inspection.
This section describes how to perform the inspection regarding:
•
dissonance
•
damage
•
leakage
•
contamination / lack of free space.
Action at detected faults
If any faults are detected during ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 144 | Inspection points, balancing device
The balancing device is located at the top rear of the frame as shown in the figure.
The figure also shows the inspection points, further described in the instructions.
xx0300000580
Balancing device
A
Piston rod (inside)
B
Shaft, including securing screw
C
Ear, bearing and o-rings
D
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 145 | Note
Art. no.
Spare part no.
Equipment, etc.
Includes
•
kit with piston rod,
support shaft etc.
Securing screw in the shaft.
Securing screw
M16 x 180
Locking liquid must be used
when fitting the screw (Loctite
243)!
3HAC15943-1
Toolkit for mainten-
ance
Used for removing the spher-
ical roller bearings.
4552-2 (Bahco)
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 146 | Check for damage
Check for damage, such as scratches, general wear, uneven surfaces or incorrect
positions.
The check points are shown in the figure Inspection points, balancing device on
page 143 .
If damage is detected...
Check for damage on...
... perform maintenance or upgrade accord-
ing to given instructions in ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 147 | Check the o-rings in the front ear of the balancing device for leaks, as shown and
detailed below.
xx0300000284
Shaft
A
O-ring
B
Sealing spacer
C
Sealing ring in sealing spacer
D
Correct way out for excessive grease from inside the front ear
E
Incorrect leakage from the front ear
F
Note
Action
Clean the area at the fro... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 148 | Check for contamination / lack of free space
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the safeguarded space.
1
Check that there are no obstacles inside the frame, that could prevent the balancing
device from moving freely. See th... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 149 | 3.3.9 Inspecting the cable harness
Location of cable harness, axes 1-4
The robot cable harness, axes 1-4, is located as shown in the figure below.
xx0200000097
Lower arm
A
Cables attached with velcro straps and mounting plate
B
Connectors at cable harness division point, R2.M5/6
C
Connectors at base
D
Required equipmen... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 150 | Inspection, cable harness 1-4
The procedure below details how to inspect the cable harness of axes 1-4.
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
Make an overall visual inspe... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 151 | Inspection, cable harness, axes 5-6
The procedure below details how to inspect the cable harness of axes 5-6.
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
Make an overall visual... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 152 | 3.3.10 Inspecting the axis-1 mechanical stop pin
WARNING
Mechanical stop pin can not be fitted onto robot if the option 561-1 Extended
working range is used for axis 1.
Location of mechanical stop pin
The axis-1 mechanical stop is located as shown in the figure.
xx0200000151
Mechanical stop pin
A
Required equipment
V... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 153 | Note
Action
Inspect the axis-1 mechanical stop pin.
2
If the mechanical stop pin is bent or damaged, it
must be replaced.
Note
The expected life of gearboxes can be reduced
after collision with the mechanical stop.
Make sure the mechanical stop pin can move in
both directions.
3
152
Product manual - IRB 7600
3HAC022033... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 154 | 3.3.11 Inspecting the mechanical stops on axes 1, 2, and 3
Location of the mechanical stops
The figure below shows the location of the additional mechanical stops on axes
1, 2 and 3.
xx0200000150
Additional stop
A
Fixed stop
B
Required equipment
Note
Art. no.
Equipment etc.
Limits the robot working range to
7.5°.
3HAC1... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 155 | Inspection, mechanical stops
The procedure below details how to inspect the additional mechanical stops on
axes 1, 2 and 3.
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
Shown in the figure Location of
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 156 | 3.3.12 Inspecting the damper on axes 2 to 5
Location of dampers
The figure below shows the location of all the dampers to be inspected.
xx0200000099
Damper, axis 2 (2 pcs)
A
Damper, axis 3 (2 pcs)
B
Damper, axis 4 (2 pcs)
C
Damper, axis 5 (2 pcs)
D
Required equipment
Note
Art. no.
