Document Name
stringclasses 11
values | URL
stringclasses 11
values | page_number
int64 1
1.26k
| full_text
stringlengths 65
18.2k
|
|---|---|---|---|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 247
|
4.4.4 Replacing the brake release unit
Location of the brake release unit
The brake release unit is located inside cover.
![Image]
xx1500003096
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
BRK001
3HAC046642-001
Brake release unit
Required tools and equipment
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
246
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Removing the brake release unit
Use these procedures to remove the brake release unit.
Preparations
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working area.
1
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
2
![Image]
xx1300000743
Remove the push button guard from the SMB cover.
The push button guard must be removed to ensure
a correct refitting of the brake release unit.
3
![Image]
xx1300000742
Remove the SMB cover.
4
The battery can stay connected, to avoid the need of
synchronizing the robot.
CAUTION
Carefully put the SMB cover down to avoid damaging
the battery cable connectors.
5
Continues on next page
Product manual - IRB 8700
247
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Disconnecting the brake release unit
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
2
![Image]
xx1300000670
Use caution and remove the connectors X8, X9 and
X10 from the brake release board.
3
Concluding procedure
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
Unscrew the attachment screws securing the bracket
with the brake release unit.
2
![Image]
xx1300000744
Remove the bracket with the brake release unit fitted.
3
Continues on next page
248
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 248
|
Removing the brake release unit
Use these procedures to remove the brake release unit.
Preparations
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working area.
1
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
2
![Image]
xx1300000743
Remove the push button guard from the SMB cover.
The push button guard must be removed to ensure
a correct refitting of the brake release unit.
3
![Image]
xx1300000742
Remove the SMB cover.
4
The battery can stay connected, to avoid the need of
synchronizing the robot.
CAUTION
Carefully put the SMB cover down to avoid damaging
the battery cable connectors.
5
Continues on next page
Product manual - IRB 8700
247
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Disconnecting the brake release unit
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
2
![Image]
xx1300000670
Use caution and remove the connectors X8, X9 and
X10 from the brake release board.
3
Concluding procedure
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
Unscrew the attachment screws securing the bracket
with the brake release unit.
2
![Image]
xx1300000744
Remove the bracket with the brake release unit fitted.
3
Continues on next page
248
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Refitting the brake release unit
Use these procedures to refit the brake release unit.
Note
Action
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
1
![Image]
xx1300000744
Refit the bracket with the brake release unit fitted.
Make sure the unit is placed as straight as possible
on the bracket. The push buttons can otherwise get
jammed when the SMB cover is refitted.
2
![Image]
xx1300000670
Reconnect the connectors X8, X9 and X10 to the
brake release unit.
3
Attachment screws: M6x16 8.8 (6
pcs)
![Image]
xx1300000742
Refit the SMB cover with its attachment screws.
Note
Do not refit the push button guard at this point.
4
Continues on next page
Product manual - IRB 8700
249
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 249
|
Disconnecting the brake release unit
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
2
![Image]
xx1300000670
Use caution and remove the connectors X8, X9 and
X10 from the brake release board.
3
Concluding procedure
Note
Action
DANGER
Make sure that all supplies for electrical power, hy-
draulic pressure, and air pressure are turned off.
1
Unscrew the attachment screws securing the bracket
with the brake release unit.
2
![Image]
xx1300000744
Remove the bracket with the brake release unit fitted.
3
Continues on next page
248
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Refitting the brake release unit
Use these procedures to refit the brake release unit.
Note
Action
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
1
![Image]
xx1300000744
Refit the bracket with the brake release unit fitted.
Make sure the unit is placed as straight as possible
on the bracket. The push buttons can otherwise get
jammed when the SMB cover is refitted.
2
![Image]
xx1300000670
Reconnect the connectors X8, X9 and X10 to the
brake release unit.
3
Attachment screws: M6x16 8.8 (6
pcs)
![Image]
xx1300000742
Refit the SMB cover with its attachment screws.
Note
Do not refit the push button guard at this point.
4
Continues on next page
Product manual - IRB 8700
249
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Note
Action
WARNING
Before continuing any service work, please observe
the safety information in section WARNING - The
brake release buttons may be jammed after service
work on page 47 !
5
Attachment screws: M5x16 8.8 (6
pcs)
![Image]
xx1300000743
Refit the push button guard to the SMB cover.
6
See Updating revolution counters
on page 795 .
The revolution counters must be updated if the battery
has been disconnected.
7
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further detailed
in the section DANGER - First test run may cause
injury or damage! on page 46 .
8
250
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 250
|
Refitting the brake release unit
Use these procedures to refit the brake release unit.
Note
Action
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the unit
please read the safety information in the section
WARNING - The unit is sensitive to ESD! on page 49
1
![Image]
xx1300000744
Refit the bracket with the brake release unit fitted.
Make sure the unit is placed as straight as possible
on the bracket. The push buttons can otherwise get
jammed when the SMB cover is refitted.
2
![Image]
xx1300000670
Reconnect the connectors X8, X9 and X10 to the
brake release unit.
3
Attachment screws: M6x16 8.8 (6
pcs)
![Image]
xx1300000742
Refit the SMB cover with its attachment screws.
Note
Do not refit the push button guard at this point.
4
Continues on next page
Product manual - IRB 8700
249
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
Note
Action
WARNING
Before continuing any service work, please observe
the safety information in section WARNING - The
brake release buttons may be jammed after service
work on page 47 !
5
Attachment screws: M5x16 8.8 (6
pcs)
![Image]
xx1300000743
Refit the push button guard to the SMB cover.
6
See Updating revolution counters
on page 795 .
The revolution counters must be updated if the battery
has been disconnected.
7
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further detailed
in the section DANGER - First test run may cause
injury or damage! on page 46 .
8
250
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
4.5 Upper and lower arms
4.5.1 Replacing the upper arm
Location of the upper arm
The upper arm is located as shown in the figure.
![Image]
xx1500002060
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048079-006
Upper arm excluding wrist
Continues on next page
Product manual - IRB 8700
251
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 251
|
Note
Action
WARNING
Before continuing any service work, please observe
the safety information in section WARNING - The
brake release buttons may be jammed after service
work on page 47 !
5
Attachment screws: M5x16 8.8 (6
pcs)
![Image]
xx1300000743
Refit the push button guard to the SMB cover.
6
See Updating revolution counters
on page 795 .
The revolution counters must be updated if the battery
has been disconnected.
7
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further detailed
in the section DANGER - First test run may cause
injury or damage! on page 46 .
8
250
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.4.4 Replacing the brake release unit
Continued
4.5 Upper and lower arms
4.5.1 Replacing the upper arm
Location of the upper arm
The upper arm is located as shown in the figure.
![Image]
xx1500002060
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048079-006
Upper arm excluding wrist
Continues on next page
Product manual - IRB 8700
251
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
Lifting capacity: 2,000 kg
-
Roundsling 3 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Used for putting down removed parts
from robot.
Pallet
M12
3HAC16131-1
Lifting eye
Outer diameter: minimum 26 mm, hole
diameter: 13 mm, thickness: 3 mm.
-
Fender washer
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to disassemble and assemble the
parallel rod
3HAC051000-001
Assembly tool
Used to disassemble and assemble the
parallel rod
3HAC050949-001
Press plate
Used to disassemble and assemble the
parallel rod
-
Round plate
To be used with the press tool.
3HAC11731-1
Hydraulic cylinder
To be used with the hydraulic cylinder.
3HAC13086-1
Hydraulic pump 80 MPa
-
Velcro strap
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-002
Assembly tool
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-003
Removal tool
Used to replace upper arm shafts to-
gether with a glycerine press tool.
-
Glycerine adapter
Used to release the motor brakes.
-
24 VDC power supply
Dial gauge
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumable
Note
Article number
Consumable
To be used on attachment
screws.
-
Molykote 1000
Abrasive cleaning hand pads.
-
Scotch-Brite
To be used to clean the axis-4
shafts.
Continues on next page
252
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 252
|
4.5 Upper and lower arms
4.5.1 Replacing the upper arm
Location of the upper arm
The upper arm is located as shown in the figure.
![Image]
xx1500002060
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048079-006
Upper arm excluding wrist
Continues on next page
Product manual - IRB 8700
251
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
Lifting capacity: 2,000 kg
-
Roundsling 3 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Used for putting down removed parts
from robot.
Pallet
M12
3HAC16131-1
Lifting eye
Outer diameter: minimum 26 mm, hole
diameter: 13 mm, thickness: 3 mm.
-
Fender washer
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to disassemble and assemble the
parallel rod
3HAC051000-001
Assembly tool
Used to disassemble and assemble the
parallel rod
3HAC050949-001
Press plate
Used to disassemble and assemble the
parallel rod
-
Round plate
To be used with the press tool.
3HAC11731-1
Hydraulic cylinder
To be used with the hydraulic cylinder.
3HAC13086-1
Hydraulic pump 80 MPa
-
Velcro strap
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-002
Assembly tool
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-003
Removal tool
Used to replace upper arm shafts to-
gether with a glycerine press tool.
-
Glycerine adapter
Used to release the motor brakes.
-
24 VDC power supply
Dial gauge
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumable
Note
Article number
Consumable
To be used on attachment
screws.
-
Molykote 1000
Abrasive cleaning hand pads.
-
Scotch-Brite
To be used to clean the axis-4
shafts.
Continues on next page
252
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Article number
Consumable
-
Isopropanol
Glycerine
Loctite 243
-
Locking liquid
Loctite 574
Flange sealant
3110 Waxcoat
Mercasol
Tribol GR 100-0 PD
3HAC042534-001
Grease
Tribol GR 100-2 PD
3HAC9408-1
Bearing grease
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 Reference calibration
routine on page 800 .
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.
Removing the upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
to the robot.
2
Continues on next page
Product manual - IRB 8700
253
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 253
|
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
Lifting capacity: 2,000 kg
-
Roundsling 3 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Used for putting down removed parts
from robot.
Pallet
M12
3HAC16131-1
Lifting eye
Outer diameter: minimum 26 mm, hole
diameter: 13 mm, thickness: 3 mm.
-
Fender washer
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to disassemble and assemble the
parallel rod
3HAC051000-001
Assembly tool
Used to disassemble and assemble the
parallel rod
3HAC050949-001
Press plate
Used to disassemble and assemble the
parallel rod
-
Round plate
To be used with the press tool.
3HAC11731-1
Hydraulic cylinder
To be used with the hydraulic cylinder.
3HAC13086-1
Hydraulic pump 80 MPa
-
Velcro strap
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-002
Assembly tool
Set of tools. Instruction 3HAC056526-
002 enclosed.
3HAC056095-003
Removal tool
Used to replace upper arm shafts to-
gether with a glycerine press tool.
-
Glycerine adapter
Used to release the motor brakes.
-
24 VDC power supply
Dial gauge
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumable
Note
Article number
Consumable
To be used on attachment
screws.
-
Molykote 1000
Abrasive cleaning hand pads.
-
Scotch-Brite
To be used to clean the axis-4
shafts.
Continues on next page
252
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Article number
Consumable
-
Isopropanol
Glycerine
Loctite 243
-
Locking liquid
Loctite 574
Flange sealant
3110 Waxcoat
Mercasol
Tribol GR 100-0 PD
3HAC042534-001
Grease
Tribol GR 100-2 PD
3HAC9408-1
Bearing grease
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 Reference calibration
routine on page 800 .
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.
Removing the upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
to the robot.
2
Continues on next page
Product manual - IRB 8700
253
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
254
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 254
|
Note
Article number
Consumable
-
Isopropanol
Glycerine
Loctite 243
-
Locking liquid
Loctite 574
Flange sealant
3110 Waxcoat
Mercasol
Tribol GR 100-0 PD
3HAC042534-001
Grease
Tribol GR 100-2 PD
3HAC9408-1
Bearing grease
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 Reference calibration
routine on page 800 .
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.
Removing the upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
to the robot.
