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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
| 341
|
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox
The procedure below details how to remove gearbox, axis 2.
Note
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
1
Remove any equipment fitted to the turning disk.
2
xx0200000260
Run the robot to the calibration position. The up-
per arm may be directed in three different ways,
shown in figure to the right.
The lowered position, as in figure A, is recommen-
ded as it gives the least load on the tool.
3
Continues on next page
340
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
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.
4
If the robot is fitted with moveable mechanical
stops on axis 2 (not stock equipment), these must
be removed at this point.
The attachment holes of the mechanical stops
are used to attach the fixture, lower arm.
5
Art. no. is specified in Required
equipment on page 339 !
Secure the lower arm to the frame by inserting
the locking screw into the hole.
6
Shown in the figure Location of
gearbox on page 338 !
Art. no. is specified in Required
equipment on page 339 !
Fit the fixture, lower arm to prevent the lower arm
from falling.
•
Make sure that both adjusters (B) on the
fixture are screwed back.
•
Align the fixture with the frame and lower
arm.
•
Tighten the four M16 bolts (C) on the in-
side of the frame, in attachment holes, with
tightening torque: 220 Nm.
•
Screw in the two adjusters (B) until they
rest against the flats on the lower arm.
Tighten by hand.
•
Lock, using the two ring nuts (D).
•
Tighten the two M12 bolts (E) in the attach-
ment holes, fixture lower arm with tighten-
ing torque: 91 Nm.
7
Attachment holes for the fixture are
shown in the figure Location of
gearbox on page 338 !
Make sure the fixture is pressed
tightly against the lower arm before
securing with screws!
xx0200000261
•
A: Locking screw, lower arm
Detailed in section Unloading the
balancing device on page 283 .
Unload the balancing device shaft by using a
specific press tool.
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
The power for brake release is only applied for
180 seconds after activation.
8
Detailed in section Draining, oil on
page 168 .
Drain the gearbox, axis 2.
9
Continues on next page
Product manual - IRB 7600
341
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Detailed in section Removal, motor
on page 298 .
Remove the motor, axis 2.
10
xx0300000064
Remove the 30 rear gearbox attachment screws
(A) from inside the lower section of the lower arm.
11
Shown in the figure Location of
gearbox on page 338 !
Remove the motor attachment by unscrewing
the front gearbox attachment screws.
12
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the motor
attachment and secure it with the hook on the
tool.
13
Remove the motor attachment.
CAUTION
The gearbox weighs 125 kg! All lifting equipment
used must be sized accordingly!
14
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
15
Art. no. is specified in Required
equipment on page 339 .
Fit two guide pins in 180° relation to each other
instead of the removed front attachment screws.
16
Art. no. is specified in Required
equipment on page 339 .
xx0200000033
If required, apply an M16 screw to the hole shown
in the figure to press it free.
17
•
A: M16 holes for pressing the
gearbox out
Remove the gearbox using an overhead crane or
similar.
18
Continues on next page
342
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 342
|
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.
4
If the robot is fitted with moveable mechanical
stops on axis 2 (not stock equipment), these must
be removed at this point.
The attachment holes of the mechanical stops
are used to attach the fixture, lower arm.
5
Art. no. is specified in Required
equipment on page 339 !
Secure the lower arm to the frame by inserting
the locking screw into the hole.
6
Shown in the figure Location of
gearbox on page 338 !
Art. no. is specified in Required
equipment on page 339 !
Fit the fixture, lower arm to prevent the lower arm
from falling.
•
Make sure that both adjusters (B) on the
fixture are screwed back.
•
Align the fixture with the frame and lower
arm.
•
Tighten the four M16 bolts (C) on the in-
side of the frame, in attachment holes, with
tightening torque: 220 Nm.
•
Screw in the two adjusters (B) until they
rest against the flats on the lower arm.
Tighten by hand.
•
Lock, using the two ring nuts (D).
•
Tighten the two M12 bolts (E) in the attach-
ment holes, fixture lower arm with tighten-
ing torque: 91 Nm.
7
Attachment holes for the fixture are
shown in the figure Location of
gearbox on page 338 !
Make sure the fixture is pressed
tightly against the lower arm before
securing with screws!
xx0200000261
•
A: Locking screw, lower arm
Detailed in section Unloading the
balancing device on page 283 .
Unload the balancing device shaft by using a
specific press tool.
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
The power for brake release is only applied for
180 seconds after activation.
8
Detailed in section Draining, oil on
page 168 .
Drain the gearbox, axis 2.
9
Continues on next page
Product manual - IRB 7600
341
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Detailed in section Removal, motor
on page 298 .
Remove the motor, axis 2.
10
xx0300000064
Remove the 30 rear gearbox attachment screws
(A) from inside the lower section of the lower arm.
11
Shown in the figure Location of
gearbox on page 338 !
Remove the motor attachment by unscrewing
the front gearbox attachment screws.
12
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the motor
attachment and secure it with the hook on the
tool.
13
Remove the motor attachment.
CAUTION
The gearbox weighs 125 kg! All lifting equipment
used must be sized accordingly!
14
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
15
Art. no. is specified in Required
equipment on page 339 .
Fit two guide pins in 180° relation to each other
instead of the removed front attachment screws.
16
Art. no. is specified in Required
equipment on page 339 .
xx0200000033
If required, apply an M16 screw to the hole shown
in the figure to press it free.
17
•
A: M16 holes for pressing the
gearbox out
Remove the gearbox using an overhead crane or
similar.
18
Continues on next page
342
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Remove the friction washer and clean it.
19
On reassembly a new sealing must
be used!
Remove the sealing from the lower arm.
20
Art. no. is specified in the refitting
instructions Required equipment on
page 339 !
Refitting, gearbox axis 2
The procedure below details how to refit the gearbox, axis 2.
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
xx0200000125
Fit the guide pins, sealing axis 2/3 on gearbox,
axis 2.
Only the holes showed in figure beside are al-
lowed to be used to the guide pins!
2
Holes for guide pins, sealing
axis 2/3 on gearbox 2.
Always use a new sealing when re-
assembling!
Article number is specified in Re-
quired equipment on page 339 .
Fit the new sealing, axis 2/3 on gearbox, axis 2,
with guidance from the guide pins.
3
Article number is specified in Re-
quired equipment on page 339 .
Fit two guide pins, M16 180° in relation to each
other in the attachment holes in the frame.
4
Fit the cleaned friction washer onto the guide pins.
5
Article number is specified in Re-
quired equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
6
Continues on next page
Product manual - IRB 7600
343
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 343
|
Note
Action
Detailed in section Removal, motor
on page 298 .
Remove the motor, axis 2.
10
xx0300000064
Remove the 30 rear gearbox attachment screws
(A) from inside the lower section of the lower arm.
11
Shown in the figure Location of
gearbox on page 338 !
Remove the motor attachment by unscrewing
the front gearbox attachment screws.
12
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the motor
attachment and secure it with the hook on the
tool.
13
Remove the motor attachment.
CAUTION
The gearbox weighs 125 kg! All lifting equipment
used must be sized accordingly!
14
Art. no. is specified in Required
equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
15
Art. no. is specified in Required
equipment on page 339 .
Fit two guide pins in 180° relation to each other
instead of the removed front attachment screws.
16
Art. no. is specified in Required
equipment on page 339 .
xx0200000033
If required, apply an M16 screw to the hole shown
in the figure to press it free.
17
•
A: M16 holes for pressing the
gearbox out
Remove the gearbox using an overhead crane or
similar.
18
Continues on next page
342
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Remove the friction washer and clean it.
19
On reassembly a new sealing must
be used!
Remove the sealing from the lower arm.
20
Art. no. is specified in the refitting
instructions Required equipment on
page 339 !
Refitting, gearbox axis 2
The procedure below details how to refit the gearbox, axis 2.
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
xx0200000125
Fit the guide pins, sealing axis 2/3 on gearbox,
axis 2.
Only the holes showed in figure beside are al-
lowed to be used to the guide pins!
2
Holes for guide pins, sealing
axis 2/3 on gearbox 2.
Always use a new sealing when re-
assembling!
Article number is specified in Re-
quired equipment on page 339 .
Fit the new sealing, axis 2/3 on gearbox, axis 2,
with guidance from the guide pins.
3
Article number is specified in Re-
quired equipment on page 339 .
Fit two guide pins, M16 180° in relation to each
other in the attachment holes in the frame.
4
Fit the cleaned friction washer onto the guide pins.
5
Article number is specified in Re-
quired equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
6
Continues on next page
Product manual - IRB 7600
343
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Article number is specified in Re-
quired equipment on page 339 .
xx0100000136
Make sure the o-ring is fitted to the rear of the
gearbox. Lightly grease the o-ring.
7
A
O-ring, gearbox, axis 2
Lift the gearbox to its mounting position.
8
Make sure the gearbox is seated
properly.
Fit the gearbox onto the guide pins and slide it
into position.
9
Remove the lifting tool.
10
In a similar way, fit the lifting tool to the motor
flange. Lock the tool with the hook.
11
Lift it and slide it onto the guide pins.
Remove the lifting tool.
Tightening torque: 280±15 Nm.
Insert and secure 18 of the 20 attachment screws
on the front of the motor attachment.
12
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and tighten the remaining
two screws.
Remove the guide pins and tighten the remaining
two screws as above.
13
Continues on next page
344
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 344
|
Note
Action
Remove the friction washer and clean it.
19
On reassembly a new sealing must
be used!
Remove the sealing from the lower arm.
20
Art. no. is specified in the refitting
instructions Required equipment on
page 339 !
Refitting, gearbox axis 2
The procedure below details how to refit the gearbox, axis 2.
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
xx0200000125
Fit the guide pins, sealing axis 2/3 on gearbox,
axis 2.
Only the holes showed in figure beside are al-
lowed to be used to the guide pins!
2
Holes for guide pins, sealing
axis 2/3 on gearbox 2.
Always use a new sealing when re-
assembling!
Article number is specified in Re-
quired equipment on page 339 .
Fit the new sealing, axis 2/3 on gearbox, axis 2,
with guidance from the guide pins.
3
Article number is specified in Re-
quired equipment on page 339 .
Fit two guide pins, M16 180° in relation to each
other in the attachment holes in the frame.
4
Fit the cleaned friction washer onto the guide pins.
5
Article number is specified in Re-
quired equipment on page 339 .
Fit the lifting tool, gearbox axis 2 , to the gearbox.
6
Continues on next page
Product manual - IRB 7600
343
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
Article number is specified in Re-
quired equipment on page 339 .
xx0100000136
Make sure the o-ring is fitted to the rear of the
gearbox. Lightly grease the o-ring.
7
A
O-ring, gearbox, axis 2
Lift the gearbox to its mounting position.
8
Make sure the gearbox is seated
properly.
Fit the gearbox onto the guide pins and slide it
into position.
9
Remove the lifting tool.
10
In a similar way, fit the lifting tool to the motor
flange. Lock the tool with the hook.
11
Lift it and slide it onto the guide pins.
Remove the lifting tool.
Tightening torque: 280±15 Nm.
Insert and secure 18 of the 20 attachment screws
on the front of the motor attachment.
12
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and tighten the remaining
two screws.
Remove the guide pins and tighten the remaining
two screws as above.
13
Continues on next page
344
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
xx0300000064
Insert and secure 28 of the 30 attachment screws
on the inside of the lower arm.
14
Tightening torque: 300 Nm.
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins, sealing axis 2/3 and
tighten the remaining two screws as above.
15
Detailed in section Refitting, motor
on page 299 .
Refit the motor.
16
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
17
Detailed in section Filling, oil on
page 168 .
Refill the gearbox with oil.
18
Detailed in section Restoring the
balancing device on page 284 .
Restore the balancing device.
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
The power for brake release is only applied for
180 seconds after activation.
19
Remove the fixture, lower arm.
20
Remove the locking screw, lower arm.
21
Refit any mechanical stops if such were removed
during disassembly.
22
Refit any equipment to the turning disc if such
was removed during assembly.
23
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the calib-
ration tools.
Re-calibrate the robot.
24
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
Continues on next page
Product manual - IRB 7600
345
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 345
|
Note
Action
Article number is specified in Re-
quired equipment on page 339 .
xx0100000136
Make sure the o-ring is fitted to the rear of the
gearbox. Lightly grease the o-ring.
7
A
O-ring, gearbox, axis 2
Lift the gearbox to its mounting position.
8
Make sure the gearbox is seated
properly.
Fit the gearbox onto the guide pins and slide it
into position.
9
Remove the lifting tool.
10
In a similar way, fit the lifting tool to the motor
flange. Lock the tool with the hook.
11
Lift it and slide it onto the guide pins.
Remove the lifting tool.
Tightening torque: 280±15 Nm.
Insert and secure 18 of the 20 attachment screws
on the front of the motor attachment.
12
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and tighten the remaining
two screws.
Remove the guide pins and tighten the remaining
two screws as above.
13
Continues on next page
344
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
xx0300000064
Insert and secure 28 of the 30 attachment screws
on the inside of the lower arm.
14
Tightening torque: 300 Nm.
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins, sealing axis 2/3 and
tighten the remaining two screws as above.
15
Detailed in section Refitting, motor
on page 299 .
Refit the motor.
16
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
17
Detailed in section Filling, oil on
page 168 .
Refill the gearbox with oil.
18
Detailed in section Restoring the
balancing device on page 284 .
Restore the balancing device.
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
The power for brake release is only applied for
180 seconds after activation.
19
Remove the fixture, lower arm.
20
Remove the locking screw, lower arm.
21
Refit any mechanical stops if such were removed
during disassembly.
22
Refit any equipment to the turning disc if such
was removed during assembly.
23
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the calib-
ration tools.
Re-calibrate the robot.
24
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
Continues on next page
Product manual - IRB 7600
345
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
DANGER
Make sure all safety requirements are met when
performing the first test run.
25
346
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 346
|
Note
Action
xx0300000064
Insert and secure 28 of the 30 attachment screws
on the inside of the lower arm.
14
Tightening torque: 300 Nm.
Reused screws may be used,
providing they are lubricated as de-
tailed in section Screw joints on
page 415 before fitting.
Remove the guide pins, sealing axis 2/3 and
tighten the remaining two screws as above.
15
Detailed in section Refitting, motor
on page 299 .
Refit the motor.
16
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
17
Detailed in section Filling, oil on
page 168 .
Refill the gearbox with oil.
18
Detailed in section Restoring the
balancing device on page 284 .
Restore the balancing device.
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
The power for brake release is only applied for
180 seconds after activation.
19
Remove the fixture, lower arm.
20
Remove the locking screw, lower arm.
21
Refit any mechanical stops if such were removed
during disassembly.
22
Refit any equipment to the turning disc if such
was removed during assembly.
23
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the calib-
ration tools.
Re-calibrate the robot.
24
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
Continues on next page
Product manual - IRB 7600
345
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
Note
Action
DANGER
Make sure all safety requirements are met when
performing the first test run.
25
346
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
4.7.3 Replacement of gearbox, axis 3
Location of gearbox
The axis 3 gearbox is located in the upper arm rotational center as shown in the
figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000137
Gearbox, axis 3
A
Attachment screws, gearbox
B
Oil plug, filling
C
Oil plug, draining
D
Motor, axis 3
E
Attachment screws, upper arm
F
Attachment screws, motor
G
Sealing, axis 2/3 (between lower arm and gearbox 3)
H
Continues on next page
Product manual - IRB 7600
347
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
|
ABB_IRB7600_Product_Manual.pdf
|
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| 347
|
Note
Action
DANGER
Make sure all safety requirements are met when
performing the first test run.
25
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© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.2 Replacement of gearbox, axis 2
Continued
4.7.3 Replacement of gearbox, axis 3
Location of gearbox
The axis 3 gearbox is located in the upper arm rotational center as shown in the
figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000137
Gearbox, axis 3
A
Attachment screws, gearbox
B
Oil plug, filling
C
Oil plug, draining
D
Motor, axis 3
E
Attachment screws, upper arm
F
Attachment screws, motor
G
Sealing, axis 2/3 (between lower arm and gearbox 3)
H
Continues on next page
Product manual - IRB 7600
347
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Required equipment
Note
Art. no.
Equipment, etc.
Includes
•
gearbox
•
o-ring.
Does not include the sealing, axis
2/3!
For spare part number,
see Spare part lists on
page 425 .
Gearbox
1 pc on the gearbox.
3HAB3772-51
O-ring
Replace if damaged.
For lubricating the o-rings.
3HAC042536-001
Grease
A new sealing must be used on
each assembly!
3HAC17213-1
Sealing, axis 3
Used to secure the upper arm.
Use attachment screws
3HAB3409-86 (M16 x 60).
3HAC12708-2
Mechanical stop axis 3
3HAA1001-186
Washers (for mechanical stop
axis 3)
3HAB3409-86
Bolt, M16x60 (for mechanical
stop axis 3)
3HAC032723-001
Lifting accessory, axis-2 and
axis-3 gear
For guiding the gearbox.
3HAC13120-4
Guide pins M16 x 250
Use guides in pairs!
For guiding the gearbox.
3HAC13120-5
Guide pins M16 x 300
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-2
Guide pins, sealing ax 2/3,
80mm
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-3
Guide pins, sealing ax 2/3,
100mm
Use guides in pairs!
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes
operating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the
robot.
These procedures include refer-
ences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Continues on next page
348
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
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| 348
|
4.7.3 Replacement of gearbox, axis 3
Location of gearbox
The axis 3 gearbox is located in the upper arm rotational center as shown in the
figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000137
Gearbox, axis 3
A
Attachment screws, gearbox
B
Oil plug, filling
C
Oil plug, draining
D
Motor, axis 3
E
Attachment screws, upper arm
F
Attachment screws, motor
G
Sealing, axis 2/3 (between lower arm and gearbox 3)
H
Continues on next page
Product manual - IRB 7600
347
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Required equipment
Note
Art. no.
Equipment, etc.
Includes
•
gearbox
•
o-ring.
Does not include the sealing, axis
2/3!
For spare part number,
see Spare part lists on
page 425 .
Gearbox
1 pc on the gearbox.
3HAB3772-51
O-ring
Replace if damaged.
For lubricating the o-rings.
3HAC042536-001
Grease
A new sealing must be used on
each assembly!
3HAC17213-1
Sealing, axis 3
Used to secure the upper arm.
Use attachment screws
3HAB3409-86 (M16 x 60).
3HAC12708-2
Mechanical stop axis 3
3HAA1001-186
Washers (for mechanical stop
axis 3)
3HAB3409-86
Bolt, M16x60 (for mechanical
stop axis 3)
3HAC032723-001
Lifting accessory, axis-2 and
axis-3 gear
For guiding the gearbox.
3HAC13120-4
Guide pins M16 x 250
Use guides in pairs!
For guiding the gearbox.
3HAC13120-5
Guide pins M16 x 300
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-2
Guide pins, sealing ax 2/3,
80mm
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-3
Guide pins, sealing ax 2/3,
100mm
Use guides in pairs!
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes
operating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the
robot.
These procedures include refer-
ences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Continues on next page
348
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
Note
Action
Decide which calibration routine
to use, and take actions accord-
ingly prior to beginning the repair
procedure.
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
Art. no. is specified in Required equipment on
page 348 .
Secure the upper arm in a horizont-
al position using round slings.
3
Continues on next page
Product manual - IRB 7600
349
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 349
|
Required equipment
Note
Art. no.
Equipment, etc.
Includes
•
gearbox
•
o-ring.
Does not include the sealing, axis
2/3!
For spare part number,
see Spare part lists on
page 425 .
Gearbox
1 pc on the gearbox.
3HAB3772-51
O-ring
Replace if damaged.
For lubricating the o-rings.
3HAC042536-001
Grease
A new sealing must be used on
each assembly!
3HAC17213-1
Sealing, axis 3
Used to secure the upper arm.
Use attachment screws
3HAB3409-86 (M16 x 60).
3HAC12708-2
Mechanical stop axis 3
3HAA1001-186
Washers (for mechanical stop
axis 3)
3HAB3409-86
Bolt, M16x60 (for mechanical
stop axis 3)
3HAC032723-001
Lifting accessory, axis-2 and
axis-3 gear
For guiding the gearbox.
3HAC13120-4
Guide pins M16 x 250
Use guides in pairs!
For guiding the gearbox.
3HAC13120-5
Guide pins M16 x 300
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-2
Guide pins, sealing ax 2/3,
80mm
Use guides in pairs!
For guiding the axis-3 sealing.
3HAC14627-3
Guide pins, sealing ax 2/3,
100mm
Use guides in pairs!
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes
operating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the
robot.
These procedures include refer-
ences to the tools required.
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Continues on next page
348
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
Note
Action
Decide which calibration routine
to use, and take actions accord-
ingly prior to beginning the repair
procedure.
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
Art. no. is specified in Required equipment on
page 348 .
Secure the upper arm in a horizont-
al position using round slings.
3
Continues on next page
Product manual - IRB 7600
349
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
Detailed in section Removal, motor on page 304 .
Note
When removing the motor axis 3, the brake on axis
3 is released. Make sure the upper arm is secured
and disabled to move!
Remove the motor, axis 3 .
4
Detailed in section Removal, upper arm on
page 242 .
Remove the upper arm .
5
On reassembly a new sealing must be used! Art.
no. is specified in Required equipment on page348 .
Remove the sealing, axis 2/3
between the gearbox and lower
arm.
6
Place the upper arm safely on a
workbench, in a fixture or similar.
7
Shown in the figure Location of gearbox on
page 347 .
Remove the attachment screws,
gearbox.
8
Art. no. is specified in Required equipment on
page 348 .
Fit the two guide pins in 180° rela-
tion to each other in the gearbox
attachment screw holes.
9
![Image]
xx0900000113
Fit the Lifting accessory RV2 ac-
cording to figure.
10
xx0200000033
If required, use screws in the holes
(A) shown in the figure to the right
to press the gearbox free.
11
•
A: M16 holed for pressing the gearbox out
Continues on next page
350
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 350
|
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
Note
Action
Decide which calibration routine
to use, and take actions accord-
ingly prior to beginning the repair
procedure.
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
Art. no. is specified in Required equipment on
page 348 .
Secure the upper arm in a horizont-
al position using round slings.
3
Continues on next page
Product manual - IRB 7600
349
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
Detailed in section Removal, motor on page 304 .
Note
When removing the motor axis 3, the brake on axis
3 is released. Make sure the upper arm is secured
and disabled to move!
Remove the motor, axis 3 .
4
Detailed in section Removal, upper arm on
page 242 .
Remove the upper arm .
5
On reassembly a new sealing must be used! Art.
no. is specified in Required equipment on page348 .
Remove the sealing, axis 2/3
between the gearbox and lower
arm.
6
Place the upper arm safely on a
workbench, in a fixture or similar.
7
Shown in the figure Location of gearbox on
page 347 .
Remove the attachment screws,
gearbox.
8
Art. no. is specified in Required equipment on
page 348 .
Fit the two guide pins in 180° rela-
tion to each other in the gearbox
attachment screw holes.
9
![Image]
xx0900000113
Fit the Lifting accessory RV2 ac-
cording to figure.
10
xx0200000033
If required, use screws in the holes
(A) shown in the figure to the right
to press the gearbox free.
11
•
A: M16 holed for pressing the gearbox out
Continues on next page
350
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
12
Remove the gearbox, with guid-
ance from the guide pins, using an
overhead crane or similar.