Equipment
Replace if damaged!
3HAC1299... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 157 | Note
Art. no.
Equipment
Replace if damaged!
3HAC13564-1
Damper axis 4
Replace if damaged!
3HAC10503-8
Damper axis 5
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Inspection, damper axis 2-5
The procedure below details how to inspect the dampers, axis 2-5.
Note
Action
DANGER
Turn off all... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 158 | 3.3.13 Inspecting the information labels
Location of labels
These figures show the location of the information labels to be inspected. The
symbols are described in section Safety symbols on manipulator labels on page27 .
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 159 | ![Image]
xx0200000101
Instruction label concerning lifting the robot
J
Warning label concerning risk of tipping
K
Foundry logotype
L
Warning label concerning stored energy
M
Information label, specifying with type of oil is used in gearboxes of each axis
N
Label, type of oil in gearbox
O
Required tools and equipment
Vi... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 160 | 3.3.14 Inspecting the UL lamp
Location of UL-lamp
The UL-lamp is located as shown in figure below. Notice that the location can vary
depending on how the customer harness for axes 4-6 is mounted.
xx0200000117
UL signal lamp
A
Warning sign
B
Warning label
C
Position for cable gland
D
Required equipment
Note
Spare part n... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 161 | Inspection, UL-lamp
The procedure below details how to inspect the function of the UL-lamp.
Note
Action
Check that the UL-lamp is lit, when the motors are in
operation ("motors ON").
1
Part no. is specified in Re-
quired equipment on
page 159 !
If the lamp is not lit, trace the fault!
•
Check whether the UL-lamp is ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 162 | 3.4 Changing/replacement activities
3.4.1 Type of lubrication in gearboxes
Introduction
This section describes where to find information about the type of lubrication,
article number and the amount of lubrication in the specific gearbox. It also
describes the equipment needed when working with lubrication.
Type and amo... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 163 | Equipment
Note
Equipment
Includes pump with outlet pipe.
Oil dispenser
Use the suggested dispenser or a similar one:
•
Orion OriCan article number 22590
(pneumatic)
Nipple for quick connect fitting, with o-ring
162
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 164 | 3.4.2 Changing oil, axis-1 gearbox
Location of gearbox
The axis 1 gearbox is located between the frame and base as shown in the figure
below.
The oil is drained with a hose that may be reached behind the rear cover of the
robot base.
xx0200000111
Gearbox, axis 1
A
Oil plug, filling
B
Motor, axis 1
C
Oil plug, inspectio... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 165 | Oil plug in the base
In some early versions of the robot, the oil plug for draining may be located in the
base, as shown in the figure below.
xx0300000065
Oil plug in the base
A
Required equipment
Note
Amount
Art. no.
Equipment, etc.
See Type
and
amount of
oil in gear-
boxes on
page 161 .
See Type and
amount of oil i... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 166 | Draining, oil, gearbox axis 1
The procedure below details how to drain the oil from the gearbox axis 1.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page 164 .
Note
Action
WARNING
Handling gearbox oil involves several s... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 167 | Filling, oil, gearbox axis 1
The procedure below details how to fill oil in gearbox, axis 1.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page 164 .
Note
Action
WARNING
Handling gearbox oil involves several safety risks... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 168 | 3.4.3 Changing oil, axis-2 gearbox
Location of oil plugs
The axis-2 gearbox is located in the lower arm rotational center, underneath the
motor attachment.
A
C
B
D
E
A
C
B
D
xx0200000112
Gearbox, axis 2
A
Oil plug, filling/inspection (later design)
B
Oil plug, draining
C
Label, specifies the type of oil in the gearbox
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 169 | Draining, oil
The procedure below details how to drain the oil in gearbox axis 2.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page 167 .
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 170 | Note
Action
Shown in the figure Location of oil
plugs on page 167 .
Remove the oil plug for filling and the plug from
the vent hole.
3
Where to find type of oil and total
amount is detailed in Type and
amount of oil in gearboxes on
page 161 .