2
Continues on next page
Product manual - IRB 8700
253
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
254
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
255
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 255
|
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
254
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
255
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
256
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 256
|
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
255
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
256
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
257
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 257
|
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
256
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
257
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
258
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 258
|
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
257
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
258
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Robot position when removing the upper arm
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: no significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
259
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 259
|
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
258
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Robot position when removing the upper arm
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: no significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
259
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Continues on next page
260
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 260
|
Robot position when removing the upper arm
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: no significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
259
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Continues on next page
260
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
261
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 261
|
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Continues on next page
260
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
261
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Removing the parallel rod, upper end
Note
Action
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the continued procedure.
1
![Image]
xx1400002600
Remove the attachment screw with washer
that secure the rod shaft.
2
![Image]
xx1500001961
Remove the protection plugs 4 + 4 (two on
either side of the upper arm wings).
Note
Keep the protection plugs. They shall be
refitted when the work is done.
3
Continues on next page
262
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 262
|
Note
Action
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
261
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Removing the parallel rod, upper end
Note
Action
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the continued procedure.
1
![Image]
xx1400002600
Remove the attachment screw with washer
that secure the rod shaft.
2
![Image]
xx1500001961
Remove the protection plugs 4 + 4 (two on
either side of the upper arm wings).
Note
Keep the protection plugs. They shall be
refitted when the work is done.
3
Continues on next page
262
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
This is done to prevent the upper arm
wings from pinching when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
Fit 2 + 2 M10x50 screws in the holes and
adjust the screws against the parallel rod
from both sides.
4
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
![Image]
xx1500001967
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
5
Assembly tool: 3HAC051000-001
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
6
Press plate: 3HAC050949-001
Round plate:
![Image]
xx1500001962
Use the press tool and press the shaft out.
7
Continues on next page
Product manual - IRB 8700
263
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 263
|
Note
Action
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Removing the parallel rod, upper end
Note
Action
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the continued procedure.
1
![Image]
xx1400002600
Remove the attachment screw with washer
that secure the rod shaft.
2
![Image]
xx1500001961
Remove the protection plugs 4 + 4 (two on
either side of the upper arm wings).
Note
Keep the protection plugs. They shall be
refitted when the work is done.
3
Continues on next page
262
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
This is done to prevent the upper arm
wings from pinching when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
Fit 2 + 2 M10x50 screws in the holes and
adjust the screws against the parallel rod
from both sides.
4
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
![Image]
xx1500001967
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
5
Assembly tool: 3HAC051000-001
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
6
Press plate: 3HAC050949-001
Round plate:
![Image]
xx1500001962
Use the press tool and press the shaft out.
7
Continues on next page
Product manual - IRB 8700
263
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
This is to be able to remove the parallel rod
without problems and to be able to find the
correct position of the parallel rod, when
refitting it.
![Image]
xx1500002710
Unscrew two of the M10x50 screws, approx-
imately 5 mm, on one side of the parallel
rod. Leave the screws on the other side.
8
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Make sure the thrust washer and cover
washer on either side of the bearing, are
present.
Tip
Make a note on which side the respective
washer is fitted, for a correct assembly
later.
9
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
Continues on next page
264
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 264
|
Note
Action
This is done to prevent the upper arm
wings from pinching when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
Fit 2 + 2 M10x50 screws in the holes and
adjust the screws against the parallel rod
from both sides.
4
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
![Image]
xx1500001967
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
5
Assembly tool: 3HAC051000-001
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
6
Press plate: 3HAC050949-001
Round plate:
![Image]
xx1500001962
Use the press tool and press the shaft out.
7
Continues on next page
Product manual - IRB 8700
263
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
This is to be able to remove the parallel rod
without problems and to be able to find the
correct position of the parallel rod, when
refitting it.
![Image]
xx1500002710
Unscrew two of the M10x50 screws, approx-
imately 5 mm, on one side of the parallel
rod. Leave the screws on the other side.
8
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Make sure the thrust washer and cover
washer on either side of the bearing, are
present.
Tip
Make a note on which side the respective
washer is fitted, for a correct assembly
later.
9
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
Continues on next page
264
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Strap
![Image]
![Image]
![Image]
xx1500002716
Secure bearing, thrust washer and cover
washer with a strap (or similar) to prevent
them from dropping out of its position.
11
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
Product manual - IRB 8700
265
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 265
|
Note
Action
This is to be able to remove the parallel rod
without problems and to be able to find the
correct position of the parallel rod, when
refitting it.
![Image]
xx1500002710
Unscrew two of the M10x50 screws, approx-
imately 5 mm, on one side of the parallel
rod. Leave the screws on the other side.
8
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Make sure the thrust washer and cover
washer on either side of the bearing, are
present.
Tip
Make a note on which side the respective
washer is fitted, for a correct assembly
later.
9
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
Continues on next page
264
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Strap
![Image]
![Image]
![Image]
xx1500002716
Secure bearing, thrust washer and cover
washer with a strap (or similar) to prevent
them from dropping out of its position.
11
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
Product manual - IRB 8700
265
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
266
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 266
|
Note
Action
Strap
![Image]
![Image]
![Image]
xx1500002716
Secure bearing, thrust washer and cover
washer with a strap (or similar) to prevent
them from dropping out of its position.
11
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
Product manual - IRB 8700
265
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
266
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
267
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 267
|
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
266
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
267
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Continues on next page
268
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 268
|
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
267
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Continues on next page
268
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws and washers and
remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is not lost.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket. Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
Product manual - IRB 8700
269
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 269
|
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Continues on next page
268
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws and washers and
remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is not lost.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket. Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
Product manual - IRB 8700
269
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
270
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 270
|
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws and washers and
remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is not lost.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket. Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
Product manual - IRB 8700
269
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
270
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
Continues on next page
Product manual - IRB 8700
271
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 271
|
Removing the cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
270
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
Continues on next page
Product manual - IRB 8700
271
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the shafts
Note
Action
![Image]
![Image]
xx1500002724
Before continuing, make sure that the up-
per arm is secured in the lifting accessories
and overhead crane.
1
CAUTION
The upper arm including the wrist weighs
approximately 900 kg. All lifting accessor-
ies must be sized accordingly.
2
![Image]
xx1500002725
Remove grease and other contamination
from the axis-2 and axis-3 shaft ends and
around the KM nuts, on both sides.
3
Sleeve KM nut D=152 L=220: 3HAC038174-
067
![Image]
xx1500002726
Use a Sleeve KM nut to release the torque
on one of the KM nuts.
Note
Do not remove this KM nut at this point.
Only release the torque.
4
Continues on next page
272
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 272
|
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
Continues on next page
Product manual - IRB 8700
271
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the shafts
Note
Action
![Image]
![Image]
xx1500002724
Before continuing, make sure that the up-
per arm is secured in the lifting accessories
and overhead crane.
1
CAUTION
The upper arm including the wrist weighs
approximately 900 kg. All lifting accessor-
ies must be sized accordingly.
2
![Image]
xx1500002725
Remove grease and other contamination
from the axis-2 and axis-3 shaft ends and
around the KM nuts, on both sides.
3
Sleeve KM nut D=152 L=220: 3HAC038174-
067
![Image]
xx1500002726
Use a Sleeve KM nut to release the torque
on one of the KM nuts.
Note
Do not remove this KM nut at this point.
Only release the torque.
4
Continues on next page
272
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002727
Use the Sleeve KM nut, open and remove
the KM nut on the other side .
Note
Make sure not to lose gamma sealing and
sealing ring.
5
Note
Continue the removal on the same side
until the shaft is removed completely.
Leave the other shaft fitted for now!
6
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
Continues on next page
Product manual - IRB 8700
273
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 273
|
Removing the shafts
Note
Action
![Image]
![Image]
xx1500002724
Before continuing, make sure that the up-
per arm is secured in the lifting accessories
and overhead crane.
1
CAUTION
The upper arm including the wrist weighs
approximately 900 kg. All lifting accessor-
ies must be sized accordingly.
2
![Image]
xx1500002725
Remove grease and other contamination
from the axis-2 and axis-3 shaft ends and
around the KM nuts, on both sides.
3
Sleeve KM nut D=152 L=220: 3HAC038174-
067
![Image]
xx1500002726
Use a Sleeve KM nut to release the torque
on one of the KM nuts.
Note
Do not remove this KM nut at this point.
Only release the torque.
4
Continues on next page
272
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002727
Use the Sleeve KM nut, open and remove
the KM nut on the other side .
Note
Make sure not to lose gamma sealing and
sealing ring.
5
Note
Continue the removal on the same side
until the shaft is removed completely.
Leave the other shaft fitted for now!
6
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
Continues on next page
Product manual - IRB 8700
273
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Glycerine adapter
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
9
![Image]
xx1500002729
Remove the small VK cover.
10
Horseshoe shims 2.5 mm: 3HAC038174-
063
![Image]
xx1600000076
Attach a 2.5 mm shim between lower and
upper arm, on the same side as the shaft
being removed.
11
Continues on next page
274
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 274
|
Note
Action
![Image]
xx1500002727
Use the Sleeve KM nut, open and remove
the KM nut on the other side .
Note
Make sure not to lose gamma sealing and
sealing ring.
5
Note
Continue the removal on the same side
until the shaft is removed completely.
Leave the other shaft fitted for now!
6
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
Continues on next page
Product manual - IRB 8700
273
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Glycerine adapter
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
9
![Image]
xx1500002729
Remove the small VK cover.
10
Horseshoe shims 2.5 mm: 3HAC038174-
063
![Image]
xx1600000076
Attach a 2.5 mm shim between lower and
upper arm, on the same side as the shaft
being removed.
11
Continues on next page
274
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Removal tool 3HAC056095-003 Set of tools.
Instruction 3HAC056526-002 enclosed.
Attach the removal tool.
Tip
How to use the removal tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
12
CAUTION
The shaft, including the removal tool,
weighs approximately 25 kg.
13
Secure the shaft and the removal tool to
the upper arm using lifting eyes and a short
roundsling. This is done as a safety precau-
tion.
Tip
How to secure removal tool and shaft, is
described in the instruction 3HAC056526-
002 delivered with the tool.
14
![Image]
xx1600000077
CAUTION
Do not stand close to the robot on any side
when the shaft is being removed.
15
![Image]
xx1500002731
Use caution and press the shaft out, using
both the glycerine and hydraulic press
tools:
1
Pump up the glycerine pump to 500
bar.
2
Pump up the hydraulic pump to 500
bar.
3
Use caution and continue pumping
up the pressure of the glycerine
pump until the shaft is loose.
16
Remove the other shaft in the same way.
17
Continues on next page
Product manual - IRB 8700
275
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 275
|
Note
Action
Glycerine adapter
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
9
![Image]
xx1500002729
Remove the small VK cover.
10
Horseshoe shims 2.5 mm: 3HAC038174-
063
![Image]
xx1600000076
Attach a 2.5 mm shim between lower and
upper arm, on the same side as the shaft
being removed.
11
Continues on next page
274
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Removal tool 3HAC056095-003 Set of tools.
Instruction 3HAC056526-002 enclosed.
Attach the removal tool.
Tip
How to use the removal tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
12
CAUTION
The shaft, including the removal tool,
weighs approximately 25 kg.
13
Secure the shaft and the removal tool to
the upper arm using lifting eyes and a short
roundsling. This is done as a safety precau-
tion.
Tip
How to secure removal tool and shaft, is
described in the instruction 3HAC056526-
002 delivered with the tool.
14
![Image]
xx1600000077
CAUTION
Do not stand close to the robot on any side
when the shaft is being removed.
15
![Image]
xx1500002731
Use caution and press the shaft out, using
both the glycerine and hydraulic press
tools:
1
Pump up the glycerine pump to 500
bar.
2
Pump up the hydraulic pump to 500
bar.
3
Use caution and continue pumping
up the pressure of the glycerine
pump until the shaft is loose.