13
Refitting, gearbox axis 3
The procedure below details how to refit gearbox, axis 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 work-
ing area.
1
Turn the upper arm in such a
position that the gear mating
surface faces upwards.
2
Art. no. is specified in Required equipment on
page 348 .
Fit two guide pins in 180° rela-
tion to each other in the holes in
the upper arm, used for the
gearbox attachment screws.
3
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
4
Continues on next page
Product manual - IRB 7600
351
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 351
|
Note
Action
Detailed in section Removal, motor on page 304 .
Note
When removing the motor axis 3, the brake on axis
3 is released. Make sure the upper arm is secured
and disabled to move!
Remove the motor, axis 3 .
4
Detailed in section Removal, upper arm on
page 242 .
Remove the upper arm .
5
On reassembly a new sealing must be used! Art.
no. is specified in Required equipment on page348 .
Remove the sealing, axis 2/3
between the gearbox and lower
arm.
6
Place the upper arm safely on a
workbench, in a fixture or similar.
7
Shown in the figure Location of gearbox on
page 347 .
Remove the attachment screws,
gearbox.
8
Art. no. is specified in Required equipment on
page 348 .
Fit the two guide pins in 180° rela-
tion to each other in the gearbox
attachment screw holes.
9
![Image]
xx0900000113
Fit the Lifting accessory RV2 ac-
cording to figure.
10
xx0200000033
If required, use screws in the holes
(A) shown in the figure to the right
to press the gearbox free.
11
•
A: M16 holed for pressing the gearbox out
Continues on next page
350
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
12
Remove the gearbox, with guid-
ance from the guide pins, using an
overhead crane or similar.
13
Refitting, gearbox axis 3
The procedure below details how to refit gearbox, axis 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 work-
ing area.
1
Turn the upper arm in such a
position that the gear mating
surface faces upwards.
2
Art. no. is specified in Required equipment on
page 348 .
Fit two guide pins in 180° rela-
tion to each other in the holes in
the upper arm, used for the
gearbox attachment screws.
3
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
4
Continues on next page
Product manual - IRB 7600
351
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
![Image]
xx0900000113
Fit the lifting accessory RV2 ac-
cording to figure.
5
Art. no. is specified in Required equipment on
page 348 .
xx0100000136
Make sure the o-ring is fitted to
the rear of the gearbox. Apply
grease to it to make sure it sticks
in its groove during assembly!
Replace if damaged!
6
•
A: O-ring, gearbox axis 3
Lift the gearbox to its mounting
position.
7
Turn the gearbox to align the at-
tachment screw holes with those
in the upper arm.
8
Make sure the o-rings are seated properly and the
gearbox correctly oriented!
Fit the gearbox onto the guide
pins and slide it into position.
9
Remove the lifting tool.
10
20 pcs: M16 x 90; 12.9 quality UNBRAKO, tightening
torque: 300 Nm.
Secure the gearbox with 18 of
the 20 gearbox attachment
screws.
11
Reused screws may be used, providing they are
lubricated as detailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and
tighten the remaining two
screws.
Continues on next page
352
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 352
|
Note
Action
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
12
Remove the gearbox, with guid-
ance from the guide pins, using an
overhead crane or similar.
13
Refitting, gearbox axis 3
The procedure below details how to refit gearbox, axis 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 work-
ing area.
1
Turn the upper arm in such a
position that the gear mating
surface faces upwards.
2
Art. no. is specified in Required equipment on
page 348 .
Fit two guide pins in 180° rela-
tion to each other in the holes in
the upper arm, used for the
gearbox attachment screws.
3
CAUTION
The gearbox weighs 125 kg! All
lifting accessories used must be
sized accordingly!
4
Continues on next page
Product manual - IRB 7600
351
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
![Image]
xx0900000113
Fit the lifting accessory RV2 ac-
cording to figure.
5
Art. no. is specified in Required equipment on
page 348 .
xx0100000136
Make sure the o-ring is fitted to
the rear of the gearbox. Apply
grease to it to make sure it sticks
in its groove during assembly!
Replace if damaged!
6
•
A: O-ring, gearbox axis 3
Lift the gearbox to its mounting
position.
7
Turn the gearbox to align the at-
tachment screw holes with those
in the upper arm.
8
Make sure the o-rings are seated properly and the
gearbox correctly oriented!
Fit the gearbox onto the guide
pins and slide it into position.
9
Remove the lifting tool.
10
20 pcs: M16 x 90; 12.9 quality UNBRAKO, tightening
torque: 300 Nm.
Secure the gearbox with 18 of
the 20 gearbox attachment
screws.
11
Reused screws may be used, providing they are
lubricated as detailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and
tighten the remaining two
screws.
Continues on next page
352
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
Art. no. is specified in Required equipment on
page 348 .
Refit the upper arm with a new
sealing, axis 2/3 .
12
Detailed in section Refitting, upper arm on page 243 .
Detailed in section Refitting, motor on page 306 .
Refit the motor.
13
Pendulum Calibration is described in Operating
manual - Calibration Pendulum , enclosed with the
calibration tools.
Recalibrate 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 page 371 .
DANGER
Make sure all safety require-
ments are met when performing
the first test run.
15
Product manual - IRB 7600
353
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
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| 353
|
Note
Action
![Image]
xx0900000113
Fit the lifting accessory RV2 ac-
cording to figure.
5
Art. no. is specified in Required equipment on
page 348 .
xx0100000136
Make sure the o-ring is fitted to
the rear of the gearbox. Apply
grease to it to make sure it sticks
in its groove during assembly!
Replace if damaged!
6
•
A: O-ring, gearbox axis 3
Lift the gearbox to its mounting
position.
7
Turn the gearbox to align the at-
tachment screw holes with those
in the upper arm.
8
Make sure the o-rings are seated properly and the
gearbox correctly oriented!
Fit the gearbox onto the guide
pins and slide it into position.
9
Remove the lifting tool.
10
20 pcs: M16 x 90; 12.9 quality UNBRAKO, tightening
torque: 300 Nm.
Secure the gearbox with 18 of
the 20 gearbox attachment
screws.
11
Reused screws may be used, providing they are
lubricated as detailed in section Screw joints on
page 415 before fitting.
Remove the guide pins and
tighten the remaining two
screws.
Continues on next page
352
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Note
Action
Art. no. is specified in Required equipment on
page 348 .
Refit the upper arm with a new
sealing, axis 2/3 .
12
Detailed in section Refitting, upper arm on page 243 .
Detailed in section Refitting, motor on page 306 .
Refit the motor.
13
Pendulum Calibration is described in Operating
manual - Calibration Pendulum , enclosed with the
calibration tools.
Recalibrate 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 page 371 .
DANGER
Make sure all safety require-
ments are met when performing
the first test run.
15
Product manual - IRB 7600
353
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
4.7.4 Replacement of gearbox, axis 4
Location of gearbox
The axis 4 gearbox is located at the rear of the upper arm as shown in the figure
below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000144
Upper arm housing
A
Gearbox, axis 4
B
Cover, axis 4 gearbox
C
Attachment screws, cover axis 4
D
Oil plug, filling, secondary gearbox
E
Oil plug, draining, secondary gearbox
F
Gear, Z3
G
Gear attachment screws
H
Motor, axis 4
I
Motor flange
J
Oil plug, filling, primary gearbox (draining not shown in figure)
K
Continues on next page
354
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
|
ABB_IRB7600_Product_Manual.pdf
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| 354
|
Note
Action
Art. no. is specified in Required equipment on
page 348 .
Refit the upper arm with a new
sealing, axis 2/3 .
12
Detailed in section Refitting, upper arm on page 243 .
Detailed in section Refitting, motor on page 306 .
Refit the motor.
13
Pendulum Calibration is described in Operating
manual - Calibration Pendulum , enclosed with the
calibration tools.
Recalibrate 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 page 371 .
DANGER
Make sure all safety require-
ments are met when performing
the first test run.
15
Product manual - IRB 7600
353
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
4.7.4 Replacement of gearbox, axis 4
Location of gearbox
The axis 4 gearbox is located at the rear of the upper arm as shown in the figure
below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000144
Upper arm housing
A
Gearbox, axis 4
B
Cover, axis 4 gearbox
C
Attachment screws, cover axis 4
D
Oil plug, filling, secondary gearbox
E
Oil plug, draining, secondary gearbox
F
Gear, Z3
G
Gear attachment screws
H
Motor, axis 4
I
Motor flange
J
Oil plug, filling, primary gearbox (draining not shown in figure)
K
Continues on next page
354
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 4
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
3HAC11423-3
Gasket, cover axis 4
For lubrication of gearbox,
motor and motor attachment
mating surfaces.
3HAC042536-
001
Grease
Always use the guide pins
in pairs!
3HAC15521-1
Guide pins M10 x 100
Always use the guide pins
in pairs!
3HAC15521-2
Guide pins M10 x 150
Content is defined in section
Standard tools on page419 .
-
Standard toolkit
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pen-
dulum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 7600
355
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 355
|
4.7.4 Replacement of gearbox, axis 4
Location of gearbox
The axis 4 gearbox is located at the rear of the upper arm as shown in the figure
below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000144
Upper arm housing
A
Gearbox, axis 4
B
Cover, axis 4 gearbox
C
Attachment screws, cover axis 4
D
Oil plug, filling, secondary gearbox
E
Oil plug, draining, secondary gearbox
F
Gear, Z3
G
Gear attachment screws
H
Motor, axis 4
I
Motor flange
J
Oil plug, filling, primary gearbox (draining not shown in figure)
K
Continues on next page
354
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 4
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
3HAC11423-3
Gasket, cover axis 4
For lubrication of gearbox,
motor and motor attachment
mating surfaces.
3HAC042536-
001
Grease
Always use the guide pins
in pairs!
3HAC15521-1
Guide pins M10 x 100
Always use the guide pins
in pairs!
3HAC15521-2
Guide pins M10 x 150
Content is defined in section
Standard tools on page419 .
-
Standard toolkit
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pen-
dulum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 7600
355
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 4
The procedure below details how to remove gearbox, axis 4.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed further in section
Changing oil, axis-4 gearbox on
page 173 .
Drain the oil from the primary gearbox through the
oil plug, draining.
3
Shown in the figure Location of
gearbox on page 354 .
Drain the oil from the secondary gearbox through
the oil plug, draining.
4
Draining is further detailed in
section Changing oil, axis-4
gearbox on page 173 .
Remove the plastic housing from the cover, axis 4
gearbox.
5
Shown in the figure Location of
gearbox on page 354 .
Remove the cover, axis 4 gearbox by unscrewing
its attachment screws.
6
Shown in the figure Location of
gearbox on page 354 .
Loosen the gear attachment screws but do not re-
move the gear Z3.
7
Detailed in section Removal,
motor axis 4 on page 311 .
Remove the motor, axis 4.
8
Shown in the figure Location of
gearbox on page 354 .
Remove gear Z3 from the gearbox by unscrewing
the 15 gear attachment screws .
If required, insert screws into three holes in gear Z3
to press it out.
9
Continues on next page
356
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 356
|
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 4
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
3HAC11423-3
Gasket, cover axis 4
For lubrication of gearbox,
motor and motor attachment
mating surfaces.
3HAC042536-
001
Grease
Always use the guide pins
in pairs!
3HAC15521-1
Guide pins M10 x 100
Always use the guide pins
in pairs!
3HAC15521-2
Guide pins M10 x 150
Content is defined in section
Standard tools on page419 .
-
Standard toolkit
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pen-
dulum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 7600
355
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 4
The procedure below details how to remove gearbox, axis 4.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed further in section
Changing oil, axis-4 gearbox on
page 173 .
Drain the oil from the primary gearbox through the
oil plug, draining.
3
Shown in the figure Location of
gearbox on page 354 .
Drain the oil from the secondary gearbox through
the oil plug, draining.
4
Draining is further detailed in
section Changing oil, axis-4
gearbox on page 173 .
Remove the plastic housing from the cover, axis 4
gearbox.
5
Shown in the figure Location of
gearbox on page 354 .
Remove the cover, axis 4 gearbox by unscrewing
its attachment screws.
6
Shown in the figure Location of
gearbox on page 354 .
Loosen the gear attachment screws but do not re-
move the gear Z3.
7
Detailed in section Removal,
motor axis 4 on page 311 .
Remove the motor, axis 4.
8
Shown in the figure Location of
gearbox on page 354 .
Remove gear Z3 from the gearbox by unscrewing
the 15 gear attachment screws .
If required, insert screws into three holes in gear Z3
to press it out.
9
Continues on next page
356
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Shown in the figure Location of
gearbox on page 354 .
Remove the motor flange attachment screws and
plain washers.
10
M10.
Pull the motor flange and gearbox, axis 4 out along
with the friction washers.
If required, insert screws into two holes in the gear-
box to press it out.
11
Refitting, gearbox axis 4
The procedure below details how to refit the gearbox of axis 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
Art. no. is specified in Required
equipment on page 355 .
Make sure the two o-rings on the circumference
of the gearbox are seated properly in their
grooves respectively. Lightly lubricate the o-
rings with grease.
2
Art. no. is specified in Required
equipment on page 355 .
Lubricate the gearbox, motor and motor attach-
ment mating surfaces with grease.
3
xx0200000067
Fit four guide pins symmetrically in the attach-
ment holes in the upper arm housing.
4
A
Attachment holes for guide
pins, M10
Art. no. is specified in Required
equipment on page 355 .
Spare part no. is specified in Required
equipment on page 355 .
Note
Make sure the surface beneath the
friction washers is clean and dry!
Fit two new friction washers onto the guide pins.
5
Continues on next page
Product manual - IRB 7600
357
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 357
|
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox axis 4
The procedure below details how to remove gearbox, axis 4.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed further in section
Changing oil, axis-4 gearbox on
page 173 .
Drain the oil from the primary gearbox through the
oil plug, draining.
3
Shown in the figure Location of
gearbox on page 354 .
Drain the oil from the secondary gearbox through
the oil plug, draining.
4
Draining is further detailed in
section Changing oil, axis-4
gearbox on page 173 .
Remove the plastic housing from the cover, axis 4
gearbox.
5
Shown in the figure Location of
gearbox on page 354 .
Remove the cover, axis 4 gearbox by unscrewing
its attachment screws.
6
Shown in the figure Location of
gearbox on page 354 .
Loosen the gear attachment screws but do not re-
move the gear Z3.
7
Detailed in section Removal,
motor axis 4 on page 311 .
Remove the motor, axis 4.
8
Shown in the figure Location of
gearbox on page 354 .
Remove gear Z3 from the gearbox by unscrewing
the 15 gear attachment screws .
If required, insert screws into three holes in gear Z3
to press it out.
9
Continues on next page
356
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Shown in the figure Location of
gearbox on page 354 .
Remove the motor flange attachment screws and
plain washers.
10
M10.
Pull the motor flange and gearbox, axis 4 out along
with the friction washers.
If required, insert screws into two holes in the gear-
box to press it out.
11
Refitting, gearbox axis 4
The procedure below details how to refit the gearbox of axis 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
Art. no. is specified in Required
equipment on page 355 .
Make sure the two o-rings on the circumference
of the gearbox are seated properly in their
grooves respectively. Lightly lubricate the o-
rings with grease.
2
Art. no. is specified in Required
equipment on page 355 .
Lubricate the gearbox, motor and motor attach-
ment mating surfaces with grease.
3
xx0200000067
Fit four guide pins symmetrically in the attach-
ment holes in the upper arm housing.
4
A
Attachment holes for guide
pins, M10
Art. no. is specified in Required
equipment on page 355 .
Spare part no. is specified in Required
equipment on page 355 .
Note
Make sure the surface beneath the
friction washers is clean and dry!
Fit two new friction washers onto the guide pins.
5
Continues on next page
Product manual - IRB 7600
357
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Shown in the figure Location of gear-
box on page 354 .
Note
Make sure the motor flange is oriented
correctly by observing the oil plugs as
shown in the figure Replacement of
gearbox, axis 4 on page 354 .
Push in the gearbox, axis 4, and the motor
flange .
If necessary, use screws in the attachment
holes to press in the motor flange.
6
18 pcs: M10 x 40; tightening torque:
65 Nm.
Secure the motor flange to the upper arm
housing with 16 of the 18 washers and attach-
ment screws.
7
Secure with locking liquid.
Remove the guide pins and secure the remain-
ing two attachment screws as specified in pre-
vious step.
8
Detailed in section Refitting, motor
axis 4 on page 312 .
Refit the motor, axis 4.
9
Shown in the figure Location of gear-
box on page 354 .
Refit gear Z3 to the gearbox with its gear attach-
ment screws .
10
9 pcs: M12 x 50; tightening torque:
115 Nm.
6 pcs: M16 x 60: tightening torque:
300 Nm.
Art. no. is specified in Required
equipment on page 355 .
Replace the gasket, cover axis 4 .
11
Tightening torque: 10 Nm.
Refit the cover, axis 4 gearbox with its attach-
ment screws and secure with locking liquid.
12
Shown in the figure Location of gear-
box on page 354 .
Detailed in section Performing a leak-
down test on page 206 .
Perform a leak-down test.
13
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the primary gearbox with oil.
14
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the secondary gearbox with oil.
15
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum , enclosed with the calibration
tools.
Recalibrate the robot.
16
Axis Calibration is described in Calib-
rating with Axis Calibration method on
page 383 .
General calibration information is in-
cluded in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
17
358
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 358
|
Note
Action
Shown in the figure Location of
gearbox on page 354 .
Remove the motor flange attachment screws and
plain washers.
10
M10.
Pull the motor flange and gearbox, axis 4 out along
with the friction washers.
If required, insert screws into two holes in the gear-
box to press it out.
11
Refitting, gearbox axis 4
The procedure below details how to refit the gearbox of axis 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
Art. no. is specified in Required
equipment on page 355 .
Make sure the two o-rings on the circumference
of the gearbox are seated properly in their
grooves respectively. Lightly lubricate the o-
rings with grease.
2
Art. no. is specified in Required
equipment on page 355 .
Lubricate the gearbox, motor and motor attach-
ment mating surfaces with grease.
3
xx0200000067
Fit four guide pins symmetrically in the attach-
ment holes in the upper arm housing.
4
A
Attachment holes for guide
pins, M10
Art. no. is specified in Required
equipment on page 355 .
Spare part no. is specified in Required
equipment on page 355 .
Note
Make sure the surface beneath the
friction washers is clean and dry!
Fit two new friction washers onto the guide pins.
5
Continues on next page
Product manual - IRB 7600
357
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
Note
Action
Shown in the figure Location of gear-
box on page 354 .
Note
Make sure the motor flange is oriented
correctly by observing the oil plugs as
shown in the figure Replacement of
gearbox, axis 4 on page 354 .
Push in the gearbox, axis 4, and the motor
flange .
If necessary, use screws in the attachment
holes to press in the motor flange.
6
18 pcs: M10 x 40; tightening torque:
65 Nm.
Secure the motor flange to the upper arm
housing with 16 of the 18 washers and attach-
ment screws.
7
Secure with locking liquid.
Remove the guide pins and secure the remain-
ing two attachment screws as specified in pre-
vious step.
8
Detailed in section Refitting, motor
axis 4 on page 312 .
Refit the motor, axis 4.
9
Shown in the figure Location of gear-
box on page 354 .
Refit gear Z3 to the gearbox with its gear attach-
ment screws .
10
9 pcs: M12 x 50; tightening torque:
115 Nm.
6 pcs: M16 x 60: tightening torque:
300 Nm.
Art. no. is specified in Required
equipment on page 355 .
Replace the gasket, cover axis 4 .
11
Tightening torque: 10 Nm.
Refit the cover, axis 4 gearbox with its attach-
ment screws and secure with locking liquid.
12
Shown in the figure Location of gear-
box on page 354 .
Detailed in section Performing a leak-
down test on page 206 .
Perform a leak-down test.
13
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the primary gearbox with oil.
14
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the secondary gearbox with oil.
15
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum , enclosed with the calibration
tools.
Recalibrate the robot.
16
Axis Calibration is described in Calib-
rating with Axis Calibration method on
page 383 .
General calibration information is in-
cluded in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
17
358
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
4.7.5 Replacement of gearbox, axis 5
Location of gearbox
The axis 5 gearbox is located in the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000146
Wrist housing
A
Cover, axis 5 gearbox
B
Attachment screws, cover axis 5
C
Oil plug, secondary, filling
D
Oil plug, secondary, draining
E
Gear, Z3
F
Wheel unit
G
Attachment screws, gear Z3
H
Gearbox, axis 5
K
Oil plug, primary, filling (draining plug on the opposite side of the wrist housing,
not shown in figure)
L
VK-cover
N
Continues on next page
Product manual - IRB 7600
359
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
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ABB_IRB7600_Product_Manual.pdf
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| 359
|
Note
Action
Shown in the figure Location of gear-
box on page 354 .
Note
Make sure the motor flange is oriented
correctly by observing the oil plugs as
shown in the figure Replacement of
gearbox, axis 4 on page 354 .
Push in the gearbox, axis 4, and the motor
flange .
If necessary, use screws in the attachment
holes to press in the motor flange.
6
18 pcs: M10 x 40; tightening torque:
65 Nm.
Secure the motor flange to the upper arm
housing with 16 of the 18 washers and attach-
ment screws.
7
Secure with locking liquid.
Remove the guide pins and secure the remain-
ing two attachment screws as specified in pre-
vious step.
8
Detailed in section Refitting, motor
axis 4 on page 312 .
Refit the motor, axis 4.
9
Shown in the figure Location of gear-
box on page 354 .
Refit gear Z3 to the gearbox with its gear attach-
ment screws .
10
9 pcs: M12 x 50; tightening torque:
115 Nm.
6 pcs: M16 x 60: tightening torque:
300 Nm.
Art. no. is specified in Required
equipment on page 355 .
Replace the gasket, cover axis 4 .
11
Tightening torque: 10 Nm.
Refit the cover, axis 4 gearbox with its attach-
ment screws and secure with locking liquid.
12
Shown in the figure Location of gear-
box on page 354 .
Detailed in section Performing a leak-
down test on page 206 .
Perform a leak-down test.
13
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the primary gearbox with oil.
14
This is detailed in section Filling, oil,
gearbox axis 4 on page 175 .
Refill the secondary gearbox with oil.
15
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum , enclosed with the calibration
tools.
Recalibrate the robot.
16
Axis Calibration is described in Calib-
rating with Axis Calibration method on
page 383 .
General calibration information is in-
cluded in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
17
358
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 4
Continued
4.7.5 Replacement of gearbox, axis 5
Location of gearbox
The axis 5 gearbox is located in the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000146
Wrist housing
A
Cover, axis 5 gearbox
B
Attachment screws, cover axis 5
C
Oil plug, secondary, filling
D
Oil plug, secondary, draining
E
Gear, Z3
F
Wheel unit
G
Attachment screws, gear Z3
H
Gearbox, axis 5
K
Oil plug, primary, filling (draining plug on the opposite side of the wrist housing,
not shown in figure)
L
VK-cover
N
Continues on next page
Product manual - IRB 7600
359
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Attachment screws, bearing washer, M6 x 16
O
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 5
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
Must be replaced!
3HAA2166-24
VK-cover
3HAC 11409-5
Gasket, cover
For lubricating the o-rings
and the packing box.
3HAC042536-
001
Grease
Loctite 243
3HAB7116-1
Locking liquid
To clean surface beneath VK-
cover.
11771012-208
Isopropanol
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
2 pcs required!