Refill the gearbox with clean lubricating oil.
The correct oil level is... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 171 | 3.4.4 Changing oil, 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
B
Oil plug, draining
C
Label, specifies the type of oil in gearbox
D
Required equipment
Note
Amount
Art. no.
Equipmen... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 172 | Note
Amount
Art. no.
Equipment, etc.
Content is defined in section
Special tools on page 420 .
3HAC021745-001
Oil exchange equipment
Capacity: 5,000 ml.
-
Oil collecting vessel
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Draining, oil
The procedure below details how to drain oil from t... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 173 | Filling, oil
The procedure below details how to fill oil into the gearbox, axis 3.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page 170 .
Note
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydrauli... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 174 | 3.4.5 Changing oil, axis-4 gearbox
Different types of oil
The primary and secondary gear may require different types of oil, that must never
be mixed!
If they are mixed, the gear must be rinsed according to section Flushing a
contaminated gearbox on page 191 .
Location of gearbox
The axis 4 gearbox is located at the r... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 175 | Required equipment
Note
Amount
Art. no.
Equipment, etc.
See Type
and
amount of
oil in gear-
boxes on
page 161 .
See Type and
amount of oil in
gearboxes on
page 161 .
Lubricating oil
Capacity: 1,000 ml.
Oil collecting vessel,
primary gearbox
Capacity: 4,000 ml.
Oil collecting vessel,
secondary gearbox
Content is defin... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 176 | Note
Action
Tightening torque: 24 Nm.
Refit the both oil plugs, draining.
7
Filling, oil, gearbox axis 4
The procedure below details how to fill oil in gearbox, axis 4.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 177 | 3.4.6 Changing oil, axis-5 gearbox
Different types of oil
The primary and secondary gear may require different types of oil, that must never
be mixed!
If they are mixed, the gear must be rinsed according to section Flushing a
contaminated gearbox on page 191 .
Location of gearbox
The axis-5 gearbox is located in the w... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 178 | 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
Required equipment
Note
Art. no.
Equipment, etc.
See Type and amount of
oil in gearboxes on
page 161 .
Lubricating oil
Capacity: 1 liter
O... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 179 | Note
Action
Shown in the figure Location of
gearbox on page 176 .
Open the oil plug, draining/inspection, secondary
gearbox .
6
Vessel capacity: 4 liters
Drain the oil from the secondary gear.
CAUTION
Drain as much oil as possible.
7
Shown in the figure Location of
gearbox on page 176 .
Refit the oil plugs.
8
Tighte... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 180 | Note
Action
Shown in the figure Location of
gearbox on page 176 .
Refit the oil plugs.
6
Tightening torque: 24 Nm.
Product manual - IRB 7600
179
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.4.6 Changing oil, axis-5 gearbox
Continued
3.4.7 Changing oil, axis-6 gearbox
L... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 181 | 3.4.7 Changing oil, 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 ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 182 | Note
Amount
Art. no.
Equipment, etc.
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Note
The specified amount of oil is based on the total volume of the gearbox. When
changing the oil, the amount of refilled oil may differ from the specified amount,
depending on how much oil has previousl... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 183 | Filling oil, gearbox axis 6
The procedure below details how to fill oil in the gearbox axis 6.
When using the oil exchange equipment, follow the instructions enclosed with the
kit. Art. no. for the kit is specified in Required equipment on page 180 .
Note
Action
WARNING
Handling gearbox oil involves several safety ris... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 184 | 3.4.8 Replacing the SMB battery
Note
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.
For a SMB board with 3-pole battery contac... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 185 | Location of SMB battery
The SMB battery (SMB = serial measurement board) is located on the left hand
side of the frame as shown in the figure.
Battery pack with a 2-pole battery contact (DSQC)
xx0200000238
SMB battery cover
A
SMB battery pack with 2-pole battery contact.