16
Remove the other shaft in the same way.
17
Continues on next page
Product manual - IRB 8700
275
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the upper arm complete
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the roundslings are
stretched and so that they will carry the
weight of the upper arm.
2
![Image]
xx1500002732
Use caution and lift the upper arm complete
off.
3
Pallet (2 pcs)
Put the upper arm complete down on two
pallets.
4
Refitting the upper arm
Use these procedures to refit the upper arm.
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Continues on next page
276
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 276
|
Note
Action
Removal tool 3HAC056095-003 Set of tools.
Instruction 3HAC056526-002 enclosed.
Attach the removal tool.
Tip
How to use the removal tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
12
CAUTION
The shaft, including the removal tool,
weighs approximately 25 kg.
13
Secure the shaft and the removal tool to
the upper arm using lifting eyes and a short
roundsling. This is done as a safety precau-
tion.
Tip
How to secure removal tool and shaft, is
described in the instruction 3HAC056526-
002 delivered with the tool.
14
![Image]
xx1600000077
CAUTION
Do not stand close to the robot on any side
when the shaft is being removed.
15
![Image]
xx1500002731
Use caution and press the shaft out, using
both the glycerine and hydraulic press
tools:
1
Pump up the glycerine pump to 500
bar.
2
Pump up the hydraulic pump to 500
bar.
3
Use caution and continue pumping
up the pressure of the glycerine
pump until the shaft is loose.
16
Remove the other shaft in the same way.
17
Continues on next page
Product manual - IRB 8700
275
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the upper arm complete
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the roundslings are
stretched and so that they will carry the
weight of the upper arm.
2
![Image]
xx1500002732
Use caution and lift the upper arm complete
off.
3
Pallet (2 pcs)
Put the upper arm complete down on two
pallets.
4
Refitting the upper arm
Use these procedures to refit the upper arm.
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Continues on next page
276
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Continues on next page
Product manual - IRB 8700
277
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 277
|
Removing the upper arm complete
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the roundslings are
stretched and so that they will carry the
weight of the upper arm.
2
![Image]
xx1500002732
Use caution and lift the upper arm complete
off.
3
Pallet (2 pcs)
Put the upper arm complete down on two
pallets.
4
Refitting the upper arm
Use these procedures to refit the upper arm.
Attaching lifting accessories to the upper arm complete
Note
Action
CAUTION
The complete upper arm weighs 900 kg.
All lifting accessories used must be sized
accordingly.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Continues on next page
276
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Continues on next page
Product manual - IRB 8700
277
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Preparations before refitting the shafts
Note
Action
![Image]
xx1500002731
Remove residues of Loctite and other
contamination from the shaft and in the
hole where the shaft shall be refitted.
1
Continues on next page
278
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 278
|
Note
Action
![Image]
xx1500002712
Remove the plastic plug in the hole shown
in the figure.
3
Lifting eye: M12
Attach a Lifting eye to the hole in the arm
housing with a Fender washer underneath.
![Image]
xx1400002196
4
Fender washer: Outer diameter: minimum
26 mm, hole diameter: 13 mm, thickness:
3 mm.
![Image]
xx1500002715
Roundsling 2.5 m: Lifting capacity: 2,000
kg
![Image]
xx1500002713
Attach a roundsling looped to the Lifting
eye and to an overhead crane (or similar).
![Image]
xx1400002599
5
Continues on next page
Product manual - IRB 8700
277
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Preparations before refitting the shafts
Note
Action
![Image]
xx1500002731
Remove residues of Loctite and other
contamination from the shaft and in the
hole where the shaft shall be refitted.
1
Continues on next page
278
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002749
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces on shaft
and outer ring of bearing.
2
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002750
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces in the
hole for shaft, outer ring of bearing and
sealing ring.
3
Isopropanol
![Image]
xx1500002750
Wipe the surfaces for shaft, outer ring of
bearing and sealing ring meticulously
clean, with Isopropanol.
Note
Do not touch the cleaned surfaces with
anything after cleaning.
4
![Image]
xx1500002748
Inspect the sealing ring. Replace if dam-
aged.
5
Continues on next page
Product manual - IRB 8700
279
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 279
|
Note
Action
Roundsling 3 m: Lifting capacity: 2,000 kg
![Image]
xx1500002714
Attach a roundsling looped to the wrist and
to an overhead crane (or similar).
6
Stretch the lifting accessories to take the
weight of the upper arm.
7
Only needed when the upper arm is fitted
on the robot:
8
In order to release the brakes, connect the
24 VDC power supply.
Connect connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Only needed when the upper arm is fitted
on the robot:
9
Release the brakes on axis-2 to be sure
that the lifting accessories are taking the
weight of the upper arm.
Adjust the lifting accessories, if needed.
10
Preparations before refitting the shafts
Note
Action
![Image]
xx1500002731
Remove residues of Loctite and other
contamination from the shaft and in the
hole where the shaft shall be refitted.
1
Continues on next page
278
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002749
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces on shaft
and outer ring of bearing.
2
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002750
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces in the
hole for shaft, outer ring of bearing and
sealing ring.
3
Isopropanol
![Image]
xx1500002750
Wipe the surfaces for shaft, outer ring of
bearing and sealing ring meticulously
clean, with Isopropanol.
Note
Do not touch the cleaned surfaces with
anything after cleaning.
4
![Image]
xx1500002748
Inspect the sealing ring. Replace if dam-
aged.
5
Continues on next page
Product manual - IRB 8700
279
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Isopropanol
![Image]
xx1500002748
Wipe the sealing ring clean with Isopropan-
ol.
6
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft and
outer ring of bearing meticulously clean
with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
7
Use caution and attach the sealing ring
onto the shaft.
8
Refitting the shaft
Note
Start the refitting of the shafts on the axis-3 side!
Note
Action
Tribol GR 100-2 PD
Fill the bearing with grease.
1
![Image]
xx1500002732
Lift the upper arm into mounting position.
2
CAUTION
The upper arm complete weighs 900 kg.
All lifting accessories used must be sized
accordingly!
3
Continues on next page
280
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 280
|
Note
Action
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002749
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces on shaft
and outer ring of bearing.
2
Scotch-brite abrasive cleaning hand pad
![Image]
xx1500002750
Use a Scotch-brite abrasive cleaning hand
pad and rub the contact surfaces in the
hole for shaft, outer ring of bearing and
sealing ring.
3
Isopropanol
![Image]
xx1500002750
Wipe the surfaces for shaft, outer ring of
bearing and sealing ring meticulously
clean, with Isopropanol.
Note
Do not touch the cleaned surfaces with
anything after cleaning.
4
![Image]
xx1500002748
Inspect the sealing ring. Replace if dam-
aged.
5
Continues on next page
Product manual - IRB 8700
279
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Isopropanol
![Image]
xx1500002748
Wipe the sealing ring clean with Isopropan-
ol.
6
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft and
outer ring of bearing meticulously clean
with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
7
Use caution and attach the sealing ring
onto the shaft.
8
Refitting the shaft
Note
Start the refitting of the shafts on the axis-3 side!
Note
Action
Tribol GR 100-2 PD
Fill the bearing with grease.
1
![Image]
xx1500002732
Lift the upper arm into mounting position.
2
CAUTION
The upper arm complete weighs 900 kg.
All lifting accessories used must be sized
accordingly!
3
Continues on next page
280
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Isopropanol
![Image]
xx1500002750
Wipe the contact surfaces in the upper arm,
meticulously clean, with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
4
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft, outer
ring of bearing and sealing ring meticu-
lously clean with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
5
![Image]
xx1500002979
Note
Make sure that the hole for the Glycerine
adapter on the shaft, will be facing as low
as possible.
6
CAUTION
The shaft weighs 19 kg.
7
Continues on next page
Product manual - IRB 8700
281
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 281
|
Note
Action
Isopropanol
![Image]
xx1500002748
Wipe the sealing ring clean with Isopropan-
ol.
6
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft and
outer ring of bearing meticulously clean
with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
7
Use caution and attach the sealing ring
onto the shaft.
8
Refitting the shaft
Note
Start the refitting of the shafts on the axis-3 side!
Note
Action
Tribol GR 100-2 PD
Fill the bearing with grease.
1
![Image]
xx1500002732
Lift the upper arm into mounting position.
2
CAUTION
The upper arm complete weighs 900 kg.
All lifting accessories used must be sized
accordingly!
3
Continues on next page
280
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Isopropanol
![Image]
xx1500002750
Wipe the contact surfaces in the upper arm,
meticulously clean, with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
4
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft, outer
ring of bearing and sealing ring meticu-
lously clean with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
5
![Image]
xx1500002979
Note
Make sure that the hole for the Glycerine
adapter on the shaft, will be facing as low
as possible.
6
CAUTION
The shaft weighs 19 kg.
7
Continues on next page
Product manual - IRB 8700
281
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002731
Use caution and lift the shaft into mounting
position.
Note
Do not touch the surfaces cleaned with
Isopropanol.
8
Glycerine adapter
Wipe the Glycerine adapter connection
meticulously clean.
9
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
10
Horseshoe shim 2.5 mm: 3HAC038174-063
![Image]
xx1600000076
Put a 2.5 mm horseshoe shim between
lower and upper arm, on the the axis-3
side.
Note
Leave the shim in this position also when
the axis-2 shaft is fitted.
11
Attach a pull bar to the part of the press
tool at the Glycerine adapter.
12
Continues on next page
282
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 282
|
Note
Action
Isopropanol
![Image]
xx1500002750
Wipe the contact surfaces in the upper arm,
meticulously clean, with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
4
Isopropanol
![Image]
xx1500002749
Wipe the contact surfaces on shaft, outer
ring of bearing and sealing ring meticu-
lously clean with Isopropanol.
Note
Do not touch the cleaned cone surface of
the shaft with anything after cleaning.
5
![Image]
xx1500002979
Note
Make sure that the hole for the Glycerine
adapter on the shaft, will be facing as low
as possible.
6
CAUTION
The shaft weighs 19 kg.
7
Continues on next page
Product manual - IRB 8700
281
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002731
Use caution and lift the shaft into mounting
position.
Note
Do not touch the surfaces cleaned with
Isopropanol.
8
Glycerine adapter
Wipe the Glycerine adapter connection
meticulously clean.
9
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
10
Horseshoe shim 2.5 mm: 3HAC038174-063
![Image]
xx1600000076
Put a 2.5 mm horseshoe shim between
lower and upper arm, on the the axis-3
side.
Note
Leave the shim in this position also when
the axis-2 shaft is fitted.
11
Attach a pull bar to the part of the press
tool at the Glycerine adapter.
12
Continues on next page
282
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Assembly tool 3HAC056095-002 Set of
tools. Instruction 3HAC056526-002 en-
closed.
Attach the assembly tool.
Tip
How to use the assembly tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
13
Put the hydraulic pump onto the pull bar.
14
Manually tighten the adjustment nut against
the hydraulic cylinder.
15
Tightening torque: 20 Nm
Tighten the adjustment nut.
16
Dial gauge
Attach a Dial gauge and put it in zero posi-
tion.
17
Use the assembly tool and the Glycerine
adapter and press the shaft in 3.5 mm
±0.15.
18
Wait one minute.
19
Release the glycerine pressure.
20
Wait one minute.
21
Release the hydraulic pressure.
22
Make sure the value 3.5 mm remains. If
not, retighten the shaft as described above.
23
Remove the hydraulic and glycerine tools.
24
![Image]
xx1500003125
Refit the magnetic plug.
25
Refit the other shaft by repeating the pro-
cedure.
Note
Leave the horseshoe shim fitted on the
axis-3 side also when fitting the axis-2
shaft! Do not move the shim or attach an-
other one on the axis-2 side.
26
Continues on next page
Product manual - IRB 8700
283
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 283
|
Note
Action
![Image]
xx1500002731
Use caution and lift the shaft into mounting
position.