3HAC14457-3
Lifting eye M12
For lifting the gearbox.
For removing and lifting the
wheel unit.
3HAC15814-1
Removal tool, wheel unit
Always use guide pins in
pairs!
3HAC15521-1
Guide pins M10 x 100
Always use guide pins in
pairs!
3HAC15521-2
Guide pins M10 x 150
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration method
for the robot.
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 instructions be-
low.
Continues on next page
360
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 360
|
4.7.5 Replacement of gearbox, axis 5
Location of gearbox
The axis 5 gearbox is located in the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
Exploded views in Product manual, spare parts - IRB 7600 .
xx0100000146
Wrist housing
A
Cover, axis 5 gearbox
B
Attachment screws, cover axis 5
C
Oil plug, secondary, filling
D
Oil plug, secondary, draining
E
Gear, Z3
F
Wheel unit
G
Attachment screws, gear Z3
H
Gearbox, axis 5
K
Oil plug, primary, filling (draining plug on the opposite side of the wrist housing,
not shown in figure)
L
VK-cover
N
Continues on next page
Product manual - IRB 7600
359
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Attachment screws, bearing washer, M6 x 16
O
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 5
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
Must be replaced!
3HAA2166-24
VK-cover
3HAC 11409-5
Gasket, cover
For lubricating the o-rings
and the packing box.
3HAC042536-
001
Grease
Loctite 243
3HAB7116-1
Locking liquid
To clean surface beneath VK-
cover.
11771012-208
Isopropanol
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
2 pcs required!
3HAC14457-3
Lifting eye M12
For lifting the gearbox.
For removing and lifting the
wheel unit.
3HAC15814-1
Removal tool, wheel unit
Always use guide pins in
pairs!
3HAC15521-1
Guide pins M10 x 100
Always use guide pins in
pairs!
3HAC15521-2
Guide pins M10 x 150
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration method
for the robot.
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 instructions be-
low.
Continues on next page
360
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox
The procedure below details how to remove the gearbox, axis 5.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the primary gearbox.
3
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
4
Detailed in section Replacement
of motor, axis 5 on page 315 .
Remove the motor, axis 5.
5
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing its
attachment screws .
6
Continues on next page
Product manual - IRB 7600
361
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 361
|
Attachment screws, bearing washer, M6 x 16
O
Required equipment
Note
Art. no.
Spare part no.
Equipment, etc.
Includes all o-rings!
3HAC17810-1
Gear axis 5
Replace if damaged!
3HAB3772-49
O-ring
Replace if damaged!
3HAB3772-50
O-ring
2 pcs. Must be replaced at
assembly!
3HAC10122-27
Friction washer
Must be replaced!
3HAA2166-24
VK-cover
3HAC 11409-5
Gasket, cover
For lubricating the o-rings
and the packing box.
3HAC042536-
001
Grease
Loctite 243
3HAB7116-1
Locking liquid
To clean surface beneath VK-
cover.
11771012-208
Isopropanol
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
2 pcs required!
3HAC14457-3
Lifting eye M12
For lifting the gearbox.
For removing and lifting the
wheel unit.
3HAC15814-1
Removal tool, wheel unit
Always use guide pins in
pairs!
3HAC15521-1
Guide pins M10 x 100
Always use guide pins in
pairs!
3HAC15521-2
Guide pins M10 x 150
Complete kit that also in-
cludes operating manual.
3HAC15716-1
Calibration Pendulum
toolkit
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools.
3HAC055412-
001
Calibration tool box, Axis
Calibration
Required if Axis Calibration
is the valid calibration method
for the robot.
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 instructions be-
low.
Continues on next page
360
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox
The procedure below details how to remove the gearbox, axis 5.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the primary gearbox.
3
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
4
Detailed in section Replacement
of motor, axis 5 on page 315 .
Remove the motor, axis 5.
5
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing its
attachment screws .
6
Continues on next page
Product manual - IRB 7600
361
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
Shown in the figure Location of
gearbox on page 359 !
Remove gear Z3 from the gearbox by unscrewing its
attachment screws (let axis 6 turn to the stop).
If necessary, insert screws into the three holes in
gear Z3 to remove it.
7
6 pcs: M16 x 60.
9 pcs: M12 x 50.
Detailed in following section
( Removal, wheel unit on
page 362 ).
Remove the wheel unit.
8
Shown in the figure Location of
gearbox on page 359 !
Remove the gearbox, axis 5 by unscrewing its attach-
ment screws and removing the washers .
9
18 pcs: M10 x 40.
Art. no. is specified in Required
equipment on page 360 !
Apply two lifting eyes to the gearbox, axis 5, in op-
posite positions.
10
Remove the gearbox by gently lifting it straight out.
11
Remove the friction washers, located beneath the
gearbox, from the wrist housing.
12
Removal, wheel unit
The procedure below details how to remove the wheel unit.
Note
Action
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
1
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing
its attachment screws .
2
Shown in the figure Location of
gearbox on page 359 !
Note
Avoid damaging screws or surfaces
beneath, when removing the cover!
Make a short cut in the center of the VK-cover
and remove it from the wheel unit by bending it
off.
3
Shown in the figure Location of
gearbox on page 359 and in the fig-
ure below!
Unscrew the attachment screws, bearing washer
located beneath gear Z4.
Turn the gear Z4 in order to reach all the srews.
4
7 pcs: M6 x 16.
Continues on next page
362
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 362
|
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, gearbox
The procedure below details how to remove the gearbox, axis 5.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the primary gearbox.
3
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
4
Detailed in section Replacement
of motor, axis 5 on page 315 .
Remove the motor, axis 5.
5
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing its
attachment screws .
6
Continues on next page
Product manual - IRB 7600
361
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
Shown in the figure Location of
gearbox on page 359 !
Remove gear Z3 from the gearbox by unscrewing its
attachment screws (let axis 6 turn to the stop).
If necessary, insert screws into the three holes in
gear Z3 to remove it.
7
6 pcs: M16 x 60.
9 pcs: M12 x 50.
Detailed in following section
( Removal, wheel unit on
page 362 ).
Remove the wheel unit.
8
Shown in the figure Location of
gearbox on page 359 !
Remove the gearbox, axis 5 by unscrewing its attach-
ment screws and removing the washers .
9
18 pcs: M10 x 40.
Art. no. is specified in Required
equipment on page 360 !
Apply two lifting eyes to the gearbox, axis 5, in op-
posite positions.
10
Remove the gearbox by gently lifting it straight out.
11
Remove the friction washers, located beneath the
gearbox, from the wrist housing.
12
Removal, wheel unit
The procedure below details how to remove the wheel unit.
Note
Action
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
1
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing
its attachment screws .
2
Shown in the figure Location of
gearbox on page 359 !
Note
Avoid damaging screws or surfaces
beneath, when removing the cover!
Make a short cut in the center of the VK-cover
and remove it from the wheel unit by bending it
off.
3
Shown in the figure Location of
gearbox on page 359 and in the fig-
ure below!
Unscrew the attachment screws, bearing washer
located beneath gear Z4.
Turn the gear Z4 in order to reach all the srews.
4
7 pcs: M6 x 16.
Continues on next page
362
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
xx0200000068
Remove the attachment screws, gear Z4 .
5
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear Z4,
21 pcs: M16
E
Attachment screws, bearing
washer, 7 pcs: M6
Art. no. is specified in Required
equipment on page 360 !
Apply the removal tool to the center hole of gear
Z4 to press the wheel unit free.
6
Remove the wheel unit by gently lifting it straight
out.
7
Refitting, gearbox axis 5
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
Art. no. is specified in Required
equipment on page 360 .
Make sure the two o-rings on the circumference of
the gearbox are seated properly in their grooves
respectively. Lightly lubricate the o-rings with
grease .
2
Art. no. is specified in Required
equipment on page 360 .
Fit two guide pins in the housing.
3
Art. no. is specified in Required
equipment on page 360 .
Refit the two new friction washers (2 pcs) in the
wrist housing.
4
Art. no. is specified in Required
equipment on page 360 .
Apply two lifting eyes to the gearbox, axis 5 , in
opposite positions.
5
Shown in the figure Location of
gearbox on page 359 .
Refit the gearbox, axis 5 to the wrist housing, by
gently lowering it straight down, using the guide
pins.
6
Continues on next page
Product manual - IRB 7600
363
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
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| 363
|
Note
Action
Shown in the figure Location of
gearbox on page 359 !
Remove gear Z3 from the gearbox by unscrewing its
attachment screws (let axis 6 turn to the stop).
If necessary, insert screws into the three holes in
gear Z3 to remove it.
7
6 pcs: M16 x 60.
9 pcs: M12 x 50.
Detailed in following section
( Removal, wheel unit on
page 362 ).
Remove the wheel unit.
8
Shown in the figure Location of
gearbox on page 359 !
Remove the gearbox, axis 5 by unscrewing its attach-
ment screws and removing the washers .
9
18 pcs: M10 x 40.
Art. no. is specified in Required
equipment on page 360 !
Apply two lifting eyes to the gearbox, axis 5, in op-
posite positions.
10
Remove the gearbox by gently lifting it straight out.
11
Remove the friction washers, located beneath the
gearbox, from the wrist housing.
12
Removal, wheel unit
The procedure below details how to remove the wheel unit.
Note
Action
Detailed in section Changing oil,
axis-5 gearbox on page 176 .
Drain the oil from the secondary gearbox.
1
Shown in the figure Location of
gearbox on page 359 !
Remove the cover, axis 5 gearbox by unscrewing
its attachment screws .
2
Shown in the figure Location of
gearbox on page 359 !
Note
Avoid damaging screws or surfaces
beneath, when removing the cover!
Make a short cut in the center of the VK-cover
and remove it from the wheel unit by bending it
off.
3
Shown in the figure Location of
gearbox on page 359 and in the fig-
ure below!
Unscrew the attachment screws, bearing washer
located beneath gear Z4.
Turn the gear Z4 in order to reach all the srews.
4
7 pcs: M6 x 16.
Continues on next page
362
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
xx0200000068
Remove the attachment screws, gear Z4 .
5
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear Z4,
21 pcs: M16
E
Attachment screws, bearing
washer, 7 pcs: M6
Art. no. is specified in Required
equipment on page 360 !
Apply the removal tool to the center hole of gear
Z4 to press the wheel unit free.
6
Remove the wheel unit by gently lifting it straight
out.
7
Refitting, gearbox axis 5
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
Art. no. is specified in Required
equipment on page 360 .
Make sure the two o-rings on the circumference of
the gearbox are seated properly in their grooves
respectively. Lightly lubricate the o-rings with
grease .
2
Art. no. is specified in Required
equipment on page 360 .
Fit two guide pins in the housing.
3
Art. no. is specified in Required
equipment on page 360 .
Refit the two new friction washers (2 pcs) in the
wrist housing.
4
Art. no. is specified in Required
equipment on page 360 .
Apply two lifting eyes to the gearbox, axis 5 , in
opposite positions.
5
Shown in the figure Location of
gearbox on page 359 .
Refit the gearbox, axis 5 to the wrist housing, by
gently lowering it straight down, using the guide
pins.
6
Continues on next page
Product manual - IRB 7600
363
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
18 pcs: M10 x 40: tightening
torque: 65 Nm.
Secure the gearbox with 16 of the 18 attachment
screws and washers.
7
Shown in the figure Location of
gearbox on page 359 .
Remove the guide pins and fit the remaining two
attachment screws as specified in the previous step.
8
9 pcs: M12 x 50; 12.9 quality UN-
BRAKO, tightening torque: 115
Nm.
Refit the gear Z3 to the gearbox, axis 5 with its at-
tachment screws.
9
6 pcs: M16 x 60: tightening
torque: 300 Nm.
Shown in the figure Location of
gearbox on page 359 .
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Detailed in the following proced-
ures ( Refitting, wheel unit on
page 365 ).
Refit the wheel unit.
10
Art. no. is specified in Required
equipment on page 360 .
Replace the gasket .
11
14 pcs, tightening torque: 10 Nm.
Refit the cover, axis 5 gearbox with its attachment
screws and secure with locking liquid.
12
Shown in the figure Location of
gearbox on page 359 .
Detailed in section Refitting, motor
axis 5 on page 318 .
Refit the motor, axis 5.
13
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
14
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the primary gearbox with oil.
15
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the secondary gearbox with oil.
16
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the cal-
ibration tools.
Recalibrate the robot.
17
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
18
Continues on next page
364
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
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| 364
|
Note
Action
xx0200000068
Remove the attachment screws, gear Z4 .
5
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear Z4,
21 pcs: M16
E
Attachment screws, bearing
washer, 7 pcs: M6
Art. no. is specified in Required
equipment on page 360 !
Apply the removal tool to the center hole of gear
Z4 to press the wheel unit free.
6
Remove the wheel unit by gently lifting it straight
out.
7
Refitting, gearbox axis 5
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
Art. no. is specified in Required
equipment on page 360 .
Make sure the two o-rings on the circumference of
the gearbox are seated properly in their grooves
respectively. Lightly lubricate the o-rings with
grease .
2
Art. no. is specified in Required
equipment on page 360 .
Fit two guide pins in the housing.
3
Art. no. is specified in Required
equipment on page 360 .
Refit the two new friction washers (2 pcs) in the
wrist housing.
4
Art. no. is specified in Required
equipment on page 360 .
Apply two lifting eyes to the gearbox, axis 5 , in
opposite positions.
5
Shown in the figure Location of
gearbox on page 359 .
Refit the gearbox, axis 5 to the wrist housing, by
gently lowering it straight down, using the guide
pins.
6
Continues on next page
Product manual - IRB 7600
363
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Note
Action
18 pcs: M10 x 40: tightening
torque: 65 Nm.
Secure the gearbox with 16 of the 18 attachment
screws and washers.
7
Shown in the figure Location of
gearbox on page 359 .
Remove the guide pins and fit the remaining two
attachment screws as specified in the previous step.
8
9 pcs: M12 x 50; 12.9 quality UN-
BRAKO, tightening torque: 115
Nm.
Refit the gear Z3 to the gearbox, axis 5 with its at-
tachment screws.
9
6 pcs: M16 x 60: tightening
torque: 300 Nm.
Shown in the figure Location of
gearbox on page 359 .
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Detailed in the following proced-
ures ( Refitting, wheel unit on
page 365 ).
Refit the wheel unit.
10
Art. no. is specified in Required
equipment on page 360 .
Replace the gasket .
11
14 pcs, tightening torque: 10 Nm.
Refit the cover, axis 5 gearbox with its attachment
screws and secure with locking liquid.
12
Shown in the figure Location of
gearbox on page 359 .
Detailed in section Refitting, motor
axis 5 on page 318 .
Refit the motor, axis 5.
13
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
14
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the primary gearbox with oil.
15
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the secondary gearbox with oil.
16
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the cal-
ibration tools.
Recalibrate the robot.
17
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
18
Continues on next page
364
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Refitting, wheel unit
The procedure below details how to refit the wheel unit.
Note
Action
Clean the wheel unit and the tube mating surfaces.
1
Art. no. is specified in Required
equipment on page 360 .
Lubricate packing box with grease.
2
Art. no. is specified in Required
equipment on page 360 .
Apply removal tool to the center hole of the gear
Z4.
3
Refit wheel unit by gently lowering it straight down.
4
Note
Make sure the bearing reaches
the bottom, before continuing the
mounting!
Gently knock on the wheel unit with a plastic mallet,
to press it all the way down.
5
xx0200000068
Fasten the bearing washer with its attachment
screws and secure with locking liquid .
Turn the gear Z4 in order to reach all the screws.
6
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear
Z4, 21 pcs: M16
E
Attachment screws, bear-
ing washer, 7 pcs: M6
Clean the surface beneath the VK-cover with isop-
ropanol.
7
21 pcs: M16 x 90; 12.9 quality
UNBRAKO, tightening torque: 300
Nm.
Secure the wheel unit with attachment screws, gear
Z4.
8
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Art. no. is specified in Required
equipment on page 360 .
Refit the VK-cover.
9
Shown in the figure Location of
gearbox on page 359 .
Proceed with step 11 in the refitting detailed in the
previous procedure (procedure Refitting, gearbox
axis 5 on page 363 ).
10
Product manual - IRB 7600
365
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 365
|
Note
Action
18 pcs: M10 x 40: tightening
torque: 65 Nm.
Secure the gearbox with 16 of the 18 attachment
screws and washers.
7
Shown in the figure Location of
gearbox on page 359 .
Remove the guide pins and fit the remaining two
attachment screws as specified in the previous step.
8
9 pcs: M12 x 50; 12.9 quality UN-
BRAKO, tightening torque: 115
Nm.
Refit the gear Z3 to the gearbox, axis 5 with its at-
tachment screws.
9
6 pcs: M16 x 60: tightening
torque: 300 Nm.
Shown in the figure Location of
gearbox on page 359 .
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Detailed in the following proced-
ures ( Refitting, wheel unit on
page 365 ).
Refit the wheel unit.
10
Art. no. is specified in Required
equipment on page 360 .
Replace the gasket .
11
14 pcs, tightening torque: 10 Nm.
Refit the cover, axis 5 gearbox with its attachment
screws and secure with locking liquid.
12
Shown in the figure Location of
gearbox on page 359 .
Detailed in section Refitting, motor
axis 5 on page 318 .
Refit the motor, axis 5.
13
Detailed in section Performing a
leak-down test on page 206 .
Perform a leak-down test.
14
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the primary gearbox with oil.
15
Detailed further in section Filling
oil, axis-5 gearbox on page 178 .
Refill the secondary gearbox with oil.
16
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum , enclosed with the cal-
ibration tools.
Recalibrate the robot.
17
Axis Calibration is described in
Calibrating with Axis Calibration
method on page 383 .
General calibration information is
included in section Calibration on
page 371 .
DANGER
Make sure all safety requirements are met when
performing the first test run.
18
Continues on next page
364
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
Refitting, wheel unit
The procedure below details how to refit the wheel unit.
Note
Action
Clean the wheel unit and the tube mating surfaces.
1
Art. no. is specified in Required
equipment on page 360 .
Lubricate packing box with grease.
2
Art. no. is specified in Required
equipment on page 360 .
Apply removal tool to the center hole of the gear
Z4.
3
Refit wheel unit by gently lowering it straight down.
4
Note
Make sure the bearing reaches
the bottom, before continuing the
mounting!
Gently knock on the wheel unit with a plastic mallet,
to press it all the way down.
5
xx0200000068
Fasten the bearing washer with its attachment
screws and secure with locking liquid .
Turn the gear Z4 in order to reach all the screws.
6
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear
Z4, 21 pcs: M16
E
Attachment screws, bear-
ing washer, 7 pcs: M6
Clean the surface beneath the VK-cover with isop-
ropanol.
7
21 pcs: M16 x 90; 12.9 quality
UNBRAKO, tightening torque: 300
Nm.
Secure the wheel unit with attachment screws, gear
Z4.
8
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Art. no. is specified in Required
equipment on page 360 .
Refit the VK-cover.
9
Shown in the figure Location of
gearbox on page 359 .
Proceed with step 11 in the refitting detailed in the
previous procedure (procedure Refitting, gearbox
axis 5 on page 363 ).
10
Product manual - IRB 7600
365
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
4.7.6 Replacement of gearbox, axis 6
Location of gearbox
The axis 6 gearbox is located in the center of the wrist unit as shown in the figure
below.
xx0100000131
Gearbox, axis 6
A
Attachment screws, gearbox
B
Washers
C
Oil plug, filling
D
Oil plug, draining (can be located on the turning disk instead)
E
O-ring (not shown in the figure)
-
Required equipment
Note
Article number
Equipment, etc.
Includes o-ring 3HAB3772-49
For spare part number,
see Spare part lists on
page 425 .
Gearbox
Not included in the gearbox. Re-
place if damaged.
3HAC10122-13
Washers
Continues on next page
366
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
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ABB_IRB7600_Product_Manual.pdf
|
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| 366
|
Refitting, wheel unit
The procedure below details how to refit the wheel unit.
Note
Action
Clean the wheel unit and the tube mating surfaces.
1
Art. no. is specified in Required
equipment on page 360 .
Lubricate packing box with grease.
2
Art. no. is specified in Required
equipment on page 360 .
Apply removal tool to the center hole of the gear
Z4.
3
Refit wheel unit by gently lowering it straight down.
4
Note
Make sure the bearing reaches
the bottom, before continuing the
mounting!
Gently knock on the wheel unit with a plastic mallet,
to press it all the way down.
5
xx0200000068
Fasten the bearing washer with its attachment
screws and secure with locking liquid .
Turn the gear Z4 in order to reach all the screws.
6
A
Gear Z4
B
Surface beneath VK-cover
C
VK-cover
D
Attachment screws, gear
Z4, 21 pcs: M16
E
Attachment screws, bear-
ing washer, 7 pcs: M6
Clean the surface beneath the VK-cover with isop-
ropanol.
7
21 pcs: M16 x 90; 12.9 quality
UNBRAKO, tightening torque: 300
Nm.
Secure the wheel unit with attachment screws, gear
Z4.
8
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints
on page 415 before fitting.
Art. no. is specified in Required
equipment on page 360 .
Refit the VK-cover.
9
Shown in the figure Location of
gearbox on page 359 .
Proceed with step 11 in the refitting detailed in the
previous procedure (procedure Refitting, gearbox
axis 5 on page 363 ).
10
Product manual - IRB 7600
365
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
4.7.6 Replacement of gearbox, axis 6
Location of gearbox
The axis 6 gearbox is located in the center of the wrist unit as shown in the figure
below.
xx0100000131
Gearbox, axis 6
A
Attachment screws, gearbox
B
Washers
C
Oil plug, filling
D
Oil plug, draining (can be located on the turning disk instead)
E
O-ring (not shown in the figure)
-
Required equipment
Note
Article number
Equipment, etc.
Includes o-ring 3HAB3772-49
For spare part number,
see Spare part lists on
page 425 .
Gearbox
Not included in the gearbox. Re-
place if damaged.
3HAC10122-13
Washers
Continues on next page
366
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Note
Article number
Equipment, etc.
Located between the gearbox and
the turning disk.
3HAB3772-83
O-ring
Must be replaced when reas-
sembling gearbox.
For lubricating the o-ring.
3HAC042536-001
Grease
Loctite 574
12340011-116
Flange sealant
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes op-
erating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the ro-
bot.
These procedures include refer-
ences 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.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
Product manual - IRB 7600
367
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 367
|
4.7.6 Replacement of gearbox, axis 6
Location of gearbox
The axis 6 gearbox is located in the center of the wrist unit as shown in the figure
below.
xx0100000131
Gearbox, axis 6
A
Attachment screws, gearbox
B
Washers
C
Oil plug, filling
D
Oil plug, draining (can be located on the turning disk instead)
E
O-ring (not shown in the figure)
-
Required equipment
Note
Article number
Equipment, etc.
Includes o-ring 3HAB3772-49
For spare part number,
see Spare part lists on
page 425 .
Gearbox
Not included in the gearbox. Re-
place if damaged.
3HAC10122-13
Washers
Continues on next page
366
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Note
Article number
Equipment, etc.
Located between the gearbox and
the turning disk.
3HAB3772-83
O-ring
Must be replaced when reas-
sembling gearbox.
For lubricating the o-ring.
3HAC042536-001
Grease
Loctite 574
12340011-116
Flange sealant
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes op-
erating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the ro-
bot.