B
Battery cable
C
Continues on next page
184
Pro... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 186 | Battery pack with a 3-pole battery contact (RMU)
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
A
B
xx1300000308
A Battery pack RMU
B Battery holder
Required equipment
Note
There are two variants of SMB units and batteries. One with 2-pole battery contact
(DSQC) and one with 3-pole battery cont... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 187 | Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the safeguarded
space.
2
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the
unit please read the safety information in the sec-
tion The unit is sensitiv... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 188 | Note
Action
Art. no. is specified in Required
equipment on page 185 .
Reconnect the battery cable and install the battery
pack into the SMB/battery recess.
Note
RMU batteries are installed together with a battery
holder to be properly secured inside the recess.
See figure.
3
Shown in figure Location of SMB
battery ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 189 | 3.5 Lubrication activities
3.5.1 Lubrication of spherical roller bearing, balancing device
Location of bearing
The spherical roller bearing is located at the front ear of the balancing device, as
shown in the figure below.
Note! The balancing device must be mounted on the robot when lubricating the
bearing!
xx02000001... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 190 | Note
Art. no.
Equipment, etc.
M6.
Lubrication nipple
-
Grease pump
Lubrication, balancing device bearing (Design 1)
The procedure below details how to lubricate the spherical roller bearing.
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before e... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 191 | Note
Action
Read more about the inspection in
section Inspection, balancing device -
Check for leakage on page 145 .
Clean the area from any excessive grease
and check the area once again after operation
of the robot, in order to make sure there is
no incorrect leakage from the o-rings.
3
190
Product manual - IRB 7600
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 192 | 3.6 Cleaning activities
3.6.1 Flushing a contaminated gearbox
Different types of oil
As the Shell Tivela S 150 is not compatible with mineral oil, contamination with
other types of oils used in the gearboxes is not accepted. Equipment used in
handling of Tivela S 150 must be carefully cleaned.
This section details how ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 193 | Flushing
The procedure below details how to flush a contaminated gearbox. The procedure
is the same for all gearboxes.
Note
Action
Recommended service program
described in section Service
program on page 191 .
Run the Service program until the castings of the
gearboxes axis 4, 5 and 6 have reached a temperat-
ure of a... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 194 | 3.6.2 Cleaning the IRB 7600
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the safeguarded space.
General
To secure high uptime it is important that the IRB 7600 is cleaned regularly. The
frequency of cleaning depends on the environment in wh... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 195 | Cleaning methods
The following table defines what cleaning methods are allowed depending on the
protection type.
Cleaning method
Protection
type
High pressure water or
steam
Rinse with water
Wipe with cloth
Vacuum
cleaner
No
Yes. It is highly re-
commended that
the water contains
a rust-prevention
solution and that
the... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 196 | •
Clean the cables if they have a crusty surface, for example from dry release
agents.
Cooling fans
Inspect the air supply inlet of the the motor cooling fans. Clean to remove any
contamination that could hinder the air supply.
Product manual - IRB 7600
195
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All r... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 197 | 3.7 Service Information System, M2000
3.7.1 Using the SIS system
General
This is a brief description of how to use the Service Information System, SIS for
M2000 robot systems. Details may be found in:
•
Service Information System, SIS
•
Defining the SIS input parameters
•
Setting the SIS parameters
•
Importing/exportin... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 198 | 3.7.2 Description of Service Information System (SIS)
General
Service Information System (SIS) is a software function within the robot controller,
which simplifies maintenance of the robot system. It supervises the operating time
and mode of the robot, and alerts the operator when a maintenance activity is
scheduled.
M... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 199 | Operation time
This is a function within the control system that keeps track of the amount of time
the "MOTORS ON" signal is active, i.e. the amount of time the robot is in the
operating mode.
When the operation time limit for maintenance is reached, a message is displayed
on the TPU. How to access this is detailed in ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 200 | No data available
When no data is available for the selection made, a message (No data available!)
is displayed when trying to display the data.