Note
Do not touch the surfaces cleaned with
Isopropanol.
8
Glycerine adapter
Wipe the Glycerine adapter connection
meticulously clean.
9
![Image]
xx1600000081
Attach the Glycerine adapter.
Note
Tighten the adapter very hard in order to
avoid leakage.
10
Horseshoe shim 2.5 mm: 3HAC038174-063
![Image]
xx1600000076
Put a 2.5 mm horseshoe shim between
lower and upper arm, on the the axis-3
side.
Note
Leave the shim in this position also when
the axis-2 shaft is fitted.
11
Attach a pull bar to the part of the press
tool at the Glycerine adapter.
12
Continues on next page
282
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Assembly tool 3HAC056095-002 Set of
tools. Instruction 3HAC056526-002 en-
closed.
Attach the assembly tool.
Tip
How to use the assembly tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
13
Put the hydraulic pump onto the pull bar.
14
Manually tighten the adjustment nut against
the hydraulic cylinder.
15
Tightening torque: 20 Nm
Tighten the adjustment nut.
16
Dial gauge
Attach a Dial gauge and put it in zero posi-
tion.
17
Use the assembly tool and the Glycerine
adapter and press the shaft in 3.5 mm
±0.15.
18
Wait one minute.
19
Release the glycerine pressure.
20
Wait one minute.
21
Release the hydraulic pressure.
22
Make sure the value 3.5 mm remains. If
not, retighten the shaft as described above.
23
Remove the hydraulic and glycerine tools.
24
![Image]
xx1500003125
Refit the magnetic plug.
25
Refit the other shaft by repeating the pro-
cedure.
Note
Leave the horseshoe shim fitted on the
axis-3 side also when fitting the axis-2
shaft! Do not move the shim or attach an-
other one on the axis-2 side.
26
Continues on next page
Product manual - IRB 8700
283
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting the KM nut - axis-3 side
Note
Start refitting KM nut on the axis-3 side!
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
1
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
Continues on next page
284
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 284
|
Note
Action
Assembly tool 3HAC056095-002 Set of
tools. Instruction 3HAC056526-002 en-
closed.
Attach the assembly tool.
Tip
How to use the assembly tool is described
in the instruction 3HAC056526-002 de-
livered with the tool.
13
Put the hydraulic pump onto the pull bar.
14
Manually tighten the adjustment nut against
the hydraulic cylinder.
15
Tightening torque: 20 Nm
Tighten the adjustment nut.
16
Dial gauge
Attach a Dial gauge and put it in zero posi-
tion.
17
Use the assembly tool and the Glycerine
adapter and press the shaft in 3.5 mm
±0.15.
18
Wait one minute.
19
Release the glycerine pressure.
20
Wait one minute.
21
Release the hydraulic pressure.
22
Make sure the value 3.5 mm remains. If
not, retighten the shaft as described above.
23
Remove the hydraulic and glycerine tools.
24
![Image]
xx1500003125
Refit the magnetic plug.
25
Refit the other shaft by repeating the pro-
cedure.
Note
Leave the horseshoe shim fitted on the
axis-3 side also when fitting the axis-2
shaft! Do not move the shim or attach an-
other one on the axis-2 side.
26
Continues on next page
Product manual - IRB 8700
283
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting the KM nut - axis-3 side
Note
Start refitting KM nut on the axis-3 side!
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
1
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
Continues on next page
284
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000193
Wipe clean the KM nut.
4
Wipe clean the o-ring in the KM nut.
5
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
6
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
Continues on next page
Product manual - IRB 8700
285
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 285
|
Refitting the KM nut - axis-3 side
Note
Start refitting KM nut on the axis-3 side!
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
1
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
Continues on next page
284
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000193
Wipe clean the KM nut.
4
Wipe clean the o-ring in the KM nut.
5
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
6
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
Continues on next page
Product manual - IRB 8700
285
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the KM nut with the Sleeve KM nut.
8
Tightening torque: 300 Nm
![Image]
xx1600000187
Wipe the shaft clean.
9
Dial gauge
Attach the attachment of the dial gauge in
the holes on the axis-3 side, with the dial
gauge against the axis-2 side.
10
Refitting the KM nut - axis-2 side
Note
Action
Note
Leave the 2.5 mm hoseshoe shim fitted on
the axis-3 side, when refitting the KM nut
on the axis-2 side. Do not remove or add
another shim!
1
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
Continues on next page
286
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 286
|
Note
Action
![Image]
xx1600000193
Wipe clean the KM nut.
4
Wipe clean the o-ring in the KM nut.
5
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
6
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
Continues on next page
Product manual - IRB 8700
285
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the KM nut with the Sleeve KM nut.
8
Tightening torque: 300 Nm
![Image]
xx1600000187
Wipe the shaft clean.
9
Dial gauge
Attach the attachment of the dial gauge in
the holes on the axis-3 side, with the dial
gauge against the axis-2 side.
10
Refitting the KM nut - axis-2 side
Note
Action
Note
Leave the 2.5 mm hoseshoe shim fitted on
the axis-3 side, when refitting the KM nut
on the axis-2 side. Do not remove or add
another shim!
1
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
Continues on next page
286
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
3
![Image]
xx1600000084
Refit sealing ring.
4
![Image]
xx1600000193
Wipe clean the KM nut.
5
Wipe clean the o-ring in the KM nut.
6
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
7
Continues on next page
Product manual - IRB 8700
287
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 287
|
Note
Action
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the KM nut with the Sleeve KM nut.
8
Tightening torque: 300 Nm
![Image]
xx1600000187
Wipe the shaft clean.
9
Dial gauge
Attach the attachment of the dial gauge in
the holes on the axis-3 side, with the dial
gauge against the axis-2 side.
10
Refitting the KM nut - axis-2 side
Note
Action
Note
Leave the 2.5 mm hoseshoe shim fitted on
the axis-3 side, when refitting the KM nut
on the axis-2 side. Do not remove or add
another shim!
1
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
Continues on next page
286
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
3
![Image]
xx1600000084
Refit sealing ring.
4
![Image]
xx1600000193
Wipe clean the KM nut.
5
Wipe clean the o-ring in the KM nut.
6
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
7
Continues on next page
Product manual - IRB 8700
287
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Locking liquid: Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
8
Make sure that the dial gauge attachment
is fitted.
9
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the axis-2 KM nut with the Sleeve
KM nut, until the dial gauge shows 0.38
mm.
10
Wipe the shaft end clean.
11
Remove the horseshoe shim.
12
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
288
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 288
|
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
3
![Image]
xx1600000084
Refit sealing ring.
4
![Image]
xx1600000193
Wipe clean the KM nut.
5
Wipe clean the o-ring in the KM nut.
6
![Image]
xx1600000188
Attach the o-ring in its groove in the KM
nut.
Tip
Put a little grease on the o-ring for a better
fitting.
7
Continues on next page
Product manual - IRB 8700
287
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Locking liquid: Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
8
Make sure that the dial gauge attachment
is fitted.
9
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the axis-2 KM nut with the Sleeve
KM nut, until the dial gauge shows 0.38
mm.
10
Wipe the shaft end clean.
11
Remove the horseshoe shim.
12
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
288
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
289
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 289
|
Note
Action
Locking liquid: Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
8
Make sure that the dial gauge attachment
is fitted.
9
Sleeve KM nut D=152 L=220: 3HAC038174-
067
Secure the axis-2 KM nut with the Sleeve
KM nut, until the dial gauge shows 0.38
mm.
10
Wipe the shaft end clean.
11
Remove the horseshoe shim.
12
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
288
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
289
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting parallel rod, upper end
Note
Action
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
![Image]
xx1500001965
Take a firm grip of the parallel rod and lift
it up into mounting position.
2
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the procedure.
3
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Place the thrust washer and cover washer
on either side of the bearing and make sure
that they are correctly fitted.
Note
Make sure that the washers are on the
correct sides of the bearing.
4
Continues on next page
290
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 290
|
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
289
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting parallel rod, upper end
Note
Action
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
![Image]
xx1500001965
Take a firm grip of the parallel rod and lift
it up into mounting position.
2
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the procedure.
3
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Place the thrust washer and cover washer
on either side of the bearing and make sure
that they are correctly fitted.
Note
Make sure that the washers are on the
correct sides of the bearing.
4
Continues on next page
290
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Unscrew two of the M10x50 screws only
on one side of the parallel rod, approxim-
ately 5 mm. Leave the screws fastened on
the other side.
Note
This is done to be able to refit the parallel
rod without problems and to be able to find
the correct position of the parallel rod.
5
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
Place the parallel rod into position and
reattach the two M10x50 screws against
the parallel rod.
Note
This is done to prevent the arm housing
from being deformed when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001962
Use caution and press the shaft in.
8
![Image]
xx1500001967
Refit the protection plug.
9
Continues on next page
Product manual - IRB 8700
291
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 291
|
Refitting parallel rod, upper end
Note
Action
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
![Image]
xx1500001965
Take a firm grip of the parallel rod and lift
it up into mounting position.
2
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the procedure.
3
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Place the thrust washer and cover washer
on either side of the bearing and make sure
that they are correctly fitted.
Note
Make sure that the washers are on the
correct sides of the bearing.
4
Continues on next page
290
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Unscrew two of the M10x50 screws only
on one side of the parallel rod, approxim-
ately 5 mm. Leave the screws fastened on
the other side.
Note
This is done to be able to refit the parallel
rod without problems and to be able to find
the correct position of the parallel rod.
5
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
Place the parallel rod into position and
reattach the two M10x50 screws against
the parallel rod.
Note
This is done to prevent the arm housing
from being deformed when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001962
Use caution and press the shaft in.
8
![Image]
xx1500001967
Refit the protection plug.
9
Continues on next page
Product manual - IRB 8700
291
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screw: M10x16 8.8
Apply locking liquid on the attachment
screw and secure shaft.
10
Loctite 243
![Image]
xx1400002600
![Image]
xx1500001961
Remove the four M10x50 screws and refit
the protection plugs (4+4 pcs).
11
Refitting the cable harness in the upper arm
Note
Action
Carefully push the cable harness in through
the upper arm and out off the wrist.
1
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
Continues on next page
292
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 292
|
Note
Action
Unscrew two of the M10x50 screws only
on one side of the parallel rod, approxim-
ately 5 mm. Leave the screws fastened on
the other side.
Note
This is done to be able to refit the parallel
rod without problems and to be able to find
the correct position of the parallel rod.
5
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
Place the parallel rod into position and
reattach the two M10x50 screws against
the parallel rod.
Note
This is done to prevent the arm housing
from being deformed when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001962
Use caution and press the shaft in.
8
![Image]
xx1500001967
Refit the protection plug.
9
Continues on next page
Product manual - IRB 8700
291
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screw: M10x16 8.8
Apply locking liquid on the attachment
screw and secure shaft.
10
Loctite 243
![Image]
xx1400002600
![Image]
xx1500001961
Remove the four M10x50 screws and refit
the protection plugs (4+4 pcs).
11
Refitting the cable harness in the upper arm
Note
Action
Carefully push the cable harness in through
the upper arm and out off the wrist.
1
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
Continues on next page
292
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screw: M8
![Image]
xx1500002719
Refit the protection cover.
3
![Image]
xx1500002718
Refit the cable clamp on the axis-3 bracket.
4
![Image]
xx1500003092
Refit the cable clamp on the axis-3 bracket,
between axis-4 motor and arm housing.
5
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
Continues on next page
Product manual - IRB 8700
293
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 293
|
Note
Action
Attachment screw: M10x16 8.8
Apply locking liquid on the attachment
screw and secure shaft.
10
Loctite 243
![Image]
xx1400002600
![Image]
xx1500001961
Remove the four M10x50 screws and refit
the protection plugs (4+4 pcs).
11
Refitting the cable harness in the upper arm
Note
Action
Carefully push the cable harness in through
the upper arm and out off the wrist.