These procedures include refer-
ences 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.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
Product manual - IRB 7600
367
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Removal, gearbox
The procedure below details how to remove gearbox, axis 6.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in the section Draining oil,
gearbox axis 6 on page 181 .
Drain the oil from gearbox, axis 6.
3
Detailed in the section Removing turn-
ing disk on page 233 .
Remove the turning disc .
4
Shown in the figure Location of gearbox
on page 366 .
Remove the gearbox by unscrewing its attach-
ment screws .
5
xx0200000220
If required, apply M10 screws to the holes
shown in the figure to the right, to press the
gearbox out.
6
•
A: M10 holes for pressing out the
gearbox
![Image]
xx1400001123
Foundry Plus:
Remove old Loctite 574 flange sealant residues
and other contamination from the contact sur-
faces.
Continues on next page
368
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
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| 368
|
Note
Article number
Equipment, etc.
Located between the gearbox and
the turning disk.
3HAB3772-83
O-ring
Must be replaced when reas-
sembling gearbox.
For lubricating the o-ring.
3HAC042536-001
Grease
Loctite 574
12340011-116
Flange sealant
Content is defined in section
Standard tools on page 419 .
-
Standard toolkit
Complete kit that also includes op-
erating manual.
3HAC15716-1
Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required if Axis Calibration is the
valid calibration method for the ro-
bot.
These procedures include refer-
ences 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.
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Product manual - IRB
4600 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
Product manual - IRB 7600
367
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Removal, gearbox
The procedure below details how to remove gearbox, axis 6.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in the section Draining oil,
gearbox axis 6 on page 181 .
Drain the oil from gearbox, axis 6.
3
Detailed in the section Removing turn-
ing disk on page 233 .
Remove the turning disc .
4
Shown in the figure Location of gearbox
on page 366 .
Remove the gearbox by unscrewing its attach-
ment screws .
5
xx0200000220
If required, apply M10 screws to the holes
shown in the figure to the right, to press the
gearbox out.
6
•
A: M10 holes for pressing out the
gearbox
![Image]
xx1400001123
Foundry Plus:
Remove old Loctite 574 flange sealant residues
and other contamination from the contact sur-
faces.
Continues on next page
368
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Note
Action
Be careful not to damage the motor
pinion!
Remove the gearbox axis 6 by lifting it out
carefully.
7
Refitting, gearbox
The procedure below details how to refit gearbox, axis 6.
Note
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
Article number is specified in Required
equipment on page 366 .
xx0200000221
Make sure the o-ring is fitted to the rear of
the gearbox. Lubricate the o-ring with
grease.
2
•
A: O-ring, gearbox axis 6
Detailed in the section Manually releasing
the brakes on page 72 .
Release the holding brake of motor axis 6.
3
![Image]
xx1400001122
Foundry Plus:
Apply Loctite 574 flange sealant on the
contact surface.
4
Continues on next page
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369
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
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| 369
|
Removal, gearbox
The procedure below details how to remove gearbox, axis 6.
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 pressure supply to the robot
Before entering the robot working area.
2
Detailed in the section Draining oil,
gearbox axis 6 on page 181 .
Drain the oil from gearbox, axis 6.
3
Detailed in the section Removing turn-
ing disk on page 233 .
Remove the turning disc .
4
Shown in the figure Location of gearbox
on page 366 .
Remove the gearbox by unscrewing its attach-
ment screws .
5
xx0200000220
If required, apply M10 screws to the holes
shown in the figure to the right, to press the
gearbox out.
6
•
A: M10 holes for pressing out the
gearbox
![Image]
xx1400001123
Foundry Plus:
Remove old Loctite 574 flange sealant residues
and other contamination from the contact sur-
faces.
Continues on next page
368
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Note
Action
Be careful not to damage the motor
pinion!
Remove the gearbox axis 6 by lifting it out
carefully.
7
Refitting, gearbox
The procedure below details how to refit gearbox, axis 6.
Note
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
Article number is specified in Required
equipment on page 366 .
xx0200000221
Make sure the o-ring is fitted to the rear of
the gearbox. Lubricate the o-ring with
grease.
2
•
A: O-ring, gearbox axis 6
Detailed in the section Manually releasing
the brakes on page 72 .
Release the holding brake of motor axis 6.
3
![Image]
xx1400001122
Foundry Plus:
Apply Loctite 574 flange sealant on the
contact surface.
4
Continues on next page
Product manual - IRB 7600
369
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Note
Action
Article number is specified in Required
equipment on page 366 .
Insert the gearbox, axis 6 into the wrist
unit.
5
Shown in the figure Location of gearbox on
page 366 .
Make sure the gears of the gearbox mate
with the gears of the motor!
Shown in the figure Location of gearbox on
page 366 .
Fit the both washers and secure the gear-
box with the attachment screws .
6
18 pcs: M10 x 50; 12.9 quality Gleitmo,
Tightening torque: 65 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 415 before fitting.
Detailed in the section Refitting turning disk
on page 234 .
Refit the turning disc .
7
Detailed in the section Performing a leak-
down test on page 206 .
Perform a leak-down test .
8
Detailed in the section Filling oil, gearbox
axis 6 on page 182 .
Refill the gearbox with oil.
9
Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum , en-
closed with the calibration tools.
Re-calibrate the robot.
10
Axis Calibration is described in Calibrating
with Axis Calibration method on page 383 .
General calibration information is included
in section Calibration on page 371 .
DANGER
Make sure all safety requirements are met
when performing the first test run.
11
370
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 370
|
Note
Action
Be careful not to damage the motor
pinion!
Remove the gearbox axis 6 by lifting it out
carefully.
7
Refitting, gearbox
The procedure below details how to refit gearbox, axis 6.
Note
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
Article number is specified in Required
equipment on page 366 .
xx0200000221
Make sure the o-ring is fitted to the rear of
the gearbox. Lubricate the o-ring with
grease.
2
•
A: O-ring, gearbox axis 6
Detailed in the section Manually releasing
the brakes on page 72 .
Release the holding brake of motor axis 6.
3
![Image]
xx1400001122
Foundry Plus:
Apply Loctite 574 flange sealant on the
contact surface.
4
Continues on next page
Product manual - IRB 7600
369
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Note
Action
Article number is specified in Required
equipment on page 366 .
Insert the gearbox, axis 6 into the wrist
unit.
5
Shown in the figure Location of gearbox on
page 366 .
Make sure the gears of the gearbox mate
with the gears of the motor!
Shown in the figure Location of gearbox on
page 366 .
Fit the both washers and secure the gear-
box with the attachment screws .
6
18 pcs: M10 x 50; 12.9 quality Gleitmo,
Tightening torque: 65 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 415 before fitting.
Detailed in the section Refitting turning disk
on page 234 .
Refit the turning disc .
7
Detailed in the section Performing a leak-
down test on page 206 .
Perform a leak-down test .
8
Detailed in the section Filling oil, gearbox
axis 6 on page 182 .
Refill the gearbox with oil.
9
Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum , en-
closed with the calibration tools.
Re-calibrate the robot.
10
Axis Calibration is described in Calibrating
with Axis Calibration method on page 383 .
General calibration information is included
in section Calibration on page 371 .
DANGER
Make sure all safety requirements are met
when performing the first test run.
11
370
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 383 .
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that in the first step generates
a reference to current zero position of the robot. The
same calibration routine can later on be used to re-
calibrate the robot back to the same position as when
the reference was stored.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
Requires that the robot is dressed with the same
tools and process equipment during calibration as
during creation of the reference values.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 7600
371
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
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ABB_IRB7600_Product_Manual.pdf
|
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| 371
|
Note
Action
Article number is specified in Required
equipment on page 366 .
Insert the gearbox, axis 6 into the wrist
unit.
5
Shown in the figure Location of gearbox on
page 366 .
Make sure the gears of the gearbox mate
with the gears of the motor!
Shown in the figure Location of gearbox on
page 366 .
Fit the both washers and secure the gear-
box with the attachment screws .
6
18 pcs: M10 x 50; 12.9 quality Gleitmo,
Tightening torque: 65 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 415 before fitting.
Detailed in the section Refitting turning disk
on page 234 .
Refit the turning disc .
7
Detailed in the section Performing a leak-
down test on page 206 .
Perform a leak-down test .
8
Detailed in the section Filling oil, gearbox
axis 6 on page 182 .
Refill the gearbox with oil.
9
Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum , en-
closed with the calibration tools.
Re-calibrate the robot.
10
Axis Calibration is described in Calibrating
with Axis Calibration method on page 383 .
General calibration information is included
in section Calibration on page 371 .
DANGER
Make sure all safety requirements are met
when performing the first test run.
11
370
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 383 .
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that in the first step generates
a reference to current zero position of the robot. The
same calibration routine can later on be used to re-
calibrate the robot back to the same position as when
the reference was stored.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
Requires that the robot is dressed with the same
tools and process equipment during calibration as
during creation of the reference values.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 7600
371
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration or Cal-
ibration Pendulum i
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
Standard calibration
Levelmeter calibration
(alternative method)
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
Continues on next page
372
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
|
ABB_IRB7600_Product_Manual.pdf
|
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| 372
|
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 383 .
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that in the first step generates
a reference to current zero position of the robot. The
same calibration routine can later on be used to re-
calibrate the robot back to the same position as when
the reference was stored.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
Requires that the robot is dressed with the same
tools and process equipment during calibration as
during creation of the reference values.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 7600
371
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration or Cal-
ibration Pendulum i
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
Standard calibration
Levelmeter calibration
(alternative method)
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
Continues on next page
372
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
i
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, contact the local ABB Service.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of many of
ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 7600. It is
the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 383 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Continues on next page
Product manual - IRB 7600
373
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
Continued
|
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5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration or Cal-
ibration Pendulum i
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
Standard calibration
Levelmeter calibration
(alternative method)
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
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5 Calibration
5.1.2 Calibration methods
Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
i
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, contact the local ABB Service.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of many of
ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 7600. It is
the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 383 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Continues on next page
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5 Calibration
5.1.2 Calibration methods
Continued
Levelmeter calibration - alternative method
Levelmeter calibration is referred to as the alternative method for calibration of
ABB robots because of the less accurate values obtained during calibration. The
method uses the same principles as Calibration Pendulum, but does not have as
good of mechanical tolerances to the toolkit parts as the standard method with
Calibration Pendulum.
This method may, after calibration, require modifications in the robot program and
is therefore not recommended.
The calibration equipment (Levelmeter 2000) for levelmeter calibration is ordered
as separate parts for each robot, and includes the Operating manual - Levelmeter
Calibration , which describes the method and the different routines further.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 420 .
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
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5 Calibration
5.1.2 Calibration methods
Continued
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Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
i
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, contact the local ABB Service.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of many of
ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 7600. It is
the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 383 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Continues on next page
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5 Calibration
5.1.2 Calibration methods
Continued
Levelmeter calibration - alternative method
Levelmeter calibration is referred to as the alternative method for calibration of
ABB robots because of the less accurate values obtained during calibration. The
method uses the same principles as Calibration Pendulum, but does not have as
good of mechanical tolerances to the toolkit parts as the standard method with
Calibration Pendulum.
This method may, after calibration, require modifications in the robot program and
is therefore not recommended.
The calibration equipment (Levelmeter 2000) for levelmeter calibration is ordered
as separate parts for each robot, and includes the Operating manual - Levelmeter
Calibration , which describes the method and the different routines further.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 420 .
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
374
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5 Calibration
5.1.2 Calibration methods
Continued
5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be re-calibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 378 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reachability of a robot
is changed, it needs to be re-calibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
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5 Calibration
5.1.3 When to calibrate
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Levelmeter calibration - alternative method
Levelmeter calibration is referred to as the alternative method for calibration of
ABB robots because of the less accurate values obtained during calibration. The
method uses the same principles as Calibration Pendulum, but does not have as
good of mechanical tolerances to the toolkit parts as the standard method with
Calibration Pendulum.
This method may, after calibration, require modifications in the robot program and
is therefore not recommended.
The calibration equipment (Levelmeter 2000) for levelmeter calibration is ordered
as separate parts for each robot, and includes the Operating manual - Levelmeter
Calibration , which describes the method and the different routines further.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 420 .
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
374
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5 Calibration
5.1.2 Calibration methods
Continued
5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be re-calibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 378 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reachability of a robot
is changed, it needs to be re-calibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
Product manual - IRB 7600
375
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.3 When to calibrate
5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 7600
The figure shows IRB 6600, but the scales and their positions are the same.
xx0200000176
Synchronization mark, axis 1 (early design)
A1
Synchronization mark, axis 1 (later design)
A2
Synchronization mark, axis 2 (early design)
B1
Synchronization mark, axis 2 (later design)
B2
Synchronization mark, axis 3 (early design)
C1
Synchronization mark, axis 3 (later design)
C2
Synchronization mark, axis 4
D
Synchronization mark, axis 5
E
Synchronization mark, axis 6
F
Synchronization marks at axes 2 and 3
The synchronization marks at axes 2, 3 and 6, shown in the figure above, consist
of two single marks that should be positioned opposite to one another when the
robot is standing in its synchronization position. One of the marks is more narrow
than the other and should be positioned within the limits of the wider mark.
376
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5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
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5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be re-calibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 378 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reachability of a robot
is changed, it needs to be re-calibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
Product manual - IRB 7600
375
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.1.3 When to calibrate
5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 7600
The figure shows IRB 6600, but the scales and their positions are the same.
xx0200000176
Synchronization mark, axis 1 (early design)
A1
Synchronization mark, axis 1 (later design)
A2
Synchronization mark, axis 2 (early design)
B1
Synchronization mark, axis 2 (later design)
B2
Synchronization mark, axis 3 (early design)
C1
Synchronization mark, axis 3 (later design)
C2
Synchronization mark, axis 4
D
Synchronization mark, axis 5
E
Synchronization mark, axis 6
F
Synchronization marks at axes 2 and 3
The synchronization marks at axes 2, 3 and 6, shown in the figure above, consist
of two single marks that should be positioned opposite to one another when the
robot is standing in its synchronization position. One of the marks is more narrow
than the other and should be positioned within the limits of the wider mark.
376
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
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5 Calibration
5.2.2 Calibration movement directions for all axes
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5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 7600
The figure shows IRB 6600, but the scales and their positions are the same.
xx0200000176
Synchronization mark, axis 1 (early design)
A1
Synchronization mark, axis 1 (later design)
A2
Synchronization mark, axis 2 (early design)
B1
Synchronization mark, axis 2 (later design)
B2
Synchronization mark, axis 3 (early design)
C1
Synchronization mark, axis 3 (later design)
C2
Synchronization mark, axis 4
D
Synchronization mark, axis 5
E
Synchronization mark, axis 6
F
Synchronization marks at axes 2 and 3
The synchronization marks at axes 2, 3 and 6, shown in the figure above, consist
of two single marks that should be positioned opposite to one another when the
robot is standing in its synchronization position. One of the marks is more narrow
than the other and should be positioned within the limits of the wider mark.
376
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.2.2 Calibration movement directions for all axes
5.3 Updating revolution counters
5.3.1 Updating revolution counters on IRC5 robots
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 376 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the TPU on page 379 (BaseWare 4.0).
When all axes are positioned, update the
revolution counter.
3
Step 2 - Updating the revolution counter
with the FlexPendant on page 380 .
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position. Do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 7600
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
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5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
Product manual - IRB 7600
377
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.2.2 Calibration movement directions for all axes
5.3 Updating revolution counters
5.3.1 Updating revolution counters on IRC5 robots
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 376 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the TPU on page 379 (BaseWare 4.0).
When all axes are positioned, update the
revolution counter.
3
Step 2 - Updating the revolution counter
with the FlexPendant on page 380 .
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position. Do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 7600
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Step 2 - Updating the revolution counter with the TPU
Use this procedure to update the revolution counter with the TPU (BaseWare 4.0).
Note
Action
Press the button Miscellaneous then ENTER to select the service
window.
![Image]
xx0100000194
1
Select Calibration from the View menu.
The Calibration window appears.
If there is more than one unit connected to the manipulator, they will
be listed in the window.
![Image]
xx0100000201
2
Select the desired unit and choose Rev Counter Update from the Calib
menu.
The Revolution Counter Update window appears.
![Image]
xx0100000202
3
Select the desired axis and press Incl to include it (it will be marked
with an x) or press All to select all axes.
4
Press OK when all axes that are to be updated are marked with an x.
CANCEL returns to the Calibration window.
5
Press OK again to confirm and start the update.
CANCEL returns to the Revolution Counter Update window.
6
Continues on next page
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5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
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5.3 Updating revolution counters
5.3.1 Updating revolution counters on IRC5 robots
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 376 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the TPU on page 379 (BaseWare 4.0).
When all axes are positioned, update the
revolution counter.
3
Step 2 - Updating the revolution counter
with the FlexPendant on page 380 .
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position. Do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 7600
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
378
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Step 2 - Updating the revolution counter with the TPU
Use this procedure to update the revolution counter with the TPU (BaseWare 4.0).
Note
Action
Press the button Miscellaneous then ENTER to select the service
window.
![Image]
xx0100000194
1
Select Calibration from the View menu.
The Calibration window appears.
If there is more than one unit connected to the manipulator, they will
be listed in the window.
![Image]
xx0100000201
2
Select the desired unit and choose Rev Counter Update from the Calib
menu.
The Revolution Counter Update window appears.
![Image]
xx0100000202
3
Select the desired axis and press Incl to include it (it will be marked
with an x) or press All to select all axes.
4
Press OK when all axes that are to be updated are marked with an x.
CANCEL returns to the Calibration window.
5
Press OK again to confirm and start the update.
CANCEL returns to the Revolution Counter Update window.
6
Continues on next page
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379
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Note
Action
Not required.
At this point, it is recommended that the revolution counter values are
saved to a diskette.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect
manipulator positioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update.
8
How to perform the check is detailed in section Checking the synchron-
ization position on page 399 .
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
380
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5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 380
|
Step 2 - Updating the revolution counter with the TPU
Use this procedure to update the revolution counter with the TPU (BaseWare 4.0).
Note
Action
Press the button Miscellaneous then ENTER to select the service
window.
![Image]
xx0100000194
1
Select Calibration from the View menu.
The Calibration window appears.
If there is more than one unit connected to the manipulator, they will
be listed in the window.
![Image]
xx0100000201
2
Select the desired unit and choose Rev Counter Update from the Calib
menu.
The Revolution Counter Update window appears.
![Image]
xx0100000202
3
Select the desired axis and press Incl to include it (it will be marked
with an x) or press All to select all axes.
4
Press OK when all axes that are to be updated are marked with an x.
CANCEL returns to the Calibration window.
5
Press OK again to confirm and start the update.
CANCEL returns to the Revolution Counter Update window.
6
Continues on next page
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379
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Note
Action
Not required.
At this point, it is recommended that the revolution counter values are
saved to a diskette.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect
manipulator positioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update.
8
How to perform the check is detailed in section Checking the synchron-
ization position on page 399 .
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
380
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Action
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
Continues on next page
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381
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 381
|
Note
Action
Not required.
At this point, it is recommended that the revolution counter values are
saved to a diskette.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect
manipulator positioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update.
8
How to perform the check is detailed in section Checking the synchron-
ization position on page 399 .
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
380
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Action
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
Continues on next page
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381
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Action
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 399 .
8
382
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
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ABB_IRB7600_Product_Manual.pdf
|
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| 382
|
Action
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
Continues on next page
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381
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
Action
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 399 .
8
382
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
1
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
2
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
3
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
Product manual - IRB 7600
383
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
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ABB_IRB7600_Product_Manual.pdf
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| 383
|
Action
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 399 .
8
382
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.3.1 Updating revolution counters on IRC5 robots
Continued
5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
1
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
2
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
3
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
Product manual - IRB 7600
383
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
Note
When calibrating the robot with the reference calibration routine, the robot must
be dressed with the same tools, process cabling and any other equipment as
when the reference values were created.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. A benefit with reference calibration is that the current state of the robot
is stored and not the state when the robot left the ABB factory. The reference value
will be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The robot axes should be positioned close to 0 degrees before commencing the
calibration program. The axis chosen for calibration is then automatically run by
the calibration program to its exact calibration position during the calibration
procedure.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
Continues on next page
384
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
|
ABB_IRB7600_Product_Manual.pdf
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| 384
|
5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
1
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
2
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
3
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
Product manual - IRB 7600
383
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
Note
When calibrating the robot with the reference calibration routine, the robot must
be dressed with the same tools, process cabling and any other equipment as
when the reference values were created.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. A benefit with reference calibration is that the current state of the robot
is stored and not the state when the robot left the ABB factory. The reference value
will be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The robot axes should be positioned close to 0 degrees before commencing the
calibration program. The axis chosen for calibration is then automatically run by
the calibration program to its exact calibration position during the calibration
procedure.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
Continues on next page
384
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
Required
position of
axis
*
*
*
*
*
-
Axis 1
*
*
*
0
-
0
Axis 2
*
*
*
-
0
0
Axis 3
*
*
-
*
*
*
Axis 4
*
-
*
*
*
*
Axis 5
-
*
*
*
*
*
Axis 6
Axis to be calibrated
-
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
*
Axis must be put in position 0 degrees.
0
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
For robots with EPS, the same applies as for SafeMove.
Product manual - IRB 7600
385
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 385
|
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
Note
When calibrating the robot with the reference calibration routine, the robot must
be dressed with the same tools, process cabling and any other equipment as
when the reference values were created.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. A benefit with reference calibration is that the current state of the robot
is stored and not the state when the robot left the ABB factory. The reference value
will be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The robot axes should be positioned close to 0 degrees before commencing the
calibration program. The axis chosen for calibration is then automatically run by
the calibration program to its exact calibration position during the calibration
procedure.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
Continues on next page
384
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
Required
position of
axis
*
*
*
*
*
-
Axis 1
*
*
*
0
-
0
Axis 2
*
*
*
-
0
0
Axis 3
*
*
-
*
*
*
Axis 4
*
-
*
*
*
*
Axis 5
-
*
*
*
*
*
Axis 6
Axis to be calibrated
-
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
*
Axis must be put in position 0 degrees.
0
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
For robots with EPS, the same applies as for SafeMove.
Product manual - IRB 7600
385
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
The calibration tool will eventually break from fatigue after longer period of use
and then needs to be replaced. There is no risk for bad calibrations as long as the
calibration tool is in one piece.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid calib-
ration method for the robot.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
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These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
Required
position of
axis
*
*
*
*
*
-
Axis 1
*
*
*
0
-
0
Axis 2
*
*
*
-
0
0
Axis 3
*
*
-
*
*
*
Axis 4
*
-
*
*
*
*
Axis 5
-
*
*
*
*
*
Axis 6
Axis to be calibrated
-
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
*
Axis must be put in position 0 degrees.
0
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
For robots with EPS, the same applies as for SafeMove.
Product manual - IRB 7600
385
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
The calibration tool will eventually break from fatigue after longer period of use
and then needs to be replaced. There is no risk for bad calibrations as long as the
calibration tool is in one piece.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid calib-
ration method for the robot.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Continues on next page
386
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
Product manual - IRB 7600
387
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
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| 387
|
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
The calibration tool will eventually break from fatigue after longer period of use
and then needs to be replaced. There is no risk for bad calibrations as long as the
calibration tool is in one piece.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid calib-
ration method for the robot.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Continues on next page
386
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
Product manual - IRB 7600
387
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
This section shows how the robot is equipped with items for installation of
calibration tools for Axis Calibration (fixed calibration pins and/or bushings).
