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ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 347
|
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The spare part numbers that are listed in the table can be out of date.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
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347
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
Note
Action
![Image]
xx1500002319
Remove the turning disk.
3
Refitting the turning disk
Use these procedures to refit the turning disk.
Refitting the turning disk
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted.
2
Continues on next page
348
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
|
ABB_IRB8700_Product_Manual.pdf
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https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 348
|
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
Note
Action
![Image]
xx1500002319
Remove the turning disk.
3
Refitting the turning disk
Use these procedures to refit the turning disk.
Refitting the turning disk
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted.
2
Continues on next page
348
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
Note
Action
Attachment screws, M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disk with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
349
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 349
|
Note
Action
![Image]
xx1500002319
Remove the turning disk.
3
Refitting the turning disk
Use these procedures to refit the turning disk.
Refitting the turning disk
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted.
2
Continues on next page
348
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
Note
Action
Attachment screws, M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disk with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
349
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
4.5.5 Replacing the process turning disk
Location of the process turning disk
The process turning disk is located as shown in the figure.
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
3HAC051003-005
Process turning disc
Required tools and equipment
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
Removing the process turning disk
Use these procedures to remove the process turning disc.
Preparations before removing the process turning disk
Note
Action
Jog the robot to a comfortable position for
removing the process 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 (in-
cluding the DressPack) fitted to the process
turning disk.
3
Continues on next page
350
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 350
|
Note
Action
Attachment screws, M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disk with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
349
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the turning disk
Continued
4.5.5 Replacing the process turning disk
Location of the process turning disk
The process turning disk is located as shown in the figure.
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
3HAC051003-005
Process turning disc
Required tools and equipment
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
Removing the process turning disk
Use these procedures to remove the process turning disc.
Preparations before removing the process turning disk
Note
Action
Jog the robot to a comfortable position for
removing the process 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 (in-
cluding the DressPack) fitted to the process
turning disk.
3
Continues on next page
350
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Removing the process turning disk
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disk weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the a roundsling to the process
turning disk and to an overhead crane (or
similar).
3
Stretch the lifting accessories to take the
weight of the process turning disk.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disk.
5
Remove the process turning disk.
6
Refitting the process turning disk
Use these procedures to refit the process turning disk.
Refitting the process turning disk
Note
Action
CAUTION
The process turning disc weigh 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disk and to an overhead crane (or similar).
2
Wipe clean the contact surfaces.
3
Make sure the process turning disk is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disk with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Continues on next page
Product manual - IRB 8700
351
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 351
|
4.5.5 Replacing the process turning disk
Location of the process turning disk
The process turning disk is located as shown in the figure.
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
3HAC051003-005
Process turning disc
Required tools and equipment
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
Removing the process turning disk
Use these procedures to remove the process turning disc.
Preparations before removing the process turning disk
Note
Action
Jog the robot to a comfortable position for
removing the process 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 (in-
cluding the DressPack) fitted to the process
turning disk.
3
Continues on next page
350
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Removing the process turning disk
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disk weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the a roundsling to the process
turning disk and to an overhead crane (or
similar).
3
Stretch the lifting accessories to take the
weight of the process turning disk.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disk.
5
Remove the process turning disk.
6
Refitting the process turning disk
Use these procedures to refit the process turning disk.
Refitting the process turning disk
Note
Action
CAUTION
The process turning disc weigh 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disk and to an overhead crane (or similar).
2
Wipe clean the contact surfaces.
3
Make sure the process turning disk is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disk with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Continues on next page
Product manual - IRB 8700
351
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
352
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 352
|
Removing the process turning disk
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disk weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach the a roundsling to the process
turning disk and to an overhead crane (or
similar).
3
Stretch the lifting accessories to take the
weight of the process turning disk.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disk.
5
Remove the process turning disk.
6
Refitting the process turning disk
Use these procedures to refit the process turning disk.