Product manual - IRB 7600
199
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
3 Maintenance
3.7.2 Description of Service Information System (SIS)... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 201 | 3.7.3 SIS system parameters
General
This section details the system parameters that may be set with estimated values.
The values can be defined by the operating organization as knowledge of the
robot's working conditions are accumulated.
Since the counters are to be used for purposes defined by the user, ABB cannot
giv... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 202 | 3.7.4 Setting the SIS parameters
General
If the SIS system is to function properly, a number of parameters must be set. This
is detailed below.
Procedure M2000
This is an instruction of how to enter SIS parameters to the M2000 robot system.
Note
Action
Detailed in the User's Guide.
Open "System parameters"
using the TP... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 203 | 3.7.5 Reading the SIS output logs
General
Whenever a set condition has expired (e.g. max allowed operation time before
service), a message to this effect will be shown in the Operational log.
Access to logs
How to open a log and show its contents is detailed in the User's Guide, chapter
Service .
Available messages
The... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 204 | 3.7.6 Exporting the SIS data
General
This section describes the available variables for entering SIS parameters as well
as showing any values of exceeded time limits as detected by the SIS counters.
In a M2000 robot system, the values can be read on a PC using "Webware SDK".
How to access these variables and how to per... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 205 | This page is intentionally left blank
4 Repair
4.1 Introduction
Structure of this chapter
This chapter describes repair activities for the IRB 7600. Each procedure contains
the information required to perform the activity, for example spare parts numbers,
required special tools, and materials.
WARNING
Repair activitie... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 206 | 4 Repair
4.1 Introduction
Structure of this chapter
This chapter describes repair activities for the IRB 7600. Each procedure contains
the information required to perform the activity, for example spare parts numbers,
required special tools, and materials.
WARNING
Repair activities not described in this chapter must on... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 207 | 4.2 General procedures
4.2.1 Performing a leak-down test
When to perform a leak-down test
After refitting any motor and gearbox, the integrity of all seals enclosing the gearbox
oil must be tested. This is done in a leak-down test.
Required equipment
Note
Article number
Equipment, etc.
-
Leak-down tester
-
Leak detecti... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 208 | 4.2.2 Mounting instructions for bearings
General
This section describes how to mount and grease different types of bearings on the
robot.
Equipment
Note
Article number
Equipment, etc.
Shell Gadus S2
3HAC042536-001
Grease
Used to grease the bearings, if not
specified otherwise.
Assembly of all bearings
Attend to the fol... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 209 | The bearings must be greased after assembly according to the following
instructions:
•
The bearings must not be completely filled with grease. However, if space
is available beside the bearing fitting, the bearing may be totally filled with
grease when mounted, as excessive grease will be pressed out from the
bearing w... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 210 | 4.2.3 Mounting instructions for sealings
General
This section describes how to mount different types of sealings.
Equipment
Note
Article number
Consumable
Shell Gadus S2
3HAC042536-001
Grease
Rotating sealings
The procedure below describes how to fit rotating sealings.
CAUTION
Please observe the following before commen... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 211 | Note
Action
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
A
xx2000000072
A
Gap
Mount the sealing correctly with a mounting tool.
Never hammer directly on the sealing as this may
result in leakage.
4
Flange sealings and static sealings
The following procedure describes how to ... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 212 | Note
Action
Check the o-ring grooves.
3
The grooves must be geometrically correct and
should be free of pores and contamination.
Lubricate the o-ring with grease.
4
Tighten the screws evenly while assembling.
5
Check that the o-ring is not squashed outside
the o-ring groove.
6
Product manual - IRB 7600
211
3HAC022033-0... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 213 | 4.2.4 Cut the paint or surface on the robot before replacing parts
General
Follow the procedures in this section whenever breaking the paint of the robot
during replacement of parts.
Required equipment
Note
Spare parts
Equipment
Ethanol
Cleaning agent
Knife
Lint free cloth
Graphite White
3HAC067974-001
Touch up paint S... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 214 | 4.2.5 The brake release buttons may be jammed after service work
Description
The brake release unit has push-buttons for the brake release of each axis motor.