1
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
Continues on next page
292
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screw: M8
![Image]
xx1500002719
Refit the protection cover.
3
![Image]
xx1500002718
Refit the cable clamp on the axis-3 bracket.
4
![Image]
xx1500003092
Refit the cable clamp on the axis-3 bracket,
between axis-4 motor and arm housing.
5
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
Continues on next page
Product manual - IRB 8700
293
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500003094
Make sure that the gasket on the cover is
correctly fitted.
Note
Replace if damaged.
The gasket is covered with adhesive on the
side facing the upper arm cover. The three
washers are pressed into the holes in the
gasket. Make sure all three washers are
fitted.
7
![Image]
xx1500002723
Refit the cable guide, if it has been re-
moved.
8
![Image]
xx1500002722
Refit the cover.
9
Continues on next page
294
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 294
|
Note
Action
Attachment screw: M8
![Image]
xx1500002719
Refit the protection cover.
3
![Image]
xx1500002718
Refit the cable clamp on the axis-3 bracket.
4
![Image]
xx1500003092
Refit the cable clamp on the axis-3 bracket,
between axis-4 motor and arm housing.
5
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
Continues on next page
Product manual - IRB 8700
293
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500003094
Make sure that the gasket on the cover is
correctly fitted.
Note
Replace if damaged.
The gasket is covered with adhesive on the
side facing the upper arm cover. The three
washers are pressed into the holes in the
gasket. Make sure all three washers are
fitted.
7
![Image]
xx1500002723
Refit the cable guide, if it has been re-
moved.
8
![Image]
xx1500002722
Refit the cover.
9
Continues on next page
294
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged!
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
295
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 295
|
Note
Action
![Image]
xx1500003094
Make sure that the gasket on the cover is
correctly fitted.
Note
Replace if damaged.
The gasket is covered with adhesive on the
side facing the upper arm cover. The three
washers are pressed into the holes in the
gasket. Make sure all three washers are
fitted.
7
![Image]
xx1500002723
Refit the cable guide, if it has been re-
moved.
8
![Image]
xx1500002722
Refit the cover.
9
Continues on next page
294
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged!
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
295
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring. Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When refitting the motor cover, make sure
none of the cables inside will be damaged.
7
![Image]
xx1200001135
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise be
damaged.
Note
Make sure the o-ring is undamaged and
properly fitted!
8
Make sure that the cover is tightly sealed.
9
Continues on next page
296
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 296
|
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged!
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
295
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring. Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When refitting the motor cover, make sure
none of the cables inside will be damaged.
7
![Image]
xx1200001135
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise be
damaged.
Note
Make sure the o-ring is undamaged and
properly fitted!
8
Make sure that the cover is tightly sealed.
9
Continues on next page
296
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
297
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 297
|
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring. Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When refitting the motor cover, make sure
none of the cables inside will be damaged.
7
![Image]
xx1200001135
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise be
damaged.
Note
Make sure the o-ring is undamaged and
properly fitted!
8
Make sure that the cover is tightly sealed.
9
Continues on next page
296
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
297
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables - Step 1
Note
Since it in this procedure is needed to keep the axis-5 in -90° position to get the
most stable position for removal and refitting, the connecting and refitting of the
axis-6 motor cables must be done in two steps. This procedure describes the
first of these steps.
Note
Action
With axis-5 in -90° position, use caution
and temporarily connect the axis-6 motor
cables outside the motor.
1
Continues on next page
298
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 298
|
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
297
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables - Step 1
Note
Since it in this procedure is needed to keep the axis-5 in -90° position to get the
most stable position for removal and refitting, the connecting and refitting of the
axis-6 motor cables must be done in two steps. This procedure describes the
first of these steps.
Note
Action
With axis-5 in -90° position, use caution
and temporarily connect the axis-6 motor
cables outside the motor.
1
Continues on next page
298
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
2
Note
Do not refit anything else of the axis-6 mo-
tor cables at this point. The remaining refit-
ting must wait until the axis-5 has been
moved into +90° position.
Axis-5 must be in +90° position when the
carrier and cable bracket are refitted. If not,
the spiral of the cable harness will be in the
wrong position and it will be damaged when
axis-5 is moving.
3
Robot position when refitting the axis-6 motor cables
Note
Action
Turn on the power, use caution and jog
axis-5 slowly to +90° position.
CAUTION
Make sure not to touch or damage any of
the axis-6 motor cables.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Disconnect the axis-6 motor cables.
3
Continues on next page
Product manual - IRB 8700
299
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 299
|
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables - Step 1
Note
Since it in this procedure is needed to keep the axis-5 in -90° position to get the
most stable position for removal and refitting, the connecting and refitting of the
axis-6 motor cables must be done in two steps. This procedure describes the
first of these steps.
Note
Action
With axis-5 in -90° position, use caution
and temporarily connect the axis-6 motor
cables outside the motor.
1
Continues on next page
298
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
2
Note
Do not refit anything else of the axis-6 mo-
tor cables at this point. The remaining refit-
ting must wait until the axis-5 has been
moved into +90° position.
Axis-5 must be in +90° position when the
carrier and cable bracket are refitted. If not,
the spiral of the cable harness will be in the
wrong position and it will be damaged when
axis-5 is moving.
3
Robot position when refitting the axis-6 motor cables
Note
Action
Turn on the power, use caution and jog
axis-5 slowly to +90° position.
CAUTION
Make sure not to touch or damage any of
the axis-6 motor cables.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Disconnect the axis-6 motor cables.
3
Continues on next page
Product manual - IRB 8700
299
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-6 motor cables - Step 2
Note
Action
Make sure that the axis 5 now is in +90°
position before continuing.
1
If not, the cable spiral will be attached in
the wrong position and the result will be
damage to the cable harness.
CAUTION
Make sure that the cable spiral is not twis-
ted an extra revolution. The result will be
damage to the cable harness.
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The attachment screw that secure the car-
rier may be difficult to fit. Make sure the
carrier is level and completely pressed
against the bottom.
3
Continues on next page
300
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 300
|
Note
Action
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
2
Note
Do not refit anything else of the axis-6 mo-
tor cables at this point. The remaining refit-
ting must wait until the axis-5 has been
moved into +90° position.
Axis-5 must be in +90° position when the
carrier and cable bracket are refitted. If not,
the spiral of the cable harness will be in the
wrong position and it will be damaged when
axis-5 is moving.
3
Robot position when refitting the axis-6 motor cables
Note
Action
Turn on the power, use caution and jog
axis-5 slowly to +90° position.
CAUTION
Make sure not to touch or damage any of
the axis-6 motor cables.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Disconnect the axis-6 motor cables.
3
Continues on next page
Product manual - IRB 8700
299
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Connecting the axis-6 motor cables - Step 2
Note
Action
Make sure that the axis 5 now is in +90°
position before continuing.
1
If not, the cable spiral will be attached in
the wrong position and the result will be
damage to the cable harness.
CAUTION
Make sure that the cable spiral is not twis-
ted an extra revolution. The result will be
damage to the cable harness.
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The attachment screw that secure the car-
rier may be difficult to fit. Make sure the
carrier is level and completely pressed
against the bottom.
3
Continues on next page
300
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screws M6x (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Inspect the connectors to the axis-6 motor
and make sure they are connected.
Note
The resolver cable shall be placed under-
neath the motor cable.
5
Gasket, 3HAC033489-001
![Image]
xx1200001095
Inspect the gasket.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
301
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 301
|
Connecting the axis-6 motor cables - Step 2
Note
Action
Make sure that the axis 5 now is in +90°
position before continuing.
1
If not, the cable spiral will be attached in
the wrong position and the result will be
damage to the cable harness.
CAUTION
Make sure that the cable spiral is not twis-
ted an extra revolution. The result will be
damage to the cable harness.
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The attachment screw that secure the car-
rier may be difficult to fit. Make sure the
carrier is level and completely pressed
against the bottom.
3
Continues on next page
300
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Attachment screws M6x (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Inspect the connectors to the axis-6 motor
and make sure they are connected.
Note
The resolver cable shall be placed under-
neath the motor cable.
5
Gasket, 3HAC033489-001
![Image]
xx1200001095
Inspect the gasket.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
301
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000047
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001080
Refit the motor cover.
8
Robot position when replacing the balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
Continues on next page
302
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 302
|
Note
Action
Attachment screws M6x (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Inspect the connectors to the axis-6 motor
and make sure they are connected.
Note
The resolver cable shall be placed under-
neath the motor cable.
5
Gasket, 3HAC033489-001
![Image]
xx1200001095
Inspect the gasket.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
301
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1600000047
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001080
Refit the motor cover.
8
Robot position when replacing the balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
Continues on next page
302
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Preparations before refitting the balancing device
Note
Action
CAUTION
The balancing device weighs 200 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
3
Use caution and lift the balancing device
up an let it hang in the lifting accessories.
4
Wipe clean the contact surfaces.
5
Grease
![Image]
xx1500002304
Apply some grease on shafts and in bear-
ing holes.
Note
Do not apply any grease on the threads for
the KM-nut.
6
Continues on next page
Product manual - IRB 8700
303
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 303
|
Note
Action
![Image]
xx1600000047
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001080
Refit the motor cover.
8
Robot position when replacing the balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
2
Continues on next page
302
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Preparations before refitting the balancing device
Note
Action
CAUTION
The balancing device weighs 200 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
3
Use caution and lift the balancing device
up an let it hang in the lifting accessories.
4
Wipe clean the contact surfaces.
5
Grease
![Image]
xx1500002304
Apply some grease on shafts and in bear-
ing holes.
Note
Do not apply any grease on the threads for
the KM-nut.
6
Continues on next page
Product manual - IRB 8700
303
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
![Image]
xx1500002735
Use caution and raise the balancing device
into mounting position.
2
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
Continues on next page
304
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 304
|
Preparations before refitting the balancing device
Note
Action
CAUTION
The balancing device weighs 200 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
3
Use caution and lift the balancing device
up an let it hang in the lifting accessories.
4
Wipe clean the contact surfaces.
5
Grease
![Image]
xx1500002304
Apply some grease on shafts and in bear-
ing holes.
Note
Do not apply any grease on the threads for
the KM-nut.
6
Continues on next page
Product manual - IRB 8700
303
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Refitting the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
![Image]
xx1500002735
Use caution and raise the balancing device
into mounting position.
2
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
Continues on next page
304
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500001975
Make sure that the spacer ring with V-ring
and the support ring are placed correctly
on the shafts before the balancing device
is put on the shafts.
4
![Image]
xx1500002305
Use caution and put the balancing device
onto upper and lower shafts.
5
Locking liquid: Loctite 243
![Image]
xx1500002307
Apply locking liquid on the threads of the
lock nuts.
6
Inspect that the bearings are axially
centered in the balancing device ears.
7
Continues on next page
Product manual - IRB 8700
305
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 305
|
Refitting the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar),
to reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
![Image]
xx1500002735
Use caution and raise the balancing device
into mounting position.
2
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
Continues on next page
304
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500001975
Make sure that the spacer ring with V-ring
and the support ring are placed correctly
on the shafts before the balancing device
is put on the shafts.
4
![Image]
xx1500002305
Use caution and put the balancing device
onto upper and lower shafts.
5
Locking liquid: Loctite 243
![Image]
xx1500002307
Apply locking liquid on the threads of the
lock nuts.
6
Inspect that the bearings are axially
centered in the balancing device ears.
7
Continues on next page
Product manual - IRB 8700
305
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Tightening torque: 120 Nm
![Image]
xx1500001973
Secure the balancing device with the two
lock nuts.
Note
Make sure that the V-ring and support ring
is fitted correctly.
8
Remove the lifting accessories.
9
Bearing grease: Tribol GR 100-2 PD
![Image]
xx1500002055
Remove the M6x10 torx pan head screws
on either side of the balancing device
bearings.
Lubricate each bearing with 30 gram of
bearing grease.