Installed calibration tools are not shown.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000894
The fixed calibration pin for axis 1 is installed on a removable tower. The tower will
need to be removed if electronic position switches are fitted to the robot. Keep the
tower in a safe location for future recalibration needs and mark it with robot serial
number to ensure that the correct one is refitted.
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
388
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
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ABB_IRB7600_Product_Manual.pdf
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| 388
|
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
Product manual - IRB 7600
387
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
This section shows how the robot is equipped with items for installation of
calibration tools for Axis Calibration (fixed calibration pins and/or bushings).
Installed calibration tools are not shown.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000894
The fixed calibration pin for axis 1 is installed on a removable tower. The tower will
need to be removed if electronic position switches are fitted to the robot. Keep the
tower in a safe location for future recalibration needs and mark it with robot serial
number to ensure that the correct one is refitted.
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
388
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid
calibration method for the robot.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure.
After the calibration method has been started on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 384 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
Continues on next page
Product manual - IRB 7600
389
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 389
|
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
This section shows how the robot is equipped with items for installation of
calibration tools for Axis Calibration (fixed calibration pins and/or bushings).
Installed calibration tools are not shown.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000894
The fixed calibration pin for axis 1 is installed on a removable tower. The tower will
need to be removed if electronic position switches are fitted to the robot. Keep the
tower in a safe location for future recalibration needs and mark it with robot serial
number to ensure that the correct one is refitted.
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
388
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid
calibration method for the robot.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure.
After the calibration method has been started on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 384 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
Continues on next page
Product manual - IRB 7600
389
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
7
The robot performs a measurement sequence by rotating the axis back and
forth.
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
Check if the standard calibration data for axes 4
or 5 are updated with wrist optimization.
This is shown in the calibration overview/summary
window on the FlexPendant.
3
See Calibrating with Wrist Optimiza-
tion method on page 396 .
Starting the calibration procedure
Use this procedure to start the Axis Calibration routine on the FlexPendant.
Note
Action
Tap the calibration icon and enter the calibration
main page.
1
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
The calibration method used at ABB factory for
each axis is shown, as well as calibration method
used for the robot during last field calibration.
3
Valid for RobotWare 6
4
Tap Call Calibration Method . The software will
automatically call for the procedure for the valid
calibration method. If not, tap Call Routine and
then tap Axis calibration .
Continues on next page
390
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 390
|
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid
calibration method for the robot.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure.
After the calibration method has been started on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 384 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
Continues on next page
Product manual - IRB 7600
389
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
7
The robot performs a measurement sequence by rotating the axis back and
forth.
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
Check if the standard calibration data for axes 4
or 5 are updated with wrist optimization.
This is shown in the calibration overview/summary
window on the FlexPendant.
3
See Calibrating with Wrist Optimiza-
tion method on page 396 .
Starting the calibration procedure
Use this procedure to start the Axis Calibration routine on the FlexPendant.
Note
Action
Tap the calibration icon and enter the calibration
main page.
1
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
The calibration method used at ABB factory for
each axis is shown, as well as calibration method
used for the robot during last field calibration.
3
Valid for RobotWare 6
4
Tap Call Calibration Method . The software will
automatically call for the procedure for the valid
calibration method. If not, tap Call Routine and
then tap Axis calibration .
Continues on next page
390
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Note
Action
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 389 .
Follow the instructions given on the FlexPendant.
5
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 377
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
Continues on next page
Product manual - IRB 7600
391
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 391
|
7
The robot performs a measurement sequence by rotating the axis back and
forth.
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
Check if the standard calibration data for axes 4
or 5 are updated with wrist optimization.
This is shown in the calibration overview/summary
window on the FlexPendant.
3
See Calibrating with Wrist Optimiza-
tion method on page 396 .
Starting the calibration procedure
Use this procedure to start the Axis Calibration routine on the FlexPendant.
Note
Action
Tap the calibration icon and enter the calibration
main page.
1
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
The calibration method used at ABB factory for
each axis is shown, as well as calibration method
used for the robot during last field calibration.
3
Valid for RobotWare 6
4
Tap Call Calibration Method . The software will
automatically call for the procedure for the valid
calibration method. If not, tap Call Routine and
then tap Axis calibration .
Continues on next page
390
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Note
Action
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 389 .
Follow the instructions given on the FlexPendant.
5
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 377
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
Continues on next page
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391
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
See Calibrating with Wrist Optimiz-
ation method on page 396 .
If the standard calibration data for axes 4, 5 or 6
should be updated with wrist optimization, run the
calibration routine Wrist Optimization .
4
392
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
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|
Note
Action
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 389 .
Follow the instructions given on the FlexPendant.
5
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 377
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
Continues on next page
Product manual - IRB 7600
391
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
See Calibrating with Wrist Optimiz-
ation method on page 396 .
If the standard calibration data for axes 4, 5 or 6
should be updated with wrist optimization, run the
calibration routine Wrist Optimization .
4
392
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
5.4.5 Reference calibration
Brief introduction to Reference Calibration
Reference calibration is a faster method compared to Fine calibration, as it refers
to a previously made calibration.
1
Create a backup of the current robot system.
2
Check that the active calibration offset values corresponds to the values on
the silver label (on the lower arm or the base).
3
Jog the manipulator so that all axes are in zero position (ex use MoveAbsJ
instruction). Check that all axis scales are aligned with calibration marks.
4
If the scales differ from calibration marks it might depend on wrong turns of
the revolution counters. Make a marker line on the corresponding axis to be
able to validate the result of the calibration. If more than one motor revolutions
are wrong, the calibration will fail.
5
Use a verification position. This is especially recommended if all axes were
not aligned with the synchronization marks (step 3). Reuse an existing
position that is suitable and accurate so it can be used to validate the repair.
Use a position where a deviation in axis calibration gives a big deviation in
positioning. Note! Check the position after each repair in one axis.
6
Use Reference calibration to save reference values for all axes that is to be
replaced. Make sure that the values are saved in RobotStudio or FTP program.
The files are located in "Active system folder name/HOME/RefCalibFiles".
7
Perform the repair.
8
Make sure that the tooling and process equipment are the same as when
creating the reference. Use Reference calibration to update the system with
new calibration offset value for the repaired axis.
9
Check the position against the verification position (step 5).
10 Proceed with the repair of the next axis, if necessary, and repeat (step 8-9)
for every axis.
11 (For system containing SafeMove or EPS) Download new calibration values
to SafeMove. Use Visual SafeMove in RobotStudio.
12 (For system containing SafeMove or EPS) Synchronize SafeMove to activate
SafeMove.
13 Perform test run.
14 Update the label for resolver values with new calibration values.
Manual tuning of calibration offset
Manual tuning of calibration offset is normally not needed, but can be useful in
some situations. The requirement to do manual tuning is that there is a known
accurate position, that worked accurately before the repair (step 5, see Brief
introduction to Reference Calibration on page 393 ).
Example "Adjust axis 4":
1
Create a backup.
Continues on next page
Product manual - IRB 7600
393
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
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| 393
|
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
See Calibrating with Wrist Optimiz-
ation method on page 396 .
If the standard calibration data for axes 4, 5 or 6
should be updated with wrist optimization, run the
calibration routine Wrist Optimization .
4
392
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
5.4.5 Reference calibration
Brief introduction to Reference Calibration
Reference calibration is a faster method compared to Fine calibration, as it refers
to a previously made calibration.
1
Create a backup of the current robot system.
2
Check that the active calibration offset values corresponds to the values on
the silver label (on the lower arm or the base).
3
Jog the manipulator so that all axes are in zero position (ex use MoveAbsJ
instruction). Check that all axis scales are aligned with calibration marks.
4
If the scales differ from calibration marks it might depend on wrong turns of
the revolution counters. Make a marker line on the corresponding axis to be
able to validate the result of the calibration. If more than one motor revolutions
are wrong, the calibration will fail.
5
Use a verification position. This is especially recommended if all axes were
not aligned with the synchronization marks (step 3). Reuse an existing
position that is suitable and accurate so it can be used to validate the repair.
Use a position where a deviation in axis calibration gives a big deviation in
positioning. Note! Check the position after each repair in one axis.
6
Use Reference calibration to save reference values for all axes that is to be
replaced. Make sure that the values are saved in RobotStudio or FTP program.
The files are located in "Active system folder name/HOME/RefCalibFiles".
7
Perform the repair.
8
Make sure that the tooling and process equipment are the same as when
creating the reference. Use Reference calibration to update the system with
new calibration offset value for the repaired axis.
9
Check the position against the verification position (step 5).
10 Proceed with the repair of the next axis, if necessary, and repeat (step 8-9)
for every axis.
11 (For system containing SafeMove or EPS) Download new calibration values
to SafeMove. Use Visual SafeMove in RobotStudio.
12 (For system containing SafeMove or EPS) Synchronize SafeMove to activate
SafeMove.
13 Perform test run.
14 Update the label for resolver values with new calibration values.
Manual tuning of calibration offset
Manual tuning of calibration offset is normally not needed, but can be useful in
some situations. The requirement to do manual tuning is that there is a known
accurate position, that worked accurately before the repair (step 5, see Brief
introduction to Reference Calibration on page 393 ).
Example "Adjust axis 4":
1
Create a backup.
Continues on next page
Product manual - IRB 7600
393
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
2
Run the manipulator to the verification position. (The manipulator position
is now deviating from the verification position.)
3
Read and note current axis 4 value in degrees (example: 96.3 degrees).
4
Manually jog, only axis 4, so that the manipulator is correctly positioned to
the verification position.
5
Read and note current axis 4 value in degrees (example: 94.2 degrees).
6
Move the manipulator to its calibration position.
7
Calculate the angle difference (ie 96.3-94.2=2.1 degrees).
8
Manually jog axis 4 the calculated angle difference (-2.1). NOTE! The direction
+/- shall be the same direction as the direction used when axis 4 was manually
jogged to coincide with the verification process. In the example -2.1 degrees.
9
Make a new manual fine calibration of axis 4 with axis in -2.1 degrees position.
10 Check again against the verification position.
11 Repeat the manual tuning if needed.
12 Create a new reference if the intention is to use the reference in the future.
394
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
Continued
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| 394
|
5.4.5 Reference calibration
Brief introduction to Reference Calibration
Reference calibration is a faster method compared to Fine calibration, as it refers
to a previously made calibration.
1
Create a backup of the current robot system.
2
Check that the active calibration offset values corresponds to the values on
the silver label (on the lower arm or the base).
3
Jog the manipulator so that all axes are in zero position (ex use MoveAbsJ
instruction). Check that all axis scales are aligned with calibration marks.
4
If the scales differ from calibration marks it might depend on wrong turns of
the revolution counters. Make a marker line on the corresponding axis to be
able to validate the result of the calibration. If more than one motor revolutions
are wrong, the calibration will fail.
5
Use a verification position. This is especially recommended if all axes were
not aligned with the synchronization marks (step 3). Reuse an existing
position that is suitable and accurate so it can be used to validate the repair.
Use a position where a deviation in axis calibration gives a big deviation in
positioning. Note! Check the position after each repair in one axis.
6
Use Reference calibration to save reference values for all axes that is to be
replaced. Make sure that the values are saved in RobotStudio or FTP program.
The files are located in "Active system folder name/HOME/RefCalibFiles".
7
Perform the repair.
8
Make sure that the tooling and process equipment are the same as when
creating the reference. Use Reference calibration to update the system with
new calibration offset value for the repaired axis.
9
Check the position against the verification position (step 5).
10 Proceed with the repair of the next axis, if necessary, and repeat (step 8-9)
for every axis.
11 (For system containing SafeMove or EPS) Download new calibration values
to SafeMove. Use Visual SafeMove in RobotStudio.
12 (For system containing SafeMove or EPS) Synchronize SafeMove to activate
SafeMove.
13 Perform test run.
14 Update the label for resolver values with new calibration values.
Manual tuning of calibration offset
Manual tuning of calibration offset is normally not needed, but can be useful in
some situations. The requirement to do manual tuning is that there is a known
accurate position, that worked accurately before the repair (step 5, see Brief
introduction to Reference Calibration on page 393 ).
Example "Adjust axis 4":
1
Create a backup.
Continues on next page
Product manual - IRB 7600
393
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
2
Run the manipulator to the verification position. (The manipulator position
is now deviating from the verification position.)
3
Read and note current axis 4 value in degrees (example: 96.3 degrees).
4
Manually jog, only axis 4, so that the manipulator is correctly positioned to
the verification position.
5
Read and note current axis 4 value in degrees (example: 94.2 degrees).
6
Move the manipulator to its calibration position.
7
Calculate the angle difference (ie 96.3-94.2=2.1 degrees).
8
Manually jog axis 4 the calculated angle difference (-2.1). NOTE! The direction
+/- shall be the same direction as the direction used when axis 4 was manually
jogged to coincide with the verification process. In the example -2.1 degrees.
9
Make a new manual fine calibration of axis 4 with axis in -2.1 degrees position.
10 Check again against the verification position.
11 Repeat the manual tuning if needed.
12 Create a new reference if the intention is to use the reference in the future.
394
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
Continued
5.5 Calibrating with Calibration Pendulum method
Where to find information for Calibration Pendulum
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Product manual - IRB 7600
395
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with Calibration Pendulum method
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| 395
|
2
Run the manipulator to the verification position. (The manipulator position
is now deviating from the verification position.)
3
Read and note current axis 4 value in degrees (example: 96.3 degrees).
4
Manually jog, only axis 4, so that the manipulator is correctly positioned to
the verification position.
5
Read and note current axis 4 value in degrees (example: 94.2 degrees).
6
Move the manipulator to its calibration position.
7
Calculate the angle difference (ie 96.3-94.2=2.1 degrees).
8
Manually jog axis 4 the calculated angle difference (-2.1). NOTE! The direction
+/- shall be the same direction as the direction used when axis 4 was manually
jogged to coincide with the verification process. In the example -2.1 degrees.
9
Make a new manual fine calibration of axis 4 with axis in -2.1 degrees position.
10 Check again against the verification position.
11 Repeat the manual tuning if needed.
12 Create a new reference if the intention is to use the reference in the future.
394
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.4.5 Reference calibration
Continued
5.5 Calibrating with Calibration Pendulum method
Where to find information for Calibration Pendulum
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Product manual - IRB 7600
395
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with Calibration Pendulum method
5.6 Calibrating with Wrist Optimization method
When to run Wrist Optimization
Wrist Optimization routine is run to improve TCP reorientation performance.
Calibrating the robot with standard calibration method overwrites the optimized
positions of axes 4, 5. Re-run the Wrist Optimization routine after standard
calibration to re-achieve the optimized positions of the wrist axes.
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine Wrist Optimization.
2
Modify targets for 4-point tool frame definition, in Wrist Optimization routine.
Tip
Select positions with large reorientations around the TCP. For best results,
make sure that axis 4 and 5 have large movements.
![Image]
![Image]
![Image]
![Image]
en0400000906
a
Jog the robot to an appropriate position,
A, for the first approach point.
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
b
Tap Modify Position to define the point.
c
Repeat for each approach point to be
defined, positions B, C, and D.
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
3
Improved calibration data to the wrist axes is identified and presented.
4
Optimized positions for the wrist axes are presented.
Continues on next page
396
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
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ABB_IRB7600_Product_Manual.pdf
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| 396
|
5.5 Calibrating with Calibration Pendulum method
Where to find information for Calibration Pendulum
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Product manual - IRB 7600
395
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with Calibration Pendulum method
5.6 Calibrating with Wrist Optimization method
When to run Wrist Optimization
Wrist Optimization routine is run to improve TCP reorientation performance.
Calibrating the robot with standard calibration method overwrites the optimized
positions of axes 4, 5. Re-run the Wrist Optimization routine after standard
calibration to re-achieve the optimized positions of the wrist axes.
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine Wrist Optimization.
2
Modify targets for 4-point tool frame definition, in Wrist Optimization routine.
Tip
Select positions with large reorientations around the TCP. For best results,
make sure that axis 4 and 5 have large movements.
![Image]
![Image]
![Image]
![Image]
en0400000906
a
Jog the robot to an appropriate position,
A, for the first approach point.
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
b
Tap Modify Position to define the point.
c
Repeat for each approach point to be
defined, positions B, C, and D.
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
3
Improved calibration data to the wrist axes is identified and presented.
4
Optimized positions for the wrist axes are presented.
Continues on next page
396
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
5
The robot moves to the optimized positions for the wrist axes and
automatically overwrites previous calibration data.
WARNING
Robot moves automatically when pressing Calibrate .
6
Wrist optimization is finished.
7
Redefine / verify TCP for all tools.
Product manual - IRB 7600
397
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 397
|
5.6 Calibrating with Wrist Optimization method
When to run Wrist Optimization
Wrist Optimization routine is run to improve TCP reorientation performance.
Calibrating the robot with standard calibration method overwrites the optimized
positions of axes 4, 5. Re-run the Wrist Optimization routine after standard
calibration to re-achieve the optimized positions of the wrist axes.
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine Wrist Optimization.
2
Modify targets for 4-point tool frame definition, in Wrist Optimization routine.
Tip
Select positions with large reorientations around the TCP. For best results,
make sure that axis 4 and 5 have large movements.
![Image]
![Image]
![Image]
![Image]
en0400000906
a
Jog the robot to an appropriate position,
A, for the first approach point.
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
b
Tap Modify Position to define the point.
c
Repeat for each approach point to be
defined, positions B, C, and D.
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
3
Improved calibration data to the wrist axes is identified and presented.
4
Optimized positions for the wrist axes are presented.
Continues on next page
396
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
5
The robot moves to the optimized positions for the wrist axes and
automatically overwrites previous calibration data.
WARNING
Robot moves automatically when pressing Calibrate .
6
Wrist optimization is finished.
7
Redefine / verify TCP for all tools.
Product manual - IRB 7600
397
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
Continued
5.7 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page399 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 376 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
398
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.7 Verifying the calibration
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| 398
|
5
The robot moves to the optimized positions for the wrist axes and
automatically overwrites previous calibration data.
WARNING
Robot moves automatically when pressing Calibrate .
6
Wrist optimization is finished.
7
Redefine / verify TCP for all tools.
Product manual - IRB 7600
397
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.6 Calibrating with Wrist Optimization method
Continued
5.7 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page399 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 376 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
398
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.7 Verifying the calibration
5.8 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction on the TPU, S4Cplus
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
Create the following program:
MoveAbsJ [[0,0,0,0,0,0], [9E9,
9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
1
Run the program in manual mode.
2
See Synchronization marks and
synchronization position for axes
on page376 and Updating revolution
counters on IRC5 robots on
page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolution
counters.
3
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 376 and Updating revolution
counters on page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Continues on next page
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399
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5 Calibration
5.8 Checking the synchronization position
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5.7 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page399 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 376 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
398
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.7 Verifying the calibration
5.8 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction on the TPU, S4Cplus
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
Create the following program:
MoveAbsJ [[0,0,0,0,0,0], [9E9,
9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
1
Run the program in manual mode.
2
See Synchronization marks and
synchronization position for axes
on page376 and Updating revolution
counters on IRC5 robots on
page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolution
counters.
3
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 376 and Updating revolution
counters on page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Continues on next page
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399
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.8 Checking the synchronization position
Using the jogging window on the TPU, S4Cplus
Use this procedure to jog the robot to synchronization position of all axes.
Illustration/Note
Action
![Image]
xx0100000195
Open the Jogging window.
1
![Image]
xx0100000196
Select running axes-by-axes.
2
Manually run the robot axes to a position
where the axis position value read on the
TPU, is equal to zero.
3
See Synchronization marks and syn-
chronization position for axes on page376
and Updating revolution counters on
IRC5 robots on page 378 .
Check that the synchronization marks for the
axes align correctly. If they do not, update
the revolution counters.
4
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 376 and
Updating revolution counters on page378 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
400
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5 Calibration
5.8 Checking the synchronization position
Continued
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| 400
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5.8 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction on the TPU, S4Cplus
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
Create the following program:
MoveAbsJ [[0,0,0,0,0,0], [9E9,
9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
1
Run the program in manual mode.
2
See Synchronization marks and
synchronization position for axes
on page376 and Updating revolution
counters on IRC5 robots on
page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolution
counters.
3
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 376 and Updating revolution
counters on page 378 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Continues on next page
Product manual - IRB 7600
399
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.8 Checking the synchronization position
Using the jogging window on the TPU, S4Cplus
Use this procedure to jog the robot to synchronization position of all axes.
Illustration/Note
Action
![Image]
xx0100000195
Open the Jogging window.
1
![Image]
xx0100000196
Select running axes-by-axes.
2
Manually run the robot axes to a position
where the axis position value read on the
TPU, is equal to zero.
3
See Synchronization marks and syn-
chronization position for axes on page376
and Updating revolution counters on
IRC5 robots on page 378 .
Check that the synchronization marks for the
axes align correctly. If they do not, update
the revolution counters.
4
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 376 and
Updating revolution counters on page378 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
400
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© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.8 Checking the synchronization position
Continued
6 Decommissioning
6.1 Introduction to decommissioning
Introduction
This section contains information to consider when taking a product, robot or
controller, out of operation.
It deals with how to handle potentially dangerous components and potentially
hazardous materials.
Note
The decommissioning process shall be preceded by a risk assessment.
Disposal of materials used in the robot
All used grease/oils and dead batteries must be disposed of in accordance with
the current legislation of the country in which the robot and the control unit are
installed.
If the robot or the control unit is partially or completely disposed of, the various
parts must be grouped together according to their nature (which is all iron together
and all plastic together), and disposed of accordingly. These parts must also be
disposed of in accordance with the current legislation of the country in which the
robot and control unit are installed.
See also Environmental information on page 402 .
Transportation
Prepare the robot or parts before transport, this to avoid hazards.
Product manual - IRB 7600
401
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6 Decommissioning
6.1 Introduction to decommissioning
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| 401
|
Using the jogging window on the TPU, S4Cplus
Use this procedure to jog the robot to synchronization position of all axes.
Illustration/Note
Action
![Image]
xx0100000195
Open the Jogging window.
1
![Image]
xx0100000196
Select running axes-by-axes.
2
Manually run the robot axes to a position
where the axis position value read on the
TPU, is equal to zero.
3
See Synchronization marks and syn-
chronization position for axes on page376
and Updating revolution counters on
IRC5 robots on page 378 .
Check that the synchronization marks for the
axes align correctly. If they do not, update
the revolution counters.
4
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 376 and
Updating revolution counters on page378 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
400
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
5 Calibration
5.8 Checking the synchronization position
Continued
6 Decommissioning
6.1 Introduction to decommissioning
Introduction
This section contains information to consider when taking a product, robot or
controller, out of operation.
It deals with how to handle potentially dangerous components and potentially
hazardous materials.
Note
The decommissioning process shall be preceded by a risk assessment.
Disposal of materials used in the robot
All used grease/oils and dead batteries must be disposed of in accordance with
the current legislation of the country in which the robot and the control unit are
installed.
If the robot or the control unit is partially or completely disposed of, the various
parts must be grouped together according to their nature (which is all iron together
and all plastic together), and disposed of accordingly. These parts must also be
disposed of in accordance with the current legislation of the country in which the
robot and control unit are installed.
See also Environmental information on page 402 .
Transportation
Prepare the robot or parts before transport, this to avoid hazards.