When service work is performed inside the SMB recess that includes removal and
refitting of the brake release unit, the brake release buttons may be jammed after... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 215 | 4.3 Complete robot
4.3.1 Replacement of cable harness, axes 1-4
Location of cable harness
The cable harness for axes 1-4 is run throughout the base, frame and lower arm
as shown in the figure below.
The brake release unit can be located at two alternative places, either at the rear
of the base or at the side of the fra... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 216 | Connectors at motor 3; R2.FB3 and R2.MP3 and for signal lamp R2.H1 and
R2.H2
E
Connectors at motor 4; R2.FB4 and R2.MP4
F
Connectors at cable harness separation; R2.M5/6
G
Connectors at motor 5; R3.FB5 and R3.MP5
H
Connectors at motor 6; R3.FB6 and R3.MP6
J
Rear cover plate
K
Connector R1.MP
L
Connector R1.SMB
M
Connec... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 217 | 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.
2
Shown in the figure Location of
cable harness on page 214 .
Remove the rear cover plate from the robot by remov-
ing its attachme... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 218 | Note
Action
xx0300000560
Remove
•
the cable gland (A), by removing the four at-
tachment screws from inside the SMB recess
(B)
•
the attachment plate (C), by removing the at-
tachment screws and the velcro strap (D).
Note
Different robot versions are fitted with different ver-
sions of the attachment plate. When re... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 219 | Note
Action
![Image]
xx0100000143
Remove the cable gland securing the cables to the
arm house.
12
Shown in the figure Location of
cable harness on page 214 .
Remove the velcro strap from the harness at the
cable fixing bracket at the arm house.
13
Shown in the figure Location of
cable harness on page 214 !
Disconne... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 220 | Note
Action
Make sure the cables are not twis-
ted with each other or with eventual
customer harnesses!
Pull the cable and connectors down through the
cable guide in the center of the frame.
3
Make a note of the correct positions
of the connectors!
Tightening torque for R1.SMB: 10
Nm.
Reconnect connectors R1.MP and R1... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 221 | Note
Action
Locking liquid is specified in Re-
quired equipment on page 215 .
xx0300000560
Secure the cable gland (A) with four attachment
screws (B) from inside the SMB recess.
Secure the correct attachment plate (C) to the
cable gland with its two attachment screws, using
locking liquid.
Refit the velcro strap (D).
... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 222 | Note
Action
xx0200000118
Reconnect connectors R2.SMB, R1.SMB1-3,
R1.SMB4-6 to the SMB unit.
Reconnect X8, X9 and X10 if the brake release
board is located in frame.
Reconnect R1.G if it has been disconnected.
9
Secure the SMB cover with its attachment screws.
10
If cabling is used for 7th axis (option), refit the
conne... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 223 | Note
Action
Specified and shown in the figure
Location of cable harness on
page 214 !
Reconnect all connectors at motor 3 and motor
4.
15
Shown in the figure Location of
cable harness on page 214 !
Reconnect the connector R2.M5/6 gently at the
cable division point.
Be careful not to bend the attachment plate when
fa... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 224 | Note
Action
Detailed in the Calibration chapter
- section Updating revolution coun-
ters on IRC5 robots on page 378 .
If the connection between the SMB battery and
the SMB unit has been broken, the revolution
counters must now be updated!
22
DANGER
Make sure all safety requirements are met when
performing the first te... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 225 | 4.3.2 Replacement of cable harness, axes 5-6
Location of cable harness ax 5-6
The location of the cable harness, axes 5-6, is shown in the figure below.
xx0100000145
Cable attachment, upper arm
A
Cable attachment, rear
B
Connector at cable harness division; R2.M5/6
C
Connectors at motor 5; R3.FB5 and R3.MP5
D
Connector... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 226 | Note
Spare part no.
Equipment, etc.