Refitting the process turning disk
Note
Action
CAUTION
The process turning disc weigh 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disk and to an overhead crane (or similar).
2
Wipe clean the contact surfaces.
3
Make sure the process turning disk is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disk with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Continues on next page
Product manual - IRB 8700
351
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
352
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
4.5.6 Replacing the complete lower arm
Location of the complete lower arm
The complete lower arm is located as shown in the figure.
The complete lower arm consists of lower arm and parallel arm together.
![Image]
xx1500002061
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
3HAC048081-005
Lower arm
Continues on next page
Product manual - IRB 8700
353
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 353
|
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
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
352
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.5 Replacing the process turning disk
Continued
4.5.6 Replacing the complete lower arm
Location of the complete lower arm
The complete lower arm is located as shown in the figure.
The complete lower arm consists of lower arm and parallel arm together.
![Image]
xx1500002061
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
3HAC048081-005
Lower arm
Continues on next page
Product manual - IRB 8700
353
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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 instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
354
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 354
|
4.5.6 Replacing the complete lower arm
Location of the complete lower arm
The complete lower arm is located as shown in the figure.
The complete lower arm consists of lower arm and parallel arm together.
![Image]
xx1500002061
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
3HAC048081-005
Lower arm
Continues on next page
Product manual - IRB 8700
353
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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 instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
354
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Required consumables
Note
Article number
Consumable
Molykote 1000
Cable ties
Mercasol
Corrosion protection
Tribol GR 100-0 PD
3HAA 1001-294
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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 complete lower arm
Use these procedures to remove the complete lower 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
Continues on next page
Product manual - IRB 8700
355
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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|
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| 355
|
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 instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
354
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Required consumables
Note
Article number
Consumable
Molykote 1000
Cable ties
Mercasol
Corrosion protection
Tribol GR 100-0 PD
3HAA 1001-294
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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 complete lower arm
Use these procedures to remove the complete lower 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
Continues on next page
Product manual - IRB 8700
355
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Remove any tool or other equipment fitted
to the robot.
2
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Continues on next page
356
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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| 356
|
Required consumables
Note
Article number
Consumable
Molykote 1000
Cable ties
Mercasol
Corrosion protection
Tribol GR 100-0 PD
3HAA 1001-294
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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 complete lower arm
Use these procedures to remove the complete lower 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
Continues on next page
Product manual - IRB 8700
355
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Remove any tool or other equipment fitted
to the robot.
2
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Continues on next page
356
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
Continues on next page
Product manual - IRB 8700
357
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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|
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| 357
|
Note
Action
Remove any tool or other equipment fitted
to the robot.
2
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Continues on next page
356
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
Continues on next page
Product manual - IRB 8700
357
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
358
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 358
|
Note
Action
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
Continues on next page
Product manual - IRB 8700
357
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
358
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
359
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 359
|
Note
Action
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
358
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
359
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
360
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 360
|
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
359
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
360
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
361
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 361
|
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
360
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
361
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
362
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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| 362
|
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
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361
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
362
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
Product manual - IRB 8700
363
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 363
|
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
362
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
Product manual - IRB 8700
363
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
364
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 364
|
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
Product manual - IRB 8700
363
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
364
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Continues on next page
Product manual - IRB 8700
365
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 365
|
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
364
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Continues on next page
Product manual - IRB 8700
365
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
366
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 366
|
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Continues on next page
Product manual - IRB 8700
365
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
366
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
367
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 367
|
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
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
Continues on next page
366
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
367
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
368
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 368
|
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
367
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
368
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
369
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 369
|
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
368
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
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369
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
370
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 370
|
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
369
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
370
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
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371
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 371
|
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
370
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
371
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
372
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 372
|
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
371
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
372
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
373
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 373
|
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
372
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
373
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
374
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 374
|
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
373
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
374
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Unscrew the attachment screws with washers and
remove the motor cover.