Product manual - IRB 7600
401
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.1 Introduction to decommissioning
6.2 Environmental information
Introduction
ABB robots contain components in different materials. During decommissioning,
all materials should be dismantled, recycled, or reused responsibly, according to
the relevant laws and industrial standards. Robots or parts that can be reused or
upcycled helps to reduce the usage of natural resources.
Symbol
The following symbol indicates that the product must not be disposed of as common
garbage. Handle each product according to local regulations for the respective
content (see table below).
xx1800000058
Materials used in the product
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly according to local regulations to prevent health or
environmental hazards.
Example application
Material
Covers, synchronization brackets
Aluminium
Serial measurement board
Batteries, Lithium
Base, lower arm, upper arm
Cast iron/nodular iron
Cables, motors
Copper
Brakes, motors
Neodymium
Turning disc (foundry)
Nickel
Gearboxes
Oil, grease
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gears, screws, base frame, and so on.
Steel
Continues on next page
402
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6 Decommissioning
6.2 Environmental information
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| 402
|
6 Decommissioning
6.1 Introduction to decommissioning
Introduction
This section contains information to consider when taking a product, robot or
controller, out of operation.
It deals with how to handle potentially dangerous components and potentially
hazardous materials.
Note
The decommissioning process shall be preceded by a risk assessment.
Disposal of materials used in the robot
All used grease/oils and dead batteries must be disposed of in accordance with
the current legislation of the country in which the robot and the control unit are
installed.
If the robot or the control unit is partially or completely disposed of, the various
parts must be grouped together according to their nature (which is all iron together
and all plastic together), and disposed of accordingly. These parts must also be
disposed of in accordance with the current legislation of the country in which the
robot and control unit are installed.
See also Environmental information on page 402 .
Transportation
Prepare the robot or parts before transport, this to avoid hazards.
Product manual - IRB 7600
401
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.1 Introduction to decommissioning
6.2 Environmental information
Introduction
ABB robots contain components in different materials. During decommissioning,
all materials should be dismantled, recycled, or reused responsibly, according to
the relevant laws and industrial standards. Robots or parts that can be reused or
upcycled helps to reduce the usage of natural resources.
Symbol
The following symbol indicates that the product must not be disposed of as common
garbage. Handle each product according to local regulations for the respective
content (see table below).
xx1800000058
Materials used in the product
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly according to local regulations to prevent health or
environmental hazards.
Example application
Material
Covers, synchronization brackets
Aluminium
Serial measurement board
Batteries, Lithium
Base, lower arm, upper arm
Cast iron/nodular iron
Cables, motors
Copper
Brakes, motors
Neodymium
Turning disc (foundry)
Nickel
Gearboxes
Oil, grease
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gears, screws, base frame, and so on.
Steel
Continues on next page
402
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© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.2 Environmental information
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 7600
403
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.2 Environmental information
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 403
|
6.2 Environmental information
Introduction
ABB robots contain components in different materials. During decommissioning,
all materials should be dismantled, recycled, or reused responsibly, according to
the relevant laws and industrial standards. Robots or parts that can be reused or
upcycled helps to reduce the usage of natural resources.
Symbol
The following symbol indicates that the product must not be disposed of as common
garbage. Handle each product according to local regulations for the respective
content (see table below).
xx1800000058
Materials used in the product
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly according to local regulations to prevent health or
environmental hazards.
Example application
Material
Covers, synchronization brackets
Aluminium
Serial measurement board
Batteries, Lithium
Base, lower arm, upper arm
Cast iron/nodular iron
Cables, motors
Copper
Brakes, motors
Neodymium
Turning disc (foundry)
Nickel
Gearboxes
Oil, grease
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gears, screws, base frame, and so on.
Steel
Continues on next page
402
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.2 Environmental information
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 7600
403
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.2 Environmental information
Continued
6.3 Scrapping of robot
Note
The decommissioning process shall be preceded by a risk assessment.
Important when scrapping the robot
DANGER
The risk assessment should consider hazards arising in the decommissioning,
such as, but not limited to:
•
Always remove all batteries. If a battery is exposed to heat, for example
from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
•
A used robot does not have the same performance as on delivery. Springs,
brakes, bearings, and other parts might be worn or broken.
404
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.3 Scrapping of robot
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ABB_IRB7600_Product_Manual.pdf
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| 404
|
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 7600
403
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.2 Environmental information
Continued
6.3 Scrapping of robot
Note
The decommissioning process shall be preceded by a risk assessment.
Important when scrapping the robot
DANGER
The risk assessment should consider hazards arising in the decommissioning,
such as, but not limited to:
•
Always remove all batteries. If a battery is exposed to heat, for example
from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
•
A used robot does not have the same performance as on delivery. Springs,
brakes, bearings, and other parts might be worn or broken.
404
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.3 Scrapping of robot
6.4 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to dismantle it. The coil springs inside the balancing device exert a
potentially lethal force unless dismantled properly.
The device must be dismantled by a decommissioning company.
Required equipment
Note
Art. no.
Equipment
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
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 in-
structions below.
DANGER
Do not under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing device on page 279 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 7600
405
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
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ABB_IRB7600_Product_Manual.pdf
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| 405
|
6.3 Scrapping of robot
Note
The decommissioning process shall be preceded by a risk assessment.
Important when scrapping the robot
DANGER
The risk assessment should consider hazards arising in the decommissioning,
such as, but not limited to:
•
Always remove all batteries. If a battery is exposed to heat, for example
from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
•
A used robot does not have the same performance as on delivery. Springs,
brakes, bearings, and other parts might be worn or broken.
404
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.3 Scrapping of robot
6.4 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to dismantle it. The coil springs inside the balancing device exert a
potentially lethal force unless dismantled properly.
The device must be dismantled by a decommissioning company.
Required equipment
Note
Art. no.
Equipment
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
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 in-
structions below.
DANGER
Do not under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing device on page 279 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 7600
405
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
more safe distance.
2
DANGER
The hole must be cut as specified in the
figure. Pieces can be ejected from the cyl-
inder at high speed if the hole is cut larger
than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
The measurements shown below are maxim-
um values!
xx0200000082
Continues on next page
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6 Decommissioning
6.4 Decommissioning of balancing device
Continued
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6.4 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to dismantle it. The coil springs inside the balancing device exert a
potentially lethal force unless dismantled properly.
The device must be dismantled by a decommissioning company.
Required equipment
Note
Art. no.
Equipment
Content is defined in section Standard
tools on page 419 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
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 in-
structions below.
DANGER
Do not under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing device on page 279 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 7600
405
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
more safe distance.
2
DANGER
The hole must be cut as specified in the
figure. Pieces can be ejected from the cyl-
inder at high speed if the hole is cut larger
than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
The measurements shown below are maxim-
um values!
xx0200000082
Continues on next page
406
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Continued
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
5
Use a cutting torch with a long shaft.
Cut the coils of the springs inside the
housing as specified below:
•
Outer spring: cut at least five coils!
•
Middle spring: cut at least four coils!
•
Inner spring: cut at least four coils!
6
Double-check the number of coils cut and
make sure all the tension in the springs
are removed.
7
Product manual - IRB 7600
407
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 407
|
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
more safe distance.
2
DANGER
The hole must be cut as specified in the
figure. Pieces can be ejected from the cyl-
inder at high speed if the hole is cut larger
than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
The measurements shown below are maxim-
um values!
xx0200000082
Continues on next page
406
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Continued
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
5
Use a cutting torch with a long shaft.
Cut the coils of the springs inside the
housing as specified below:
•
Outer spring: cut at least five coils!
•
Middle spring: cut at least four coils!
•
Inner spring: cut at least four coils!
6
Double-check the number of coils cut and
make sure all the tension in the springs
are removed.
7
Product manual - IRB 7600
407
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© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Continued
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| 408
|
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
5
Use a cutting torch with a long shaft.
Cut the coils of the springs inside the
housing as specified below:
•
Outer spring: cut at least five coils!
•
Middle spring: cut at least four coils!
•
Inner spring: cut at least four coils!
6
Double-check the number of coils cut and
make sure all the tension in the springs
are removed.
7
Product manual - IRB 7600
407
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
6 Decommissioning
6.4 Decommissioning of balancing device
Continued
This page is intentionally left blank
7 Robot description
7.1 Type A vs type B motors
Identifying the motor visually
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.
Use the images to identify which type of motor is installed on each robot axis.
Type B motor
Type A motor
![Image]
xx1500001057
![Image]
xx1500001058
The type B motor include evacuation on the
motor flange.
No evacuation on type A motors.
Identifying the motor by article number
Use the table to identify which type of motor is installed on each robot axis by
article number. The article numbers specified are found in WebConfig.
Contact ABB Service for further assistance regarding which motor type is installed
on the robot, if needed.
The columns for reach refer to the robot variant designation.
Note
The article numbers in the table can not be used for ordering spare parts. The
numbers are only used for identification of installed motors.
See Product manual, spare parts - IRB 7600 for spare part numbers.
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062338-001
3HAC057539-001
1
X
N/A
3HAC060565-001
(Foundry Prime)
X
X
X
X
3HAC062339-001
3HAC057540-001
2
X
X
3HAC062340-001
3HAC057541-001
X
N/A
3HAC060566-001
(Foundry Prime)
Continues on next page
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409
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
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| 409
|
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7 Robot description
7.1 Type A vs type B motors
Identifying the motor visually
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.
Use the images to identify which type of motor is installed on each robot axis.
Type B motor
Type A motor
![Image]
xx1500001057
![Image]
xx1500001058
The type B motor include evacuation on the
motor flange.
No evacuation on type A motors.
Identifying the motor by article number
Use the table to identify which type of motor is installed on each robot axis by
article number. The article numbers specified are found in WebConfig.
Contact ABB Service for further assistance regarding which motor type is installed
on the robot, if needed.
The columns for reach refer to the robot variant designation.
Note
The article numbers in the table can not be used for ordering spare parts. The
numbers are only used for identification of installed motors.
See Product manual, spare parts - IRB 7600 for spare part numbers.
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062338-001
3HAC057539-001
1
X
N/A
3HAC060565-001
(Foundry Prime)
X
X
X
X
3HAC062339-001
3HAC057540-001
2
X
X
3HAC062340-001
3HAC057541-001
X
N/A
3HAC060566-001
(Foundry Prime)
Continues on next page
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409
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062339-001
3HAC057540-001
3
X
N/A
3HAC060566-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
4
X
N/A
3HAC036644-002
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
5
X
N/A
3HAC060567-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062342-001
3HAC057544-001
6
X
N/A
3HAC060568-001
(Foundry Prime)
Interchangeable parts
Use the table to see if type A and type B motors are interchangeable on each robot
axis.
Requirements/notes for replacing type A motor
with type B motor
Motor replacement from
type A to type B
Robot axis
Fully interchangeable.
1
Fully interchangeable.
2
Fully interchangeable.
3
Fully interchangeable.
4
Replacement to type B requires replacement of
the left hand side wrist cover. Spare part number
for the cover that fits the type B motor:
3HAC062450-005 (ABB Orange) / 3HAC062450-
004 (Graphite White).
![Image]
xx1800000129
Partly interchangeable.
5
The complete wrist unit must be replaced.
Not interchangeable.
6
410
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© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
Continued
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| 410
|
7 Robot description
7.1 Type A vs type B motors
Identifying the motor visually
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.
Use the images to identify which type of motor is installed on each robot axis.
Type B motor
Type A motor
![Image]
xx1500001057
![Image]
xx1500001058
The type B motor include evacuation on the
motor flange.
No evacuation on type A motors.
Identifying the motor by article number
Use the table to identify which type of motor is installed on each robot axis by
article number. The article numbers specified are found in WebConfig.
Contact ABB Service for further assistance regarding which motor type is installed
on the robot, if needed.
The columns for reach refer to the robot variant designation.
Note
The article numbers in the table can not be used for ordering spare parts. The
numbers are only used for identification of installed motors.
See Product manual, spare parts - IRB 7600 for spare part numbers.
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062338-001
3HAC057539-001
1
X
N/A
3HAC060565-001
(Foundry Prime)
X
X
X
X
3HAC062339-001
3HAC057540-001
2
X
X
3HAC062340-001
3HAC057541-001
X
N/A
3HAC060566-001
(Foundry Prime)
Continues on next page
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409
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062339-001
3HAC057540-001
3
X
N/A
3HAC060566-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
4
X
N/A
3HAC036644-002
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
5
X
N/A
3HAC060567-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062342-001
3HAC057544-001
6
X
N/A
3HAC060568-001
(Foundry Prime)
Interchangeable parts
Use the table to see if type A and type B motors are interchangeable on each robot
axis.
Requirements/notes for replacing type A motor
with type B motor
Motor replacement from
type A to type B
Robot axis
Fully interchangeable.
1
Fully interchangeable.
2
Fully interchangeable.
3
Fully interchangeable.
4
Replacement to type B requires replacement of
the left hand side wrist cover. Spare part number
for the cover that fits the type B motor:
3HAC062450-005 (ABB Orange) / 3HAC062450-
004 (Graphite White).
![Image]
xx1800000129
Partly interchangeable.
5
The complete wrist unit must be replaced.
Not interchangeable.
6
410
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
Continued
8 Reference information
8.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 7600
411
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.1 Introduction
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ABB_IRB7600_Product_Manual.pdf
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| 411
|
150
3.50
325
/3.10
340
2.80
400
2.55
500
2.3
500
2.55
Article number
Type B motor
Article number
Type A motor
Robot
axis
X
X
X
X
X
X
3HAC062339-001
3HAC057540-001
3
X
N/A
3HAC060566-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
4
X
N/A
3HAC036644-002
(Foundry Prime)
X
X
X
X
X
X
3HAC062341-001
3HAC057543-001
5
X
N/A
3HAC060567-001
(Foundry Prime)
X
X
X
X
X
X
3HAC062342-001
3HAC057544-001
6
X
N/A
3HAC060568-001
(Foundry Prime)
Interchangeable parts
Use the table to see if type A and type B motors are interchangeable on each robot
axis.
Requirements/notes for replacing type A motor
with type B motor
Motor replacement from
type A to type B
Robot axis
Fully interchangeable.
1
Fully interchangeable.
2
Fully interchangeable.
3
Fully interchangeable.
4
Replacement to type B requires replacement of
the left hand side wrist cover. Spare part number
for the cover that fits the type B motor:
3HAC062450-005 (ABB Orange) / 3HAC062450-
004 (Graphite White).
![Image]
xx1800000129
Partly interchangeable.
5
The complete wrist unit must be replaced.
Not interchangeable.
6
410
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
7 Robot description
7.1 Type A vs type B motors
Continued
8 Reference information
8.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 7600
411
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.1 Introduction
8.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with ISO 10218-1:2011, Robots for industrial
environments - Safety requirements -Part 1 Robots, and applicable parts in the
normative references, as referred to from ISO 10218-1:2011. In case of deviations
from ISO 10218-1:2011, these are listed in the declaration of incorporation which
is part of the product delivery.
Normative standards as referred to from ISO 10218-1
Description
Standard
Manipulating industrial robots - Performance criteria and related
test methods
ISO 9283:1998
Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Robot systems and integration
ISO 10218-2
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
ISO 12100
Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design
ISO 13849-1:2006
Safety of machinery - Emergency stop - Principles for design
ISO 13850
Safety of machinery - Electrical equipment of machines - Part
1: General requirements
IEC 60204-1
Deviations from ISO 10218-1:2011 for IRC5 with MultiMove
A deviation exists towards ISO 10218-1:2011, paragraph 5.9 Control of simultaneous
motion , for the option MultiMove. See the application manual for MultiMove.
Region specific standards and regulations
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-03
Other standards used in design
Description
Standard
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-2
Continues on next page
412
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
|
ABB_IRB7600_Product_Manual.pdf
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| 412
|
8 Reference information
8.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 7600
411
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.1 Introduction
8.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with ISO 10218-1:2011, Robots for industrial
environments - Safety requirements -Part 1 Robots, and applicable parts in the
normative references, as referred to from ISO 10218-1:2011. In case of deviations
from ISO 10218-1:2011, these are listed in the declaration of incorporation which
is part of the product delivery.
Normative standards as referred to from ISO 10218-1
Description
Standard
Manipulating industrial robots - Performance criteria and related
test methods
ISO 9283:1998
Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Robot systems and integration
ISO 10218-2
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
ISO 12100
Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design
ISO 13849-1:2006
Safety of machinery - Emergency stop - Principles for design
ISO 13850
Safety of machinery - Electrical equipment of machines - Part
1: General requirements
IEC 60204-1
Deviations from ISO 10218-1:2011 for IRC5 with MultiMove
A deviation exists towards ISO 10218-1:2011, paragraph 5.9 Control of simultaneous
motion , for the option MultiMove. See the application manual for MultiMove.
Region specific standards and regulations
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-03
Other standards used in design
Description
Standard
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-2
Continues on next page
412
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
Description
Standard
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
Ergonomics of the thermal environment - Part 1
ISO 13732-1:2006
Arc welding equipment - Part 1: Welding power sources
IEC 60974-1:2012 i
Arc welding equipment - Part 10: EMC requirements
IEC 60974-10:2014 i
Classification of air cleanliness
ISO 14644-1:2015 ii
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots.
ii
Only robots with protection Clean Room.
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413
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
Continued
|
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| 413
|
8.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with ISO 10218-1:2011, Robots for industrial
environments - Safety requirements -Part 1 Robots, and applicable parts in the
normative references, as referred to from ISO 10218-1:2011. In case of deviations
from ISO 10218-1:2011, these are listed in the declaration of incorporation which
is part of the product delivery.
Normative standards as referred to from ISO 10218-1
Description
Standard
Manipulating industrial robots - Performance criteria and related
test methods
ISO 9283:1998
Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Robot systems and integration
ISO 10218-2
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
ISO 12100
Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design
ISO 13849-1:2006
Safety of machinery - Emergency stop - Principles for design
ISO 13850
Safety of machinery - Electrical equipment of machines - Part
1: General requirements
IEC 60204-1
Deviations from ISO 10218-1:2011 for IRC5 with MultiMove
A deviation exists towards ISO 10218-1:2011, paragraph 5.9 Control of simultaneous
motion , for the option MultiMove. See the application manual for MultiMove.
Region specific standards and regulations
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-03
Other standards used in design
Description
Standard
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-2
Continues on next page
412
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
Description
Standard
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
Ergonomics of the thermal environment - Part 1
ISO 13732-1:2006
Arc welding equipment - Part 1: Welding power sources
IEC 60974-1:2012 i
Arc welding equipment - Part 10: EMC requirements
IEC 60974-10:2014 i
Classification of air cleanliness
ISO 14644-1:2015 ii
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots.
ii
Only robots with protection Clean Room.
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413
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
Continued
8.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
414
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.3 Unit conversion
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Description
Standard
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
Ergonomics of the thermal environment - Part 1
ISO 13732-1:2006
Arc welding equipment - Part 1: Welding power sources
IEC 60974-1:2012 i
Arc welding equipment - Part 10: EMC requirements
IEC 60974-10:2014 i
Classification of air cleanliness
ISO 14644-1:2015 ii
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots.
ii
Only robots with protection Clean Room.
Product manual - IRB 7600
413
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.2 Applicable standards
Continued
8.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
414
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.3 Unit conversion
8.4 Screw joints
General
This section describes how to tighten the various types of screw joints on ABB
robots.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. It is recommended by ABB for M6-M20 screw joints. Screws treated
with Gleitmo may be reused 3-4 times before the coating disappears. After this the
screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Generally, screws are lubricated with Gleitmo 603 mixed with Geomet 500 or
Geomet 702 in proportion 1:3. Geomet thickness varies according to screw
dimensions, refer to the following.
Geomet thickness
Lubricant
Dimension
3-5 μm
Gleitmo 603 + Geomet 500
M6-M20 (any length except
M20x60)
3-5 μm
Gleitmo 603 + Geomet 720
M6-M20 (any length except
M20x60)
8-12 μm
Gleitmo 603 + Geomet 500
M20x60
6-10 μm
Gleitmo 603 + Geomet 720
M20x60
Screws lubricated in other ways
Screws lubricated with Molykote 1000 or Molykote P1900 should only be used
when specified in the repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
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ABB_IRB7600_Product_Manual.pdf
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| 415
|
8.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
414
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.3 Unit conversion
8.4 Screw joints
General
This section describes how to tighten the various types of screw joints on ABB
robots.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. It is recommended by ABB for M6-M20 screw joints. Screws treated
with Gleitmo may be reused 3-4 times before the coating disappears. After this the
screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Generally, screws are lubricated with Gleitmo 603 mixed with Geomet 500 or
Geomet 702 in proportion 1:3. Geomet thickness varies according to screw
dimensions, refer to the following.
Geomet thickness
Lubricant
Dimension
3-5 μm
Gleitmo 603 + Geomet 500
M6-M20 (any length except
M20x60)
3-5 μm
Gleitmo 603 + Geomet 720
M6-M20 (any length except
M20x60)
8-12 μm
Gleitmo 603 + Geomet 500
M20x60
6-10 μm
Gleitmo 603 + Geomet 720
M20x60
Screws lubricated in other ways
Screws lubricated with Molykote 1000 or Molykote P1900 should only be used
when specified in the repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Continues on next page
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415
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Article number
Lubricant
3HAC042472-001
Molykote 1000 (molybdenum disulphide grease)
3HAC070875-001
Molykote P1900 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Tightening torque for oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque for oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
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ABB_IRB7600_Product_Manual.pdf
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| 416
|
8.4 Screw joints
General
This section describes how to tighten the various types of screw joints on ABB
robots.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. It is recommended by ABB for M6-M20 screw joints. Screws treated
with Gleitmo may be reused 3-4 times before the coating disappears. After this the
screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Generally, screws are lubricated with Gleitmo 603 mixed with Geomet 500 or
Geomet 702 in proportion 1:3. Geomet thickness varies according to screw
dimensions, refer to the following.
Geomet thickness
Lubricant
Dimension
3-5 μm
Gleitmo 603 + Geomet 500
M6-M20 (any length except
M20x60)
3-5 μm
Gleitmo 603 + Geomet 720
M6-M20 (any length except
M20x60)
8-12 μm
Gleitmo 603 + Geomet 500
M20x60
6-10 μm
Gleitmo 603 + Geomet 720
M20x60
Screws lubricated in other ways
Screws lubricated with Molykote 1000 or Molykote P1900 should only be used
when specified in the repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Continues on next page
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415
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Article number
Lubricant
3HAC042472-001
Molykote 1000 (molybdenum disulphide grease)
3HAC070875-001
Molykote P1900 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Tightening torque for oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque for oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
1150
960
680
M24
Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
8
M5
14
M6
35
28
M8
70
55
M10
120
96
M12
300
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass .
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
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Article number
Lubricant
3HAC042472-001
Molykote 1000 (molybdenum disulphide grease)
3HAC070875-001
Molykote P1900 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Tightening torque for oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque for oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
Continues on next page
416
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3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
1150
960
680
M24
Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
8
M5
14
M6
35
28
M8
70
55
M10
120
96
M12
300
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass .
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
8.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The arm weighs 25 kg.
All lifting accessories used must be sized accord-
ingly.
418
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8 Reference information
8.5 Weight specifications
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| 418
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Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
1150
960
680
M24
Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws.
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
8
M5
14
M6
35
28
M8
70
55
M10
120
96
M12
300
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass .
Note
A special torque specified in the repair, maintenance or installation procedure
overrides the standard torque.
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
Product manual - IRB 7600
417
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.4 Screw joints
Continued
8.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The arm weighs 25 kg.