See chapter Circuit diagram on
page 427 .
Circuit diagram
Removal, cable harness, axes 5-6
The procedure below details how to remove the upper arm cable harness.
Note
Action
Position the upper arm as follows:
•
Axis 4: 0 degrees
•
Axis 5: +90 degrees
•
Axis 6: no significance
1
DANG... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 227 | Note
Action
Gently insert the cable harness from the rear into
the upper arm.
2
Pull the small spiral plate past motor 5.
3
Route the cables outside the heat protection plate.
4
Secure the small plate to the large plate. Secure the
spiral cup with its attachment screw in the bottom
of the cup.
5
Excess cable length may... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 228 | 4.3.3 Replacement of complete arm system
Location of complete arm system
The complete arm system is defined as the complete robot except for the base
and gearbox axis 1, that is the upper and lower arms, balancing device and frame.
This is shown in the figure below.
xx0100000150
Gearbox, axis 1
A
Motor, axis 1
B
Base a... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 229 | Balancing device
G
Block for calibration
H
Required equipment
Note
Art. no.
Equipment, etc.
Instruction 3HAC15971-2 enclosed!
3HAC15607-1
Lifting device, robot
Used to guide the complete arm sys-
tem when refitting.
-
Guide pins, M12 x 130
Content is defined in section Stand-
ard tools on page 419 .
-
Standard toolkit... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 230 | Note
Action
If the brakes need to be released, see
section Manually releasing the brakes
on page 72 .
xx0100000103
Position the robot in its most stable position,
as shown in the figure to the right.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before e... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 231 | Note
Action
Shown in the figure Location of com-
plete arm system on page 227 !
Remove the arm system from the base by un-
screwing the 24 base attachment screws.
12
Make sure all hooks and attachments
maintain in correct position while lifting
the robot!
Lift the arm system and secure it in a safe area.
13
Always mo... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 232 | Note
Action
This is a complex task to be performed
with outmost care in order to avoid injury
or damage!
Look through the empty mounting hole of
motor axis 1, to assist in aligning the as-
sembly during refitting of the arm system.
6
The guiding pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lo... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 233 | 4.4 Upper and lower arm
4.4.1 Replacing turning disk
Location of turning disk
The turning disk is located in the center of the wrist unit as shown in the figure
below.
xx0100000129
Turning disk
A
Oil plug, filling (oil plug for draining is located on the opposite side of the tilt-
house)
B
Turning disk attachment screw... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 234 | Note
Art. no.
Spare part no.
Equipment, etc.
These procedures include
references to the tools re-
quired.
Other tools and proced-
ures may be required.
See references to
these procedures in
the step-by-step in-
structions below.
Removing turning disk
Use the procedure to remove the turning disk.
Information
Action
DANG... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 235 | Refitting turning disk
Use this procedure to refit the turning disk.
Information
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the ro-
bot
•
air pressure supply to the robot
Before entering the robot working area.
1
Art. no. is specified in Required equipment
on page 2... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 236 | 4.4.2 Replacement of complete wrist unit
Location of wrist unit
The wrist unit is located in the frontmost part of the upper arm as shown in the
figure below.
A more detailed view of the component and its position may be found in Exploded
views in Product manual, spare parts - IRB 7600 .
xx0100000147
Wrist unit
A
Wr... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 237 | Note
Art. no.
Equipment, etc.
A new friction washer must always
be used when refitting the wrist
unit.
3HAC11755-1
Friction washer
3HAC12734-1
Lifting tool, wrist unit
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes op-
erating manual.
3HAC15716-1
Calibratio... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 238 | Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Note
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
1
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pre... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 239 | Refitting, wrist unit
The procedure below details how to refit the complete wrist unit.
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
CAUTION
The complete wrist unit weighs 200 k... |
ABB_IRB7600_Product_Manual.pdf | https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF | 240 | Note
Action
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the cal-
ibration tools.
Re-calibrate the robot.
14
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
pag... |
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