10
Wipe away surplus grease and refit the
M6x10 screws.
11
If both balancing devices shall be refitted,
refit the other in the same way.
12
Restoring the pressure of the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
Continues on next page
306
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 306
|
Note
Action
![Image]
xx1500001975
Make sure that the spacer ring with V-ring
and the support ring are placed correctly
on the shafts before the balancing device
is put on the shafts.
4
![Image]
xx1500002305
Use caution and put the balancing device
onto upper and lower shafts.
5
Locking liquid: Loctite 243
![Image]
xx1500002307
Apply locking liquid on the threads of the
lock nuts.
6
Inspect that the bearings are axially
centered in the balancing device ears.
7
Continues on next page
Product manual - IRB 8700
305
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Tightening torque: 120 Nm
![Image]
xx1500001973
Secure the balancing device with the two
lock nuts.
Note
Make sure that the V-ring and support ring
is fitted correctly.
8
Remove the lifting accessories.
9
Bearing grease: Tribol GR 100-2 PD
![Image]
xx1500002055
Remove the M6x10 torx pan head screws
on either side of the balancing device
bearings.
Lubricate each bearing with 30 gram of
bearing grease.
10
Wipe away surplus grease and refit the
M6x10 screws.
11
If both balancing devices shall be refitted,
refit the other in the same way.
12
Restoring the pressure of the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
Continues on next page
306
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Clean the wrist cover from residues of
sealant and other contamination.
1
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
2
Continues on next page
Product manual - IRB 8700
307
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 307
|
Note
Action
Tightening torque: 120 Nm
![Image]
xx1500001973
Secure the balancing device with the two
lock nuts.
Note
Make sure that the V-ring and support ring
is fitted correctly.
8
Remove the lifting accessories.
9
Bearing grease: Tribol GR 100-2 PD
![Image]
xx1500002055
Remove the M6x10 torx pan head screws
on either side of the balancing device
bearings.
Lubricate each bearing with 30 gram of
bearing grease.
10
Wipe away surplus grease and refit the
M6x10 screws.
11
If both balancing devices shall be refitted,
refit the other in the same way.
12
Restoring the pressure of the balancing device
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder.
1
Continues on next page
306
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Clean the wrist cover from residues of
sealant and other contamination.
1
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
2
Continues on next page
Product manual - IRB 8700
307
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
3
Make sure that the cable harness will be
placed in a way that it will not be damaged
when the cover is fitted.
4
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
5
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
6
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
7
308
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 308
|
Note
Action
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Clean the wrist cover from residues of
sealant and other contamination.
1
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
2
Continues on next page
Product manual - IRB 8700
307
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
Note
Action
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
3
Make sure that the cable harness will be
placed in a way that it will not be damaged
when the cover is fitted.
4
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
5
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
6
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
7
308
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
4.5.2 Replacing the wrist
Location of the wrist
The wrist is located as shown in the figure.
![Image]
xx1500002057
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048653-006
Wrist
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
Product manual - IRB 8700
309
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 309
|
Note
Action
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
3
Make sure that the cable harness will be
placed in a way that it will not be damaged
when the cover is fitted.
4
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
5
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
6
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
7
308
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
4.5.2 Replacing the wrist
Location of the wrist
The wrist is located as shown in the figure.
![Image]
xx1500002057
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048653-006
Wrist
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
Product manual - IRB 8700
309
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Loctite 574
Flange sealant
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 Reference calibration
routine on page 800 .
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.
Removing the wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disk or wrist.
2
Continues on next page
310
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 310
|
4.5.2 Replacing the wrist
Location of the wrist
The wrist is located as shown in the figure.
![Image]
xx1500002057
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048653-006
Wrist
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
Product manual - IRB 8700
309
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Loctite 574
Flange sealant
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 Reference calibration
routine on page 800 .
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.
Removing the wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disk or wrist.
2
Continues on next page
310
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: 0°
•
Axis 6: No significance.
3
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the wrist.
DANGER
Do not use the robot as ladder!
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
Product manual - IRB 8700
311
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 311
|
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Loctite 574
Flange sealant
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 Reference calibration
routine on page 800 .
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.
Removing the wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disk or wrist.
2
Continues on next page
310
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: 0°
•
Axis 6: No significance.
3
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the wrist.
DANGER
Do not use the robot as ladder!
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
Product manual - IRB 8700
311
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
Continues on next page
312
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 312
|
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: -65°
•
Axis 3: 0° (horizontal to the founda-
tion)
•
Axis 4: +90°
•
Axis 5: 0°
•
Axis 6: No significance.
3
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder (or similar) to
reach the wrist.
DANGER
Do not use the robot as ladder!
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
Product manual - IRB 8700
311
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
Continues on next page
312
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
Continues on next page
Product manual - IRB 8700
313
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 313
|
Note
Action
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
Continues on next page
312
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
Continues on next page
Product manual - IRB 8700
313
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
314
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 314
|
Note
Action
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
Continues on next page
Product manual - IRB 8700
313
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
314
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
Continues on next page
Product manual - IRB 8700
315
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 315
|
Note
Action
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Disconnecting the axis-5 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
314
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
Continues on next page
Product manual - IRB 8700
315
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure, in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
may cause damage or injury.
WARNING
Do not attach the roundsling around the
axis-5 gearbox!
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Continues on next page
316
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 316
|
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
Continues on next page
Product manual - IRB 8700
315
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure, in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
may cause damage or injury.
WARNING
Do not attach the roundsling around the
axis-5 gearbox!
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Continues on next page
316
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Removing the wrist
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003103
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the wrist slide better.
2
![Image]
xx1500003104
Remove the remaining attachment screws.
3
This is done to be able to remove the cable
harness from the wrist.
![Image]
xx1500003105
Use caution and pull out the wrist a little
onto the guide pins.
CAUTION
Make sure that the cabling does not get
damaged.
4
Continues on next page
Product manual - IRB 8700
317
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 317
|
Note
Action
![Image]
xx1500002717
Remove the cable gland cover.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor shall be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure, in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
may cause damage or injury.
WARNING
Do not attach the roundsling around the
axis-5 gearbox!
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Continues on next page
316
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Removing the wrist
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003103
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the wrist slide better.
2
![Image]
xx1500003104
Remove the remaining attachment screws.
3
This is done to be able to remove the cable
harness from the wrist.
![Image]
xx1500003105
Use caution and pull out the wrist a little
onto the guide pins.
CAUTION
Make sure that the cabling does not get
damaged.
4
Continues on next page
Product manual - IRB 8700
317
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003106
Use caution and pull out the cabling from
the wrist unit.
5
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front
end will tend to lean slightly downwards.
6
Put down the wrist on a pallet (or similar).
7
Refitting the wrist
Use these procedures to refit the wrist.
Preparations before refitting the wrist
Note
Action
Clean the contact surfaces on wrist and arm tube
flange.
1
![Image]
xx1500003108
Put two guide pins in opposite holes of the wrist.
Tip
Lubricate the guide pins with some grease to
make the wrist slide better.
2
Continues on next page
318
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 318
|
Removing the wrist
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003103
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the wrist slide better.
2
![Image]
xx1500003104
Remove the remaining attachment screws.
3
This is done to be able to remove the cable
harness from the wrist.
![Image]
xx1500003105
Use caution and pull out the wrist a little
onto the guide pins.
CAUTION
Make sure that the cabling does not get
damaged.
4
Continues on next page
Product manual - IRB 8700
317
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003106
Use caution and pull out the cabling from
the wrist unit.
5
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front
end will tend to lean slightly downwards.
6
Put down the wrist on a pallet (or similar).
7
Refitting the wrist
Use these procedures to refit the wrist.
Preparations before refitting the wrist
Note
Action
Clean the contact surfaces on wrist and arm tube
flange.
1
![Image]
xx1500003108
Put two guide pins in opposite holes of the wrist.
Tip
Lubricate the guide pins with some grease to
make the wrist slide better.
2
Continues on next page
318
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
can cause damage or injury.
CAUTION
Make sure the roundsling is fitted as tightly
as possible, in order not to risk that the
wrist starts moving out of position.
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Refitting the wrist
Note
Action
![Image]
xx1500003109
Make sure that the guiding pin in the arm tube will
match its hole in the wrist.
1
Continues on next page
Product manual - IRB 8700
319
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 319
|
Note
Action
![Image]
xx1500003106
Use caution and pull out the cabling from
the wrist unit.
5
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front
end will tend to lean slightly downwards.
6
Put down the wrist on a pallet (or similar).
7
Refitting the wrist
Use these procedures to refit the wrist.
Preparations before refitting the wrist
Note
Action
Clean the contact surfaces on wrist and arm tube
flange.
1
![Image]
xx1500003108
Put two guide pins in opposite holes of the wrist.
Tip
Lubricate the guide pins with some grease to
make the wrist slide better.
2
Continues on next page
318
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
can cause damage or injury.
CAUTION
Make sure the roundsling is fitted as tightly
as possible, in order not to risk that the
wrist starts moving out of position.
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Refitting the wrist
Note
Action
![Image]
xx1500003109
Make sure that the guiding pin in the arm tube will
match its hole in the wrist.
1
Continues on next page
Product manual - IRB 8700
319
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
This is done to be able to run the
cable harness into the wrist.
![Image]
xx1500003105
Use caution and lift the wrist up onto the guide
pins, leaving an opening between wrist and arm
tube flange.
2
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front end will
tend to lean slightly downwards.
3
Use caution and run the cable harness into the
wrist.
4
Use caution and slide the wrist into fitting position
against the arm tube flange.
CAUTION
Make sure not to damage any parts of the cable
harness.
5
Attachment screws: M12x50 12.9
Gleitmo (30 pcs)
![Image]
xx1500003104
Fit 28 of the 30 attachment screws.
6
Continues on next page
320
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 320
|
Attaching lifting accessories, wrist
Note
Action
CAUTION
The complete wrist weighs 500 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1300000673
The figure show the IRB 6700 but the prin-
ciple is the same.
Attach a roundsling choked, as shown in
the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure in order to
keep the wrist balanced when it is removed.
Placed at a different position, there is a risk
of sudden change in the balance, which
can cause damage or injury.
CAUTION
Make sure the roundsling is fitted as tightly
as possible, in order not to risk that the
wrist starts moving out of position.
2
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
3
Refitting the wrist
Note
Action
![Image]
xx1500003109
Make sure that the guiding pin in the arm tube will
match its hole in the wrist.
1
Continues on next page
Product manual - IRB 8700
319
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
This is done to be able to run the
cable harness into the wrist.
![Image]
xx1500003105
Use caution and lift the wrist up onto the guide
pins, leaving an opening between wrist and arm
tube flange.
2
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front end will
tend to lean slightly downwards.
3
Use caution and run the cable harness into the
wrist.
4
Use caution and slide the wrist into fitting position
against the arm tube flange.
CAUTION
Make sure not to damage any parts of the cable
harness.
5
Attachment screws: M12x50 12.9
Gleitmo (30 pcs)
![Image]
xx1500003104
Fit 28 of the 30 attachment screws.
6
Continues on next page
320
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003103
Remove the guide pins and replace them with the
remaining screws.
7
Tightening torque: 120 Nm
Secure the wrist.
8
Remove the lifting accessories.
9
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
Continues on next page
Product manual - IRB 8700
321
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 321
|
Note
Action
This is done to be able to run the
cable harness into the wrist.
![Image]
xx1500003105
Use caution and lift the wrist up onto the guide
pins, leaving an opening between wrist and arm
tube flange.
2
![Image]
xx1500003107
CAUTION
When the wrist is hanging free, the front end will
tend to lean slightly downwards.
3
Use caution and run the cable harness into the
wrist.
4
Use caution and slide the wrist into fitting position
against the arm tube flange.
CAUTION
Make sure not to damage any parts of the cable
harness.
5
Attachment screws: M12x50 12.9
Gleitmo (30 pcs)
![Image]
xx1500003104
Fit 28 of the 30 attachment screws.