All lifting accessories used must be sized accord-
ingly.
418
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.5 Weight specifications
8.6 Standard tools
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Rem.
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Product manual - IRB 7600
419
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.6 Standard tools
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| 419
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8.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The arm weighs 25 kg.
All lifting accessories used must be sized accord-
ingly.
418
Product manual - IRB 7600
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.5 Weight specifications
8.6 Standard tools
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Rem.
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Product manual - IRB 7600
419
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.6 Standard tools
8.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard tools on page 419 , and of special tools, listed directly in the instructions
and also gathered in this section.
Basic tools
The following table specifies the tools in the basic toolkit (3HAC15571-3) that are
used for the current robot model. This toolkit is necessary primary when removing
and refitting the motors.
The tools are also listed directly in the instructions.
Art. no.
Qty
Description
3HAC12342-1
1
Extension 300mm for bits 1/2"
3HAC15520-1
2
Guide pins M8 x 100
3HAC15520-2
2
Guide pins M8 x 150
3HAC15521-1
2
Guide pins M10 x 100
3HAC15521-2
2
Guide pins M10 x 150
3HAC12734-1
1
Lifting tool, wrist unit
3HAC14459-1
1
Lifting tool, motor ax 1, 4, 5
3HAC15534-1
1
Lifting tool, motor ax 2, 3, 4
3HAC14972-1
2
Removal tool, motor M10x
3HAC14973-1
1
Removal tool, motor M12x
Fits motors, axes 1, 2, 3, 4 and 5.
3HAC17105-1
1
Rotation tool
3HAC12708-2
2
Mechanical stop axis 3
3HAB3409-89
2
Bolts M16 x 80 (for mechanical stop axis 3)
3HAA1001-186
2
Washers (for mechanical stop axis 3)
3HAC15571-1
1
Standard toolkit (content described in section
Standard tools on page 419 )
Special tools
The following table specifies the special tools required during several of the service
procedures. The tools may be ordered separately and are also specified directly
in concerned instructions in the product manual.
Art. no.
Qty
Description
3HAC13660-1
1
Fixture lower arm
3HAC022637-001
2
Guide pins M12 x 130
3HAC13120-2
2
Guide pins M16 x 150
3HAC13120-3
2
Guide pins M16 x 200
3HAC13120-4
1
Guide pins M16 x 250
Continues on next page
420
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
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| 420
|
8.6 Standard tools
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Rem.
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Product manual - IRB 7600
419
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.6 Standard tools
8.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard tools on page 419 , and of special tools, listed directly in the instructions
and also gathered in this section.
Basic tools
The following table specifies the tools in the basic toolkit (3HAC15571-3) that are
used for the current robot model. This toolkit is necessary primary when removing
and refitting the motors.
The tools are also listed directly in the instructions.
Art. no.
Qty
Description
3HAC12342-1
1
Extension 300mm for bits 1/2"
3HAC15520-1
2
Guide pins M8 x 100
3HAC15520-2
2
Guide pins M8 x 150
3HAC15521-1
2
Guide pins M10 x 100
3HAC15521-2
2
Guide pins M10 x 150
3HAC12734-1
1
Lifting tool, wrist unit
3HAC14459-1
1
Lifting tool, motor ax 1, 4, 5
3HAC15534-1
1
Lifting tool, motor ax 2, 3, 4
3HAC14972-1
2
Removal tool, motor M10x
3HAC14973-1
1
Removal tool, motor M12x
Fits motors, axes 1, 2, 3, 4 and 5.
3HAC17105-1
1
Rotation tool
3HAC12708-2
2
Mechanical stop axis 3
3HAB3409-89
2
Bolts M16 x 80 (for mechanical stop axis 3)
3HAA1001-186
2
Washers (for mechanical stop axis 3)
3HAC15571-1
1
Standard toolkit (content described in section
Standard tools on page 419 )
Special tools
The following table specifies the special tools required during several of the service
procedures. The tools may be ordered separately and are also specified directly
in concerned instructions in the product manual.
Art. no.
Qty
Description
3HAC13660-1
1
Fixture lower arm
3HAC022637-001
2
Guide pins M12 x 130
3HAC13120-2
2
Guide pins M16 x 150
3HAC13120-3
2
Guide pins M16 x 200
3HAC13120-4
1
Guide pins M16 x 250
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Art. no.
Qty
Description
3HAC13120-5
2
Guide pins M16 x 300
3HAC14627-3
1
Guide pins, sealing ax 2/3, 100mm
3HAC14627-2
1
Guide pins, sealing ax 2/3, 80mm
3HAC029090-001
1
Holder for bits (Stahlwille 736/40 S 5/16")
3HAC11731-1
1
Hydraulic cylinder
3HAC13086-1
1
Hydraulic pump, 80 MPa
3HAC021563-012
1
Hydraulic pump, 150 MPa (Glycerin)
3HAC15560-1
1
Lifting accessory, base
3HAC15607-1
1
Lifting accessory, robot
3HAC15536-1
1
Lifting accessory, upper arm
3HAC16131-1
1
Lifting eye VLBG M12
3HAC14457-3
2
Lifting eye M12
3HAC14457-4
2
Lifting eye M16
3HAC15556-1
1
Lifting tool (chain)
3HAC032723-001
1
Lifting tool, gearbox axis 2 and axis 3
6896134-GN
1
Measuring tool
3HAC021590-001
1
Oil injector / max 500 MPa
3HAC076203-001
1
Press tool, axis 2 bearing
3HAC075427-001
1
Puller device, axis 2 shaft
3HAC076203-001
1
Press device, axis 2 shaft
3HAC074411-001
1
Press equipment, balancing device
3HAC078221-001
1
Adapter
Used together with press equipment for balan-
cing devices from 2002 and older.
3HAC076202-001
1
Press equipment, balancing device shaft
3HAC15814-1
1
Removal tool, wheel unit
3HAC15535-1
1
Support, base
3HAC15943-1
1
Tool set balancing device
Tools that may be rented
The following table specifies the tools that may be rented from ABB in order to
perform certain service procedures as described in the Product manual.
The special tools are also listed directly in the instructions.
Note
Art. no.
Description
Includes
•
Guidances, 3HAC14445-1
3HAC14691-1
Lifting tool, lower arm
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
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| 421
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8.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard tools on page 419 , and of special tools, listed directly in the instructions
and also gathered in this section.
Basic tools
The following table specifies the tools in the basic toolkit (3HAC15571-3) that are
used for the current robot model. This toolkit is necessary primary when removing
and refitting the motors.
The tools are also listed directly in the instructions.
Art. no.
Qty
Description
3HAC12342-1
1
Extension 300mm for bits 1/2"
3HAC15520-1
2
Guide pins M8 x 100
3HAC15520-2
2
Guide pins M8 x 150
3HAC15521-1
2
Guide pins M10 x 100
3HAC15521-2
2
Guide pins M10 x 150
3HAC12734-1
1
Lifting tool, wrist unit
3HAC14459-1
1
Lifting tool, motor ax 1, 4, 5
3HAC15534-1
1
Lifting tool, motor ax 2, 3, 4
3HAC14972-1
2
Removal tool, motor M10x
3HAC14973-1
1
Removal tool, motor M12x
Fits motors, axes 1, 2, 3, 4 and 5.
3HAC17105-1
1
Rotation tool
3HAC12708-2
2
Mechanical stop axis 3
3HAB3409-89
2
Bolts M16 x 80 (for mechanical stop axis 3)
3HAA1001-186
2
Washers (for mechanical stop axis 3)
3HAC15571-1
1
Standard toolkit (content described in section
Standard tools on page 419 )
Special tools
The following table specifies the special tools required during several of the service
procedures. The tools may be ordered separately and are also specified directly
in concerned instructions in the product manual.
Art. no.
Qty
Description
3HAC13660-1
1
Fixture lower arm
3HAC022637-001
2
Guide pins M12 x 130
3HAC13120-2
2
Guide pins M16 x 150
3HAC13120-3
2
Guide pins M16 x 200
3HAC13120-4
1
Guide pins M16 x 250
Continues on next page
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8 Reference information
8.7 Special tools
Art. no.
Qty
Description
3HAC13120-5
2
Guide pins M16 x 300
3HAC14627-3
1
Guide pins, sealing ax 2/3, 100mm
3HAC14627-2
1
Guide pins, sealing ax 2/3, 80mm
3HAC029090-001
1
Holder for bits (Stahlwille 736/40 S 5/16")
3HAC11731-1
1
Hydraulic cylinder
3HAC13086-1
1
Hydraulic pump, 80 MPa
3HAC021563-012
1
Hydraulic pump, 150 MPa (Glycerin)
3HAC15560-1
1
Lifting accessory, base
3HAC15607-1
1
Lifting accessory, robot
3HAC15536-1
1
Lifting accessory, upper arm
3HAC16131-1
1
Lifting eye VLBG M12
3HAC14457-3
2
Lifting eye M12
3HAC14457-4
2
Lifting eye M16
3HAC15556-1
1
Lifting tool (chain)
3HAC032723-001
1
Lifting tool, gearbox axis 2 and axis 3
6896134-GN
1
Measuring tool
3HAC021590-001
1
Oil injector / max 500 MPa
3HAC076203-001
1
Press tool, axis 2 bearing
3HAC075427-001
1
Puller device, axis 2 shaft
3HAC076203-001
1
Press device, axis 2 shaft
3HAC074411-001
1
Press equipment, balancing device
3HAC078221-001
1
Adapter
Used together with press equipment for balan-
cing devices from 2002 and older.
3HAC076202-001
1
Press equipment, balancing device shaft
3HAC15814-1
1
Removal tool, wheel unit
3HAC15535-1
1
Support, base
3HAC15943-1
1
Tool set balancing device
Tools that may be rented
The following table specifies the tools that may be rented from ABB in order to
perform certain service procedures as described in the Product manual.
The special tools are also listed directly in the instructions.
Note
Art. no.
Description
Includes
•
Guidances, 3HAC14445-1
3HAC14691-1
Lifting tool, lower arm
Continues on next page
Product manual - IRB 7600
421
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
Calibration equipment, Levelmeter (alternative method)
The following table specifies the calibration equipment required when calibrating
the robot with the alternative method, Levelmeter Calibration.
Note
Art. no.
Description
68080011-LP
Angle bracket
3HAC13908-9
Calibration bracket
3HAC13908-4
Calibration tool ax1
3HAC13908-5
Measuring pin
68080011-GM
Sensor fixture
3HAC0392-1
Sensor plate
3HAC13908-1
Sync. adapter
Calibration equipment, Calibration Pendulum
The following table specifies the calibration equipment needed when calibrating
the robot with the Calibration Pendulum method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Complete kit that also includes operating
manual.
3HAC15716-1
Calibration Pendulum toolkit
Calibration equipment, Axis Calibration
The following table specifies the calibration equipment needed when calibrating
the robot with the Axis Calibration method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Delivered as a set of calibration tools.
3HAC055412-
001
Calibration tool box, Axis Cal-
ibration
Required if Axis Calibration is the valid
calibration method for the robot.
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
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| 422
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Art. no.
Qty
Description
3HAC13120-5
2
Guide pins M16 x 300
3HAC14627-3
1
Guide pins, sealing ax 2/3, 100mm
3HAC14627-2
1
Guide pins, sealing ax 2/3, 80mm
3HAC029090-001
1
Holder for bits (Stahlwille 736/40 S 5/16")
3HAC11731-1
1
Hydraulic cylinder
3HAC13086-1
1
Hydraulic pump, 80 MPa
3HAC021563-012
1
Hydraulic pump, 150 MPa (Glycerin)
3HAC15560-1
1
Lifting accessory, base
3HAC15607-1
1
Lifting accessory, robot
3HAC15536-1
1
Lifting accessory, upper arm
3HAC16131-1
1
Lifting eye VLBG M12
3HAC14457-3
2
Lifting eye M12
3HAC14457-4
2
Lifting eye M16
3HAC15556-1
1
Lifting tool (chain)
3HAC032723-001
1
Lifting tool, gearbox axis 2 and axis 3
6896134-GN
1
Measuring tool
3HAC021590-001
1
Oil injector / max 500 MPa
3HAC076203-001
1
Press tool, axis 2 bearing
3HAC075427-001
1
Puller device, axis 2 shaft
3HAC076203-001
1
Press device, axis 2 shaft
3HAC074411-001
1
Press equipment, balancing device
3HAC078221-001
1
Adapter
Used together with press equipment for balan-
cing devices from 2002 and older.
3HAC076202-001
1
Press equipment, balancing device shaft
3HAC15814-1
1
Removal tool, wheel unit
3HAC15535-1
1
Support, base
3HAC15943-1
1
Tool set balancing device
Tools that may be rented
The following table specifies the tools that may be rented from ABB in order to
perform certain service procedures as described in the Product manual.
The special tools are also listed directly in the instructions.
Note
Art. no.
Description
Includes
•
Guidances, 3HAC14445-1
3HAC14691-1
Lifting tool, lower arm
Continues on next page
Product manual - IRB 7600
421
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
Calibration equipment, Levelmeter (alternative method)
The following table specifies the calibration equipment required when calibrating
the robot with the alternative method, Levelmeter Calibration.
Note
Art. no.
Description
68080011-LP
Angle bracket
3HAC13908-9
Calibration bracket
3HAC13908-4
Calibration tool ax1
3HAC13908-5
Measuring pin
68080011-GM
Sensor fixture
3HAC0392-1
Sensor plate
3HAC13908-1
Sync. adapter
Calibration equipment, Calibration Pendulum
The following table specifies the calibration equipment needed when calibrating
the robot with the Calibration Pendulum method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Complete kit that also includes operating
manual.
3HAC15716-1
Calibration Pendulum toolkit
Calibration equipment, Axis Calibration
The following table specifies the calibration equipment needed when calibrating
the robot with the Axis Calibration method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Delivered as a set of calibration tools.
3HAC055412-
001
Calibration tool box, Axis Cal-
ibration
Required if Axis Calibration is the valid
calibration method for the robot.
Continues on next page
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8 Reference information
8.7 Special tools
Continued
Oil exchange equipment
The following table specifies the recommended equipment for oil exchange.
Note
Art. no.
Description
Includes:
•
Vacuum pump with regulator,
hose and coupling
•
Couplings and adapters
•
Pump (manual) with hose and
coupling
•
Graduated measuring glass
•
Oil gun
•
User instructions.
3HAC021745-001
Oil exchange equipment
Product manual - IRB 7600
423
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
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Calibration equipment, Levelmeter (alternative method)
The following table specifies the calibration equipment required when calibrating
the robot with the alternative method, Levelmeter Calibration.
Note
Art. no.
Description
68080011-LP
Angle bracket
3HAC13908-9
Calibration bracket
3HAC13908-4
Calibration tool ax1
3HAC13908-5
Measuring pin
68080011-GM
Sensor fixture
3HAC0392-1
Sensor plate
3HAC13908-1
Sync. adapter
Calibration equipment, Calibration Pendulum
The following table specifies the calibration equipment needed when calibrating
the robot with the Calibration Pendulum method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Complete kit that also includes operating
manual.
3HAC15716-1
Calibration Pendulum toolkit
Calibration equipment, Axis Calibration
The following table specifies the calibration equipment needed when calibrating
the robot with the Axis Calibration method.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory.
Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in
the calibration menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used
as default.
Note
Art. no.
Description
Delivered as a set of calibration tools.
3HAC055412-
001
Calibration tool box, Axis Cal-
ibration
Required if Axis Calibration is the valid
calibration method for the robot.
Continues on next page
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
Oil exchange equipment
The following table specifies the recommended equipment for oil exchange.
Note
Art. no.
Description
Includes:
•
Vacuum pump with regulator,
hose and coupling
•
Couplings and adapters
•
Pump (manual) with hose and
coupling
•
Graduated measuring glass
•
Oil gun
•
User instructions.
3HAC021745-001
Oil exchange equipment
Product manual - IRB 7600
423
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© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
8.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
The instructions delivered with the lifting accessories should be stored for later
reference.
424
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8 Reference information
8.8 Lifting accessories and lifting instructions
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Oil exchange equipment
The following table specifies the recommended equipment for oil exchange.
Note
Art. no.
Description
Includes:
•
Vacuum pump with regulator,
hose and coupling
•
Couplings and adapters
•
Pump (manual) with hose and
coupling
•
Graduated measuring glass
•
Oil gun
•
User instructions.
3HAC021745-001
Oil exchange equipment
Product manual - IRB 7600
423
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.7 Special tools
Continued
8.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
The instructions delivered with the lifting accessories should be stored for later
reference.
424
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.8 Lifting accessories and lifting instructions
9 Spare part lists
9.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document for registered users on myABB Business Portal,
www.abb.com/myABB .
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manual - IRB 7600
425
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
9 Spare part lists
9.1 Spare part lists and illustrations
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 425
|
8.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
The instructions delivered with the lifting accessories should be stored for later
reference.
424
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
8 Reference information
8.8 Lifting accessories and lifting instructions
9 Spare part lists
9.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document for registered users on myABB Business Portal,
www.abb.com/myABB .
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manual - IRB 7600
425
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
9 Spare part lists
9.1 Spare part lists and illustrations
This page is intentionally left blank
|
ABB_IRB7600_Product_Manual.pdf
|
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| 426
|
9 Spare part lists
9.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document for registered users on myABB Business Portal,
www.abb.com/myABB .
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manual - IRB 7600
425
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
9 Spare part lists
9.1 Spare part lists and illustrations
This page is intentionally left blank
10 Circuit diagram
10.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but are available for registered
users on myABB Business Portal, www.abb.com/myABB .
See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-005
Circuit diagram - Euromap 67, design 14
3HAC057185-001
Circuit diagram - Spot welding cabinet
Manipulators
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC060545-009
Circuit diagram - IRB 390
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC025090-001
Circuit diagram - IRB 6620
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
Continues on next page
Product manual - IRB 7600
427
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
|
ABB_IRB7600_Product_Manual.pdf
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| 427
|
This page is intentionally left blank
10 Circuit diagram
10.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but are available for registered
users on myABB Business Portal, www.abb.com/myABB .
See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-005
Circuit diagram - Euromap 67, design 14
3HAC057185-001
Circuit diagram - Spot welding cabinet
Manipulators
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC060545-009
Circuit diagram - IRB 390
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC025090-001
Circuit diagram - IRB 6620
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
Continues on next page
Product manual - IRB 7600
427
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
Article numbers for circuit diagrams
Product
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700 / IRB 6790
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
428
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
Continued
|
ABB_IRB7600_Product_Manual.pdf
|
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| 428
|
10 Circuit diagram
10.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but are available for registered
users on myABB Business Portal, www.abb.com/myABB .
See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-005
Circuit diagram - Euromap 67, design 14
3HAC057185-001
Circuit diagram - Spot welding cabinet
Manipulators
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC060545-009
Circuit diagram - IRB 390
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC025090-001
Circuit diagram - IRB 6620
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
Continues on next page
Product manual - IRB 7600
427
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
Article numbers for circuit diagrams
Product
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700 / IRB 6790
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
428
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
Continued
10.2 Validity of circuit diagram 3HAC025744-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot and see page 3
of the circuit diagram in order to determine if the diagram is valid for the harness
or not.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
WebConfig
Product manual - IRB 7600
429
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.2 Validity of circuit diagram 3HAC025744-1
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 429
|
Article numbers for circuit diagrams
Product
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700 / IRB 6790
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
428
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.1 Circuit diagrams
Continued
10.2 Validity of circuit diagram 3HAC025744-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot and see page 3
of the circuit diagram in order to determine if the diagram is valid for the harness
or not.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
WebConfig
Product manual - IRB 7600
429
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.2 Validity of circuit diagram 3HAC025744-1
10.3 Validity of circuit diagram 3HAC13347-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
-
WebConfig
This circuit diagram is valid for the following cable harness assemblies:
Revision
Cable harness
Robot
all
3HAC 14940-1
IRB 6600
all
3HAC 16331-1
IRB 6650, IRB 6650S
revision 0-2
3HAC 14940-1
IRB 7600
For remaining cable harness assemblies, see section Validity of circuit diagram
3HAC025744-1 on page 429 .
430
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.3 Validity of circuit diagram 3HAC13347-1
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 430
|
10.2 Validity of circuit diagram 3HAC025744-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot and see page 3
of the circuit diagram in order to determine if the diagram is valid for the harness
or not.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
WebConfig
Product manual - IRB 7600
429
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.2 Validity of circuit diagram 3HAC025744-1
10.3 Validity of circuit diagram 3HAC13347-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
-
WebConfig
This circuit diagram is valid for the following cable harness assemblies:
Revision
Cable harness
Robot
all
3HAC 14940-1
IRB 6600
all
3HAC 16331-1
IRB 6650, IRB 6650S
revision 0-2
3HAC 14940-1
IRB 7600
For remaining cable harness assemblies, see section Validity of circuit diagram
3HAC025744-1 on page 429 .
430
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.3 Validity of circuit diagram 3HAC13347-1
Index
A
Absolute Accuracy, calibration, 374
allergenic material, 34
aluminum
disposal, 402
ambient humidity
operation, 55
storage, 54
ambient temperature
operation, 55
storage, 54
assembly instructions, 45
assessment of hazards and risks, 34
Axis Calibration, 383
calibration tool
article number, 386, 389
examining, 386
installation position, 388
overview of method, 383
procedure on FlexPendant, 389, 396
protective cover and protection plug, 388–389
B
balancing device, replacement, 279
balancing device bearing, replacement, 274
base plate
guide pins, 75
securing, 75
batteries
disposal, 402
battery
replacing, 183, 264
battery pack
replacing, interval, 120
battery shutdown
service routine, 183, 264
brakes
testing function, 42
C
cabinet lock, 35
cable harness axes 1-4, replacement, 214
cabling, robot, 111
cabling, robot axes 1-4, 215
cabling, robot axes 5-6, 224
cabling between robot and controller, 110
calibrating
robot, 383
roughly, 378
calibrating robot, 383, 395–396
calibration
Absolute Accuracy type, 372
alternative method, 374
Levelmeter calibration, 374
rough, 378
standard type, 372
verification, 398
when to calibrate, 375
calibration, Absolute Accuracy, 374
calibration manuals, 374
calibration marks, 376
Calibration Pendulum
overview of method, 395
calibration position
jogging to, 400
jogging to, TPU, 400
scales, 376
calibration scales, 376
CalibWare, 372
carbon dioxide extinguisher, 35
cast iron
disposal, 402
cleaning, 193
climbing on robot, 38
Cold environments, 114
connecting the robot and controller, cabling, 110
copper
disposal, 402
D
damage to mechanical stop, 151
dimensions
frame, 85
lower arm, 83
upper arm, 84
direction of axes, 377
E
environmental information, 402
EPS, 100
equipment on robot, 83
ESD
damage elimination, 61
sensitive equipment, 61
expected life, 121
extended working range, 100
extended working range, axis 1, 100
extra equipment
frame, 85
lower arm, 83
robot, 83
upper arm, 84
F
fire extinguishing, 35
fitting equipment on robot, 83
FlexPendant
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 380
fork lift, 62
foundation
requirements, 54
frame
dimensions, 85
G
gearbox axis 1, replacement, 327
gearbox axis 3, replacement, 347
gearbox axis 6, replacement, 366
gearboxes
location of, 161
grease, 38
disposal, 402
guide pins, base plate, 75
H
hanging
installed hanging, 34
hazard levels, 25
hazardous material, 402
Product manual - IRB 7600
431
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 431
|
10.3 Validity of circuit diagram 3HAC13347-1
Is this circuit diagram valid for your robot?