2
Make sure the o-ring is not lost.
3
Disconnect the motor cables.
4
Remove the cable gland cover.
5
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.
Use caution and pull out the motor cables.
6
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
Continues on next page
Product manual - IRB 8700
375
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 375
|
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
374
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Unscrew the attachment screws with washers and
remove the motor cover.
2
Make sure the o-ring is not lost.
3
Disconnect the motor cables.
4
Remove the cable gland cover.
5
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.
Use caution and pull out the motor cables.
6
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
Continues on next page
Product manual - IRB 8700
375
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
![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
376
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 376
|
Note
Action
Unscrew the attachment screws with washers and
remove the motor cover.
2
Make sure the o-ring is not lost.
3
Disconnect the motor cables.
4
Remove the cable gland cover.
5
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.
Use caution and pull out the motor cables.
6
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
Continues on next page
Product manual - IRB 8700
375
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
![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
376
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Removing the cable harness in the lower arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002695
If not already done, unscrew the screws
that hold the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
2
Use caution and remove the cable harness
from the lower arm.
3
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
Continues on next page
Product manual - IRB 8700
377
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 377
|
Note
Action
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
![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
376
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Removing the cable harness in the lower arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002695
If not already done, unscrew the screws
that hold the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
2
Use caution and remove the cable harness
from the lower arm.
3
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
Continues on next page
Product manual - IRB 8700
377
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
![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
Continues on next page
378
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 378
|
Removing the cable harness in the lower arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002695
If not already done, unscrew the screws
that hold the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
2
Use caution and remove the cable harness
from the lower arm.
3
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
Continues on next page
Product manual - IRB 8700
377
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
![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
Continues on next page
378
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
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
Continues on next page
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379
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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| 379
|
Note
Action
![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
![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
Continues on next page
378
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
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
Continues on next page
Product manual - IRB 8700
379
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
380
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 380
|
Note
Action
![Image]
xx1500002728
Remove gamma sealing and sealing ring.
7
![Image]
xx1500003125
Remove the magnetic plug and wipe hole
and shaft end meticulously clean.
8
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
Continues on next page
Product manual - IRB 8700
379
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
380
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Continues on next page
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381
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 381
|
Note
Action
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
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
Continues on next page
380
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Continues on next page
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381
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Removing the parallel rod, lower end
Note
Action
![Image]
xx1500002736
Note
If the parallel rod shall be removed from
the robot, always disassemble the upper
end first.
1
CAUTION
The parallel rod weighs 55 kg.
All lifting accessories used must be sized
accordingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500002698
Attach a roundsling, looped through the
parallel rod and to an overhead crane (or
similar).
3
Stretch the roundsling to start taking the
weight of the parallel rod.
4
Continues on next page
382
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 382
|
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
381
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Removing the parallel rod, lower end
Note
Action
![Image]
xx1500002736
Note
If the parallel rod shall be removed from
the robot, always disassemble the upper
end first.
1
CAUTION
The parallel rod weighs 55 kg.
All lifting accessories used must be sized
accordingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500002698
Attach a roundsling, looped through the
parallel rod and to an overhead crane (or
similar).
3
Stretch the roundsling to start taking the
weight of the parallel rod.
4
Continues on next page
382
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001966
Remove the attachment screw with washer
that secure the rod shaft.
5
![Image]
xx1500001968
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
Continues on next page
Product manual - IRB 8700
383
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 383
|
Removing the parallel rod, lower end
Note
Action
![Image]
xx1500002736
Note
If the parallel rod shall be removed from
the robot, always disassemble the upper
end first.
1
CAUTION
The parallel rod weighs 55 kg.
All lifting accessories used must be sized
accordingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500002698
Attach a roundsling, looped through the
parallel rod and to an overhead crane (or
similar).
3
Stretch the roundsling to start taking the
weight of the parallel rod.
4
Continues on next page
382
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001966
Remove the attachment screw with washer
that