6
Continues on next page
320
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003103
Remove the guide pins and replace them with the
remaining screws.
7
Tightening torque: 120 Nm
Secure the wrist.
8
Remove the lifting accessories.
9
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
Continues on next page
Product manual - IRB 8700
321
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Continues on next page
322
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 322
|
Note
Action
![Image]
xx1500003103
Remove the guide pins and replace them with the
remaining screws.
7
Tightening torque: 120 Nm
Secure the wrist.
8
Remove the lifting accessories.
9
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Attachment screws: M5x16 (2 pcs)
![Image]
xx1200001016
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
Continues on next page
Product manual - IRB 8700
321
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Continues on next page
322
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Continues on next page
Product manual - IRB 8700
323
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 323
|
Note
Action
![Image]
xx1200001015
Connect the connectors.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
5
Attachment screws: M5x12 8.8 (6 pcs)
![Image]
xx1200001013
Refit the motor cover.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is properly fitted and
undamaged.
6
Continues on next page
322
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Continues on next page
Product manual - IRB 8700
323
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Continues on next page
324
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 324
|
Note
Action
Make sure that the cover is tightly sealed.
7
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Continues on next page
Product manual - IRB 8700
323
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Continues on next page
324
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
Continues on next page
Product manual - IRB 8700
325
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 325
|
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Continues on next page
324
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
Continues on next page
Product manual - IRB 8700
325
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
326
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 326
|
Note
Action
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
Continues on next page
Product manual - IRB 8700
325
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
Note
Action
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
326
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
4.5.3 Replacing the axis-6 unit
Location of the axis-6 unit
The axis-6 unit is located as shown in the figure.
![Image]
xx1500002058
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048651-006
Axis 6 Unit
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Continues on next page
Product manual - IRB 8700
327
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 327
|
Note
Action
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
326
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.2 Replacing the wrist
Continued
4.5.3 Replacing the axis-6 unit
Location of the axis-6 unit
The axis-6 unit is located as shown in the figure.
![Image]
xx1500002058
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048651-006
Axis 6 Unit
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Continues on next page
Product manual - IRB 8700
327
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Note
Article number
Equipment, etc.
Working load limit: 2,000 kg
-
Lifting eye, with swivel
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used for putting down removed parts
from robot.
Pallet
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 574
Flange sealant
Cable ties
VK 35x8
3HAA2166-18
VK cover (3 pcs)
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 Reference calibration
routine on page 800 .
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.
Removing the axis-6 unit
Use these procedures to remove the axis-6 unit.
Preparations before removing the axis-6 unit
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
328
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 328
|
4.5.3 Replacing the axis-6 unit
Location of the axis-6 unit
The axis-6 unit is located as shown in the figure.
![Image]
xx1500002058
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048651-006
Axis 6 Unit
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Continues on next page
Product manual - IRB 8700
327
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Note
Article number
Equipment, etc.
Working load limit: 2,000 kg
-
Lifting eye, with swivel
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used for putting down removed parts
from robot.
Pallet
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 574
Flange sealant
Cable ties
VK 35x8
3HAA2166-18
VK cover (3 pcs)
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 Reference calibration
routine on page 800 .
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.
Removing the axis-6 unit
Use these procedures to remove the axis-6 unit.
Preparations before removing the axis-6 unit
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
328
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove any tool or other equipment fitted
on the wrist.
2
Jog the robot to the specified position:
•
Axis-1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis-2: +60°
•
Axis-3: +35°
•
Axis-4: 0°
•
Axis-5: +50°
•
Axis-6: no significance
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
329
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 329
|
Note
Article number
Equipment, etc.
Working load limit: 2,000 kg
-
Lifting eye, with swivel
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used for putting down removed parts
from robot.
Pallet
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 574
Flange sealant
Cable ties
VK 35x8
3HAA2166-18
VK cover (3 pcs)
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 Reference calibration
routine on page 800 .
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.
Removing the axis-6 unit
Use these procedures to remove the axis-6 unit.
Preparations before removing the axis-6 unit
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
328
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove any tool or other equipment fitted
on the wrist.
2
Jog the robot to the specified position:
•
Axis-1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis-2: +60°
•
Axis-3: +35°
•
Axis-4: 0°
•
Axis-5: +50°
•
Axis-6: no significance
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
329
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
330
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 330
|
Note
Action
Remove any tool or other equipment fitted
on the wrist.
2
Jog the robot to the specified position:
•
Axis-1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis-2: +60°
•
Axis-3: +35°
•
Axis-4: 0°
•
Axis-5: +50°
•
Axis-6: no significance
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
329
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
330
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
331
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 331
|
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
330
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
331
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
332
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 332
|
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
331
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
332
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Attaching lifting accessories to the axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes with swivel M12
Attach lifting eyes with swivel in opposite
holes of the turning disk with axis-5 +90°.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the axis-6 unit and
to an overhead crane (or similar).
3
Stretch the lifting accessories to take the
weight of the axis-6 unit, axis-5 still in +90°
position.
4
Continues on next page
Product manual - IRB 8700
333
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 333
|
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
332
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Attaching lifting accessories to the axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes with swivel M12
Attach lifting eyes with swivel in opposite
holes of the turning disk with axis-5 +90°.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the axis-6 unit and
to an overhead crane (or similar).
3
Stretch the lifting accessories to take the
weight of the axis-6 unit, axis-5 still in +90°
position.
4
Continues on next page
Product manual - IRB 8700
333
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Unscrewing the axis-5 gearbox side
Note
Action
![Image]
xx1600000194
Remove the three small VK-covers on the
axis-5 gearbox cover.
Always replace VK-covers with a new one.
Note
Do not remove any other VK-cover.
1
![Image]
xx1600000200
Note
Before removing the attachment screws on
the axis-5 side, plan in advance in which
order the screws are removed. When the
last three of the 21 screws is removed, the
turning disc on the axis-6 unit shall be fa-
cing upwards.
2
![Image]
xx1600000195
Slowly lift the axis-6 unit up until the first
three (of 21) screws are possible to re-
move.
3
![Image]
xx1600000196
Unscrew and remove the first three screws.
4
Continues on next page
334
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 334
|
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Attaching lifting accessories to the axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes with swivel M12
Attach lifting eyes with swivel in opposite
holes of the turning disk with axis-5 +90°.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the axis-6 unit and
to an overhead crane (or similar).
3
Stretch the lifting accessories to take the
weight of the axis-6 unit, axis-5 still in +90°
position.
4
Continues on next page
Product manual - IRB 8700
333
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Unscrewing the axis-5 gearbox side
Note
Action
![Image]
xx1600000194
Remove the three small VK-covers on the
axis-5 gearbox cover.
Always replace VK-covers with a new one.
Note
Do not remove any other VK-cover.
1
![Image]
xx1600000200
Note
Before removing the attachment screws on
the axis-5 side, plan in advance in which
order the screws are removed. When the
last three of the 21 screws is removed, the
turning disc on the axis-6 unit shall be fa-
cing upwards.
2
![Image]
xx1600000195
Slowly lift the axis-6 unit up until the first
three (of 21) screws are possible to re-
move.
3
![Image]
xx1600000196
Unscrew and remove the first three screws.
4
Continues on next page
334
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Slowly lift the axis-6 unit up, until the next
three screws are possible to remove.
5
Continue to lift the axis-6 unit in steps in
the same way, until the remaining screws
are removed.
DANGER
When the last screw is removed, the axis-
6 unit will only be supported by the support
shaft with bearing on the other side of the
wrist. If the lifting accessory now is re-
moved, the axis-6 unit will start to rotate
uncontrolled.
Make sure that the axis-6 unit is securely
attached to the lifting accessory before the
last screw is removed.
6
Removing the axis-6 unit
Note
Action
Make sure the lifting accessories still are
attached securely and takes the weight of
the axis-6 unit.
1
This is done to be able to reach the attach-
ment screws that secure the axis-6 unit.
![Image]
xx1600000197
Unscrew the attachment screws (6 pcs)
that secure the bearing.
2
![Image]
xx1600000198
Unscrew the attachment screws (11 pcs)
that hold the support shaft.
3
(Screws not shown in the figure)
Continues on next page
Product manual - IRB 8700
335
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 335
|
Unscrewing the axis-5 gearbox side
Note
Action
![Image]
xx1600000194
Remove the three small VK-covers on the
axis-5 gearbox cover.
Always replace VK-covers with a new one.
Note
Do not remove any other VK-cover.
1
![Image]
xx1600000200
Note
Before removing the attachment screws on
the axis-5 side, plan in advance in which
order the screws are removed. When the
last three of the 21 screws is removed, the
turning disc on the axis-6 unit shall be fa-
cing upwards.
2
![Image]
xx1600000195
Slowly lift the axis-6 unit up until the first
three (of 21) screws are possible to re-
move.
3
![Image]
xx1600000196
Unscrew and remove the first three screws.
4
Continues on next page
334
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Slowly lift the axis-6 unit up, until the next
three screws are possible to remove.
5
Continue to lift the axis-6 unit in steps in
the same way, until the remaining screws
are removed.
DANGER
When the last screw is removed, the axis-
6 unit will only be supported by the support
shaft with bearing on the other side of the
wrist. If the lifting accessory now is re-
moved, the axis-6 unit will start to rotate
uncontrolled.
Make sure that the axis-6 unit is securely
attached to the lifting accessory before the
last screw is removed.
6
Removing the axis-6 unit
Note
Action
Make sure the lifting accessories still are
attached securely and takes the weight of
the axis-6 unit.
1
This is done to be able to reach the attach-
ment screws that secure the axis-6 unit.
![Image]
xx1600000197
Unscrew the attachment screws (6 pcs)
that secure the bearing.
2
![Image]
xx1600000198
Unscrew the attachment screws (11 pcs)
that hold the support shaft.
3
(Screws not shown in the figure)
Continues on next page
Product manual - IRB 8700
335
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1600000199
Remove the support shaft.
Tip
If needed, insert two screws and use them
as removal tools.
4
![Image]
xx1600000200
Use caution and lift the axis-6 unit off.
5
Put a pallet (or similar) on the floor, to be
used for putting the axis-6 unit on.
6
Lower the axis-6 unit towards the pallet.
Grab the roundslings by hand to be able to
force the axis-6 unit to lay on the side on
the pallet.
CAUTION
Be very careful not to damage the motor
(if still fitted). The axis-6 must never rest
on the motor.
7
Refitting the axis-6 unit
Use these procedures to refit the axis-6 unit.
Attaching lifting accessories, axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes, swivel (2 pcs)
Attach lifting eyes with swivel in opposite
holes of the turning disc.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the lifting accessories to the axis-6
unit and to an overhead crane (or similar).
3
Continues on next page
336
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 336
|
Note
Action
Slowly lift the axis-6 unit up, until the next
three screws are possible to remove.
5
Continue to lift the axis-6 unit in steps in
the same way, until the remaining screws
are removed.
DANGER
When the last screw is removed, the axis-
6 unit will only be supported by the support
shaft with bearing on the other side of the
wrist. If the lifting accessory now is re-
moved, the axis-6 unit will start to rotate
uncontrolled.
Make sure that the axis-6 unit is securely
attached to the lifting accessory before the
last screw is removed.
6
Removing the axis-6 unit
Note
Action
Make sure the lifting accessories still are
attached securely and takes the weight of
the axis-6 unit.
1
This is done to be able to reach the attach-
ment screws that secure the axis-6 unit.
![Image]
xx1600000197
Unscrew the attachment screws (6 pcs)
that secure the bearing.
2
![Image]
xx1600000198
Unscrew the attachment screws (11 pcs)
that hold the support shaft.
3
(Screws not shown in the figure)
Continues on next page
Product manual - IRB 8700
335
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1600000199
Remove the support shaft.
Tip
If needed, insert two screws and use them
as removal tools.