The validity of the circuit diagram depends on which cable harness is fitted to the
robot.
Check the article number of the cable harness fitted to the robot.
Action
Where to find the article number
The label is located at the connectors in the base.
Remove the rear cover plate to see the label.
Label on the cable harness
-
WebConfig
This circuit diagram is valid for the following cable harness assemblies:
Revision
Cable harness
Robot
all
3HAC 14940-1
IRB 6600
all
3HAC 16331-1
IRB 6650, IRB 6650S
revision 0-2
3HAC 14940-1
IRB 7600
For remaining cable harness assemblies, see section Validity of circuit diagram
3HAC025744-1 on page 429 .
430
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
10 Circuit diagram
10.3 Validity of circuit diagram 3HAC13347-1
Index
A
Absolute Accuracy, calibration, 374
allergenic material, 34
aluminum
disposal, 402
ambient humidity
operation, 55
storage, 54
ambient temperature
operation, 55
storage, 54
assembly instructions, 45
assessment of hazards and risks, 34
Axis Calibration, 383
calibration tool
article number, 386, 389
examining, 386
installation position, 388
overview of method, 383
procedure on FlexPendant, 389, 396
protective cover and protection plug, 388–389
B
balancing device, replacement, 279
balancing device bearing, replacement, 274
base plate
guide pins, 75
securing, 75
batteries
disposal, 402
battery
replacing, 183, 264
battery pack
replacing, interval, 120
battery shutdown
service routine, 183, 264
brakes
testing function, 42
C
cabinet lock, 35
cable harness axes 1-4, replacement, 214
cabling, robot, 111
cabling, robot axes 1-4, 215
cabling, robot axes 5-6, 224
cabling between robot and controller, 110
calibrating
robot, 383
roughly, 378
calibrating robot, 383, 395–396
calibration
Absolute Accuracy type, 372
alternative method, 374
Levelmeter calibration, 374
rough, 378
standard type, 372
verification, 398
when to calibrate, 375
calibration, Absolute Accuracy, 374
calibration manuals, 374
calibration marks, 376
Calibration Pendulum
overview of method, 395
calibration position
jogging to, 400
jogging to, TPU, 400
scales, 376
calibration scales, 376
CalibWare, 372
carbon dioxide extinguisher, 35
cast iron
disposal, 402
cleaning, 193
climbing on robot, 38
Cold environments, 114
connecting the robot and controller, cabling, 110
copper
disposal, 402
D
damage to mechanical stop, 151
dimensions
frame, 85
lower arm, 83
upper arm, 84
direction of axes, 377
E
environmental information, 402
EPS, 100
equipment on robot, 83
ESD
damage elimination, 61
sensitive equipment, 61
expected life, 121
extended working range, 100
extended working range, axis 1, 100
extra equipment
frame, 85
lower arm, 83
robot, 83
upper arm, 84
F
fire extinguishing, 35
fitting equipment on robot, 83
FlexPendant
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 380
fork lift, 62
foundation
requirements, 54
frame
dimensions, 85
G
gearbox axis 1, replacement, 327
gearbox axis 3, replacement, 347
gearbox axis 6, replacement, 366
gearboxes
location of, 161
grease, 38
disposal, 402
guide pins, base plate, 75
H
hanging
installed hanging, 34
hazard levels, 25
hazardous material, 402
Product manual - IRB 7600
431
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
height
installed at a height, 34
hot surfaces, 38
HRA, 34
humidity
operation, 55
storage, 54
I
information labels location, 157
inspecting
information labels, 157
mechanical stop, 151
motor seal, 122
inspecting oil levels
axis-6, 139
axis-5, 136
axis-4, 133
axis-3, 130
axis-2, 127
axis-1, 124
installation
mechanical stop axis 1, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
installing equipment on robot, 83
instructions for assembly, 45
integrator responsibility, 34
intervals for maintenance, 117
L
labels
robot, 27
leak-down test, 206
Levelmeter calibration, 374
lifting accessory, 418
lifting accessory, robot, 68
lifting robot
with fork lift, 62
with lifting accessory, 68
with roundslings, 70
limitation of liability, 23
Lithium
disposal, 402
loads on foundation, 53
lock and tag, 35
lower arm
dimensions, 83
lower arm shaft, replacement, 255
lubricants, 38
lubrication
amount in gearboxes, 161
type of lubrication, 161
M
magnesium
disposal, 402
maintenance schedule, 117
mechanical stop
axis 1, 103
axis 2, 105
axis 3, 107
mechanical stop location, 151
motor axis 1, replacement, 291
motor axis 2, replacement, 296
motor axis 3, replacement, 302
motor axis 4, replacement, 309
motor axis 6, replacement, 320
motor brakes
releasing, 72
motor seal
inspecting, 122
MoveAbsJ instruction, 399
TPU, 399
N
national regulations, 34
negative directions, axes, 377
neodymium
disposal, 402
nodular iron
disposal, 402
O
oil, 38
amount in gearboxes, 161
disposal, 402
type of oil, 161
oil level
gearbox axis-6, 139
gearbox axis-5, 136
gearbox axis-4, 133
gearbox axis-3, 130
gearbox axis-2, 127
gearbox axis-1, 124
operating conditions, 55
option
Extended working range, 100
original spare parts, 23
P
pedestal
installed on pedestal, 34
personnel
requirements, 24
plastic
disposal, 402
positive directions, axes, 377
PPE, 24
product standards, 412
protection classes, 55
protection type, 55
protective equipment, 24
protective wear, 24
R
recycling, 402
regional regulations, 34
release brakes, 41
releasing motor brakes, 72
replacement
balancing device, 279
bearing, balancing device, 274
cable harness axes 1-4, 214
gearbox axis 1, 327
gearbox axis 3, 347
gearbox axis 6, 366
lower arm shaft, 255
motor axis 1, 291
motor axis 2, 296
motor axis 3, 302
motor axis 4, 309
motor axis 6, 320
replacements, report, 205
432
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
|
ABB_IRB7600_Product_Manual.pdf
|
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| 432
|
Index
A
Absolute Accuracy, calibration, 374
allergenic material, 34
aluminum
disposal, 402
ambient humidity
operation, 55
storage, 54
ambient temperature
operation, 55
storage, 54
assembly instructions, 45
assessment of hazards and risks, 34
Axis Calibration, 383
calibration tool
article number, 386, 389
examining, 386
installation position, 388
overview of method, 383
procedure on FlexPendant, 389, 396
protective cover and protection plug, 388–389
B
balancing device, replacement, 279
balancing device bearing, replacement, 274
base plate
guide pins, 75
securing, 75
batteries
disposal, 402
battery
replacing, 183, 264
battery pack
replacing, interval, 120
battery shutdown
service routine, 183, 264
brakes
testing function, 42
C
cabinet lock, 35
cable harness axes 1-4, replacement, 214
cabling, robot, 111
cabling, robot axes 1-4, 215
cabling, robot axes 5-6, 224
cabling between robot and controller, 110
calibrating
robot, 383
roughly, 378
calibrating robot, 383, 395–396
calibration
Absolute Accuracy type, 372
alternative method, 374
Levelmeter calibration, 374
rough, 378
standard type, 372
verification, 398
when to calibrate, 375
calibration, Absolute Accuracy, 374
calibration manuals, 374
calibration marks, 376
Calibration Pendulum
overview of method, 395
calibration position
jogging to, 400
jogging to, TPU, 400
scales, 376
calibration scales, 376
CalibWare, 372
carbon dioxide extinguisher, 35
cast iron
disposal, 402
cleaning, 193
climbing on robot, 38
Cold environments, 114
connecting the robot and controller, cabling, 110
copper
disposal, 402
D
damage to mechanical stop, 151
dimensions
frame, 85
lower arm, 83
upper arm, 84
direction of axes, 377
E
environmental information, 402
EPS, 100
equipment on robot, 83
ESD
damage elimination, 61
sensitive equipment, 61
expected life, 121
extended working range, 100
extended working range, axis 1, 100
extra equipment
frame, 85
lower arm, 83
robot, 83
upper arm, 84
F
fire extinguishing, 35
fitting equipment on robot, 83
FlexPendant
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 380
fork lift, 62
foundation
requirements, 54
frame
dimensions, 85
G
gearbox axis 1, replacement, 327
gearbox axis 3, replacement, 347
gearbox axis 6, replacement, 366
gearboxes
location of, 161
grease, 38
disposal, 402
guide pins, base plate, 75
H
hanging
installed hanging, 34
hazard levels, 25
hazardous material, 402
Product manual - IRB 7600
431
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
height
installed at a height, 34
hot surfaces, 38
HRA, 34
humidity
operation, 55
storage, 54
I
information labels location, 157
inspecting
information labels, 157
mechanical stop, 151
motor seal, 122
inspecting oil levels
axis-6, 139
axis-5, 136
axis-4, 133
axis-3, 130
axis-2, 127
axis-1, 124
installation
mechanical stop axis 1, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
installing equipment on robot, 83
instructions for assembly, 45
integrator responsibility, 34
intervals for maintenance, 117
L
labels
robot, 27
leak-down test, 206
Levelmeter calibration, 374
lifting accessory, 418
lifting accessory, robot, 68
lifting robot
with fork lift, 62
with lifting accessory, 68
with roundslings, 70
limitation of liability, 23
Lithium
disposal, 402
loads on foundation, 53
lock and tag, 35
lower arm
dimensions, 83
lower arm shaft, replacement, 255
lubricants, 38
lubrication
amount in gearboxes, 161
type of lubrication, 161
M
magnesium
disposal, 402
maintenance schedule, 117
mechanical stop
axis 1, 103
axis 2, 105
axis 3, 107
mechanical stop location, 151
motor axis 1, replacement, 291
motor axis 2, replacement, 296
motor axis 3, replacement, 302
motor axis 4, replacement, 309
motor axis 6, replacement, 320
motor brakes
releasing, 72
motor seal
inspecting, 122
MoveAbsJ instruction, 399
TPU, 399
N
national regulations, 34
negative directions, axes, 377
neodymium
disposal, 402
nodular iron
disposal, 402
O
oil, 38
amount in gearboxes, 161
disposal, 402
type of oil, 161
oil level
gearbox axis-6, 139
gearbox axis-5, 136
gearbox axis-4, 133
gearbox axis-3, 130
gearbox axis-2, 127
gearbox axis-1, 124
operating conditions, 55
option
Extended working range, 100
original spare parts, 23
P
pedestal
installed on pedestal, 34
personnel
requirements, 24
plastic
disposal, 402
positive directions, axes, 377
PPE, 24
product standards, 412
protection classes, 55
protection type, 55
protective equipment, 24
protective wear, 24
R
recycling, 402
regional regulations, 34
release brakes, 41
releasing motor brakes, 72
replacement
balancing device, 279
bearing, balancing device, 274
cable harness axes 1-4, 214
gearbox axis 1, 327
gearbox axis 3, 347
gearbox axis 6, 366
lower arm shaft, 255
motor axis 1, 291
motor axis 2, 296
motor axis 3, 302
motor axis 4, 309
motor axis 6, 320
replacements, report, 205
432
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
report replacements, 205
requirements on foundation, 54
responsibility and validity, 23
restricting
working range axis 1, 100, 103
working range axis 2, 105
working range axis 3, 107
revolution counters
storing on FlexPendant, 380
storing on TPU, 379
updating, 378
risk of burns, 38
risk of tipping, 60
robot
labels, 27
protection class, 55
protection types, 55
symbols, 27
roundslings attached to robot, 70
rubber
disposal, 402
S
safety
brake testing, 42
ESD, 61
fire extinguishing, 35
release robot axes, 41
signal lamp, 99
signals, 25
signals in manual, 25
symbols, 25
symbols on robot, 27
safety devices, 35
safety equipment
mechanical stop, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
safety hazard
hydraulic system, 36
pneumatic system, 36
safety signals
in manual, 25
safety standards, 412
scales on robot, 376
schedule for maintenance, 117
screw joints, 415
securing
base plate, 75
securing, robot, 80
securing, upper arm, 304
securing the robot to foundation, attachment screws, 80
shipping, 401
signal lamp, 99
signals
safety, 25
SMB
replacing, 264
SMB battery
extension of lifetime, 183, 264
replacing, 183, 264
special tools, 420
speed
adjusting, 114
stability, 60
standards, 412
ANSI, 412
CAN, 412
EN IEC, 412
EN ISO, 412
start of robot in cold environments, 114
steel
disposal, 402
storage conditions, 54
symbols
safety, 25
synchronization position, 378
sync marks, 376
system integrator requirements, 34
T
temperatures
operation, 55
storage, 54
testing
brakes, 42
tightening torque
mechanical stop axis 2, 106
tools
Axis Calibration, 422
calibration equipment, Levelmeter, 422
Calibration Pendulum, 422
for service, 420
oil exchange equipment, 423
torques on foundation, 53
TPU
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 379
transportation, 401
transporting the robot, 50
transport support, 50
troubleshooting
oil spills, 193
safety, 43
type A motors, 409
type B motors, 409
U
upcycling, 402
updating revolution counters, 378
upper arm
dimensions, 84
users
requirements, 24
V
validity and responsibility, 23
velocity
adjusting, 114
verifying calibration, 398
W
weight, 53
balancing device, 282, 286
base plate, 74, 79
complete arm system, 229–230
gearbox, 342, 351
lower arm, 251–252
motor, 312–313, 317–318
robot, 67, 69, 71, 330, 332, 334, 337
upper arm, 242–243
wrist unit, 237–238
working range
Product manual - IRB 7600
433
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 433
|
height
installed at a height, 34
hot surfaces, 38
HRA, 34
humidity
operation, 55
storage, 54
I
information labels location, 157
inspecting
information labels, 157
mechanical stop, 151
motor seal, 122
inspecting oil levels
axis-6, 139
axis-5, 136
axis-4, 133
axis-3, 130
axis-2, 127
axis-1, 124
installation
mechanical stop axis 1, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
installing equipment on robot, 83
instructions for assembly, 45
integrator responsibility, 34
intervals for maintenance, 117
L
labels
robot, 27
leak-down test, 206
Levelmeter calibration, 374
lifting accessory, 418
lifting accessory, robot, 68
lifting robot
with fork lift, 62
with lifting accessory, 68
with roundslings, 70
limitation of liability, 23
Lithium
disposal, 402
loads on foundation, 53
lock and tag, 35
lower arm
dimensions, 83
lower arm shaft, replacement, 255
lubricants, 38
lubrication
amount in gearboxes, 161
type of lubrication, 161
M
magnesium
disposal, 402
maintenance schedule, 117
mechanical stop
axis 1, 103
axis 2, 105
axis 3, 107
mechanical stop location, 151
motor axis 1, replacement, 291
motor axis 2, replacement, 296
motor axis 3, replacement, 302
motor axis 4, replacement, 309
motor axis 6, replacement, 320
motor brakes
releasing, 72
motor seal
inspecting, 122
MoveAbsJ instruction, 399
TPU, 399
N
national regulations, 34
negative directions, axes, 377
neodymium
disposal, 402
nodular iron
disposal, 402
O
oil, 38
amount in gearboxes, 161
disposal, 402
type of oil, 161
oil level
gearbox axis-6, 139
gearbox axis-5, 136
gearbox axis-4, 133
gearbox axis-3, 130
gearbox axis-2, 127
gearbox axis-1, 124
operating conditions, 55
option
Extended working range, 100
original spare parts, 23
P
pedestal
installed on pedestal, 34
personnel
requirements, 24
plastic
disposal, 402
positive directions, axes, 377
PPE, 24
product standards, 412
protection classes, 55
protection type, 55
protective equipment, 24
protective wear, 24
R
recycling, 402
regional regulations, 34
release brakes, 41
releasing motor brakes, 72
replacement
balancing device, 279
bearing, balancing device, 274
cable harness axes 1-4, 214
gearbox axis 1, 327
gearbox axis 3, 347
gearbox axis 6, 366
lower arm shaft, 255
motor axis 1, 291
motor axis 2, 296
motor axis 3, 302
motor axis 4, 309
motor axis 6, 320
replacements, report, 205
432
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
report replacements, 205
requirements on foundation, 54
responsibility and validity, 23
restricting
working range axis 1, 100, 103
working range axis 2, 105
working range axis 3, 107
revolution counters
storing on FlexPendant, 380
storing on TPU, 379
updating, 378
risk of burns, 38
risk of tipping, 60
robot
labels, 27
protection class, 55
protection types, 55
symbols, 27
roundslings attached to robot, 70
rubber
disposal, 402
S
safety
brake testing, 42
ESD, 61
fire extinguishing, 35
release robot axes, 41
signal lamp, 99
signals, 25
signals in manual, 25
symbols, 25
symbols on robot, 27
safety devices, 35
safety equipment
mechanical stop, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
safety hazard
hydraulic system, 36
pneumatic system, 36
safety signals
in manual, 25
safety standards, 412
scales on robot, 376
schedule for maintenance, 117
screw joints, 415
securing
base plate, 75
securing, robot, 80
securing, upper arm, 304
securing the robot to foundation, attachment screws, 80
shipping, 401
signal lamp, 99
signals
safety, 25
SMB
replacing, 264
SMB battery
extension of lifetime, 183, 264
replacing, 183, 264
special tools, 420
speed
adjusting, 114
stability, 60
standards, 412
ANSI, 412
CAN, 412
EN IEC, 412
EN ISO, 412
start of robot in cold environments, 114
steel
disposal, 402
storage conditions, 54
symbols
safety, 25
synchronization position, 378
sync marks, 376
system integrator requirements, 34
T
temperatures
operation, 55
storage, 54
testing
brakes, 42
tightening torque
mechanical stop axis 2, 106
tools
Axis Calibration, 422
calibration equipment, Levelmeter, 422
Calibration Pendulum, 422
for service, 420
oil exchange equipment, 423
torques on foundation, 53
TPU
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 379
transportation, 401
transporting the robot, 50
transport support, 50
troubleshooting
oil spills, 193
safety, 43
type A motors, 409
type B motors, 409
U
upcycling, 402
updating revolution counters, 378
upper arm
dimensions, 84
users
requirements, 24
V
validity and responsibility, 23
velocity
adjusting, 114
verifying calibration, 398
W
weight, 53
balancing device, 282, 286
base plate, 74, 79
complete arm system, 229–230
gearbox, 342, 351
lower arm, 251–252
motor, 312–313, 317–318
robot, 67, 69, 71, 330, 332, 334, 337
upper arm, 242–243
wrist unit, 237–238
working range
Product manual - IRB 7600
433
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
IRB 7600 - 150/3.5, 56
IRB 7600 - 340/2.8, 57
IRB 7600 - 400/2.55, 58
IRB 7600 - 500/2.3, 59
IRB 7600 - 500/2.55, 58
restricting axis 1, 103
restricting axis 2, 105
restricting axis 3, 107
Wrist Optimization
overview of method, 396
Z
zero position
checking, 399
434
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 434
|
report replacements, 205
requirements on foundation, 54
responsibility and validity, 23
restricting
working range axis 1, 100, 103
working range axis 2, 105
working range axis 3, 107
revolution counters
storing on FlexPendant, 380
storing on TPU, 379
updating, 378
risk of burns, 38
risk of tipping, 60
robot
labels, 27
protection class, 55
protection types, 55
symbols, 27
roundslings attached to robot, 70
rubber
disposal, 402
S
safety
brake testing, 42
ESD, 61
fire extinguishing, 35
release robot axes, 41
signal lamp, 99
signals, 25
signals in manual, 25
symbols, 25
symbols on robot, 27
safety devices, 35
safety equipment
mechanical stop, 103
mechanical stop axis 2, 105
mechanical stop axis 3, 107
safety hazard
hydraulic system, 36
pneumatic system, 36
safety signals
in manual, 25
safety standards, 412
scales on robot, 376
schedule for maintenance, 117
screw joints, 415
securing
base plate, 75
securing, robot, 80
securing, upper arm, 304
securing the robot to foundation, attachment screws, 80
shipping, 401
signal lamp, 99
signals
safety, 25
SMB
replacing, 264
SMB battery
extension of lifetime, 183, 264
replacing, 183, 264
special tools, 420
speed
adjusting, 114
stability, 60
standards, 412
ANSI, 412
CAN, 412
EN IEC, 412
EN ISO, 412
start of robot in cold environments, 114
steel
disposal, 402
storage conditions, 54
symbols
safety, 25
synchronization position, 378
sync marks, 376
system integrator requirements, 34
T
temperatures
operation, 55
storage, 54
testing
brakes, 42
tightening torque
mechanical stop axis 2, 106
tools
Axis Calibration, 422
calibration equipment, Levelmeter, 422
Calibration Pendulum, 422
for service, 420
oil exchange equipment, 423
torques on foundation, 53
TPU
jogging to calibration position, 400
MoveAbsJ instruction, 399
updating revolution counters, 379
transportation, 401
transporting the robot, 50
transport support, 50
troubleshooting
oil spills, 193
safety, 43
type A motors, 409
type B motors, 409
U
upcycling, 402
updating revolution counters, 378
upper arm
dimensions, 84
users
requirements, 24
V
validity and responsibility, 23
velocity
adjusting, 114
verifying calibration, 398
W
weight, 53
balancing device, 282, 286
base plate, 74, 79
complete arm system, 229–230
gearbox, 342, 351
lower arm, 251–252
motor, 312–313, 317–318
robot, 67, 69, 71, 330, 332, 334, 337
upper arm, 242–243
wrist unit, 237–238
working range
Product manual - IRB 7600
433
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
IRB 7600 - 150/3.5, 56
IRB 7600 - 340/2.8, 57
IRB 7600 - 400/2.55, 58
IRB 7600 - 500/2.3, 59
IRB 7600 - 500/2.55, 58
restricting axis 1, 103
restricting axis 2, 105
restricting axis 3, 107
Wrist Optimization
overview of method, 396
Z
zero position
checking, 399
434
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 435
|
IRB 7600 - 150/3.5, 56
IRB 7600 - 340/2.8, 57
IRB 7600 - 400/2.55, 58
IRB 7600 - 500/2.3, 59
IRB 7600 - 500/2.55, 58
restricting axis 1, 103
restricting axis 2, 105
restricting axis 3, 107
Wrist Optimization
overview of method, 396
Z
zero position
checking, 399
434
Product manual - IRB 7600
3HAC022033-001 Revision: AF
© Copyright 2007 - 2022 ABB. All rights reserved.
Index
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC022033-001, Rev AF, en
© Copyright 2007 - 2022 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_IRB7600_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC022033-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=AF
| 436
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC022033-001, Rev AF, en
© Copyright 2007 - 2022 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 1
|
ABB Robotics
Technical reference manual
RAPID Instructions, Functions and Data types
![Image]
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 2
|
ABB Robotics
Technical reference manual
RAPID Instructions, Functions and Data types
![Image]
© Copyright 2004-2010 ABB. All rights reserved.
Technical reference manual
RAPID Instructions, Functions and Data types
RobotWare 5.13
Document ID: 3HAC 16581-1
Revision: J
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 3
|
© Copyright 2004-2010 ABB. All rights reserved.
Technical reference manual
RAPID Instructions, Functions and Data types
RobotWare 5.13
Document ID: 3HAC 16581-1
Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2004-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 4
|
© Copyright 2004-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2004-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
|
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