4
![Image]
xx1600000200
Use caution and lift the axis-6 unit off.
5
Put a pallet (or similar) on the floor, to be
used for putting the axis-6 unit on.
6
Lower the axis-6 unit towards the pallet.
Grab the roundslings by hand to be able to
force the axis-6 unit to lay on the side on
the pallet.
CAUTION
Be very careful not to damage the motor
(if still fitted). The axis-6 must never rest
on the motor.
7
Refitting the axis-6 unit
Use these procedures to refit the axis-6 unit.
Attaching lifting accessories, axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes, swivel (2 pcs)
Attach lifting eyes with swivel in opposite
holes of the turning disc.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the lifting accessories to the axis-6
unit and to an overhead crane (or similar).
3
Continues on next page
336
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Use caution and raise the axis-6 unit up
and let it hang in the lifting accessories.
4
Refitting the support shaft side
Note
Action
Wipe clean all contact surfaces including
the o-ring grooves.
1
![Image]
xx1600000200
Use caution and move the axis-6 unit to its
mounting position.
2
Wipe clean and inspect the o-rings. Re-
place damaged o-rings.
3
Refit the o-rings in the grooves.
Tip
Lubricate the o-ring with some grease for
a better fitting in the groove.
4
![Image]
xx1600000199
Refit the support shaft.
5
Continues on next page
Product manual - IRB 8700
337
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 337
|
Note
Action
![Image]
xx1600000199
Remove the support shaft.
Tip
If needed, insert two screws and use them
as removal tools.
4
![Image]
xx1600000200
Use caution and lift the axis-6 unit off.
5
Put a pallet (or similar) on the floor, to be
used for putting the axis-6 unit on.
6
Lower the axis-6 unit towards the pallet.
Grab the roundslings by hand to be able to
force the axis-6 unit to lay on the side on
the pallet.
CAUTION
Be very careful not to damage the motor
(if still fitted). The axis-6 must never rest
on the motor.
7
Refitting the axis-6 unit
Use these procedures to refit the axis-6 unit.
Attaching lifting accessories, axis-6 unit
Note
Action
CAUTION
The axis-6 unit weighs 165 kg. All lifting
accessories must be sized accordingly.
1
Lifting eyes, swivel (2 pcs)
Attach lifting eyes with swivel in opposite
holes of the turning disc.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the lifting accessories to the axis-6
unit and to an overhead crane (or similar).
3
Continues on next page
336
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Use caution and raise the axis-6 unit up
and let it hang in the lifting accessories.
4
Refitting the support shaft side
Note
Action
Wipe clean all contact surfaces including
the o-ring grooves.
1
![Image]
xx1600000200
Use caution and move the axis-6 unit to its
mounting position.
2
Wipe clean and inspect the o-rings. Re-
place damaged o-rings.
3
Refit the o-rings in the grooves.
Tip
Lubricate the o-ring with some grease for
a better fitting in the groove.
4
![Image]
xx1600000199
Refit the support shaft.
5
Continues on next page
Product manual - IRB 8700
337
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws, M12x55 (11 pcs)
Refit and secure the support shaft.
6
Tightening torque: 120 Nm
![Image]
xx1600000198
(Screws not shown in the figure)
Attachment screws: M8x16 (6 pcs)
Secure the bearing.
7
Tightening torque: 24 Nm
![Image]
xx1600000197
Refitting the axis-5 gearbox side
Note
Action
Refitting of the axis-6 unit must start with
the turning disc facing upwards. When the
last screws are attached, the axis-5 shall
be as close as possible to +90° position.
1
![Image]
xx1600000196
Find the hole pattern for the first three of
the 21 screws.
2
Continues on next page
338
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 338
|
Note
Action
Use caution and raise the axis-6 unit up
and let it hang in the lifting accessories.
4
Refitting the support shaft side
Note
Action
Wipe clean all contact surfaces including
the o-ring grooves.
1
![Image]
xx1600000200
Use caution and move the axis-6 unit to its
mounting position.
2
Wipe clean and inspect the o-rings. Re-
place damaged o-rings.
3
Refit the o-rings in the grooves.
Tip
Lubricate the o-ring with some grease for
a better fitting in the groove.
4
![Image]
xx1600000199
Refit the support shaft.
5
Continues on next page
Product manual - IRB 8700
337
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws, M12x55 (11 pcs)
Refit and secure the support shaft.
6
Tightening torque: 120 Nm
![Image]
xx1600000198
(Screws not shown in the figure)
Attachment screws: M8x16 (6 pcs)
Secure the bearing.
7
Tightening torque: 24 Nm
![Image]
xx1600000197
Refitting the axis-5 gearbox side
Note
Action
Refitting of the axis-6 unit must start with
the turning disc facing upwards. When the
last screws are attached, the axis-5 shall
be as close as possible to +90° position.
1
![Image]
xx1600000196
Find the hole pattern for the first three of
the 21 screws.
2
Continues on next page
338
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws, M16x80
Attach and secure these three screws.
3
Tightening torque: 300 Nm
![Image]
xx1600000195
Lower the axis-6 unit until it is possible to
attach the next three screws.
4
Attachment screws, M16x80
Attach and secure these three screws.
5
Tightening torque: 300 Nm
Continue to lower the axis-6 unit in steps,
until all 21 screws are attached and se-
cured in the same way.
6
Note
Make sure that all 21 screws are attached
and secured before removing the lifting
accessories and continuing the procedure.
7
VK cover: (3 pcs)
![Image]
xx1600000194
Refit the VK covers.
8
Remove lifting accessories and lifting eyes.
9
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Continues on next page
Product manual - IRB 8700
339
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 339
|
Note
Action
Attachment screws, M12x55 (11 pcs)
Refit and secure the support shaft.
6
Tightening torque: 120 Nm
![Image]
xx1600000198
(Screws not shown in the figure)
Attachment screws: M8x16 (6 pcs)
Secure the bearing.
7
Tightening torque: 24 Nm
![Image]
xx1600000197
Refitting the axis-5 gearbox side
Note
Action
Refitting of the axis-6 unit must start with
the turning disc facing upwards. When the
last screws are attached, the axis-5 shall
be as close as possible to +90° position.
1
![Image]
xx1600000196
Find the hole pattern for the first three of
the 21 screws.
2
Continues on next page
338
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws, M16x80
Attach and secure these three screws.
3
Tightening torque: 300 Nm
![Image]
xx1600000195
Lower the axis-6 unit until it is possible to
attach the next three screws.
4
Attachment screws, M16x80
Attach and secure these three screws.
5
Tightening torque: 300 Nm
Continue to lower the axis-6 unit in steps,
until all 21 screws are attached and se-
cured in the same way.
6
Note
Make sure that all 21 screws are attached
and secured before removing the lifting
accessories and continuing the procedure.
7
VK cover: (3 pcs)
![Image]
xx1600000194
Refit the VK covers.
8
Remove lifting accessories and lifting eyes.
9
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Continues on next page
Product manual - IRB 8700
339
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
340
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 340
|
Note
Action
Attachment screws, M16x80
Attach and secure these three screws.
3
Tightening torque: 300 Nm
![Image]
xx1600000195
Lower the axis-6 unit until it is possible to
attach the next three screws.
4
Attachment screws, M16x80
Attach and secure these three screws.
5
Tightening torque: 300 Nm
Continue to lower the axis-6 unit in steps,
until all 21 screws are attached and se-
cured in the same way.
6
Note
Make sure that all 21 screws are attached
and secured before removing the lifting
accessories and continuing the procedure.
7
VK cover: (3 pcs)
![Image]
xx1600000194
Refit the VK covers.
8
Remove lifting accessories and lifting eyes.
9
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Continues on next page
Product manual - IRB 8700
339
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
340
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Securing the axis-6 motor
Note
Action
To release the brakes, connect the 24 VDC
power supply .
1
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used!
2
![Image]
xx1200001094
Inspect the gasket.
Replace if damaged.
3
CAUTION
The motor weighs 14 kg.
4
Continues on next page
Product manual - IRB 8700
341
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 341
|
Note
Action
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
340
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Securing the axis-6 motor
Note
Action
To release the brakes, connect the 24 VDC
power supply .
1
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used!
2
![Image]
xx1200001094
Inspect the gasket.
Replace if damaged.
3
CAUTION
The motor weighs 14 kg.
4
Continues on next page
Product manual - IRB 8700
341
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Tightening torque: 24 Nm
Secure the motor with its attachment
screws.
5
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001090
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
6
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Continues on next page
342
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 342
|
Securing the axis-6 motor
Note
Action
To release the brakes, connect the 24 VDC
power supply .
1
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used!
2
![Image]
xx1200001094
Inspect the gasket.
Replace if damaged.
3
CAUTION
The motor weighs 14 kg.
4
Continues on next page
Product manual - IRB 8700
341
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Tightening torque: 24 Nm
Secure the motor with its attachment
screws.
5
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001090
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
6
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Continues on next page
342
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
Continues on next page
Product manual - IRB 8700
343
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 343
|
Note
Action
Tightening torque: 24 Nm
Secure the motor with its attachment
screws.
5
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001090
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
6
Connecting the axis-6 motor cables
Note
Action
Make sure that the axis-5 is in +90 position,
before continuing. If not, the cable spiral
will be attached in the wrong position and
cause damage to the cable harness.
CAUTION
Make sure that the cable spiral is not turned
an extra revolution. The result will be
damage to the cable harness.
1
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
2
Continues on next page
342
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
Continues on next page
Product manual - IRB 8700
343
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Continues on next page
344
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 344
|
Note
Action
Attachment screws: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The screw is located at the bottom of the
carrier.
Tip
The screw that secure the carrier may be
difficult to fit. Make sure the carrier is level
and completely pressed against the bottom.
3
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket with its attach-
ment screws.
4
![Image]
xx1300000488
Reconnect the connectors to the axis-6
motor.
Note
Place the resolver cable underneath the
motor cable.
5
Continues on next page
Product manual - IRB 8700
343
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Continues on next page
344
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
Product manual - IRB 8700
345
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 345
|
Note
Action
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
6
CAUTION
Make sure not to damage the cables inside
the motor when refitting the motor cover.
7
Attachment screws: M5x20 (5 pcs)
![Image]
xx1200001080
Refit the motor cover.
8
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
9
![Image]
xx1500002331
Continues on next page
344
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
Note
Action
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
Product manual - IRB 8700
345
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
4.5.4 Replacing the turning disk
Location of the turning disk
The turning disk is located as shown in the figure.
![Image]
xx1500002059
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048445-003
Turning disc
Required tools and equipment
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
346
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 346
|
Note
Action
Remove all residues of old sealant and
other contamination from the contact sur-
faces of the wrist cover.
10
![Image]
xx1600000046
Make sure the contact surface of the wrist
cover is undamaged.
11
Loctite 574
Apply flange sealant on the wrist cover
flange.
12
Place the cable harness so it will not be
damaged when fitting the cover.
13
![Image]
xx1500003100
Refit the wrist cover and tighten all screws
alternately. Repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
14
![Image]
xx1500002330
Screws M8x25 12.9 (17 pcs)
Tightening torque: 24 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
Product manual - IRB 8700
345
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.3 Replacing the axis-6 unit
Continued
4.5.4 Replacing the turning disk
Location of the turning disk
The turning disk is located as shown in the figure.
![Image]
xx1500002059
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the
latest revision of Product manual, spare parts - IRB 8700 on ABB Library.
Note
Article number
Spare part
3HAC048445-003
Turning disc
Required tools and equipment
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
346
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Removing the turning disk
Use these procedures to remove the turning disk.
Preparations before removing the turning disk
Note
Action
Jog the robot to a comfortable position for
removing the turning disk.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Remove any tools or other equipment fitted
to the turning disk.
3
Removing the turning disk
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002318
Unscrew the 27 M12x40 screws and
washers that secure the turning disk.
2
Continues on next page
Product manual - IRB 8700
347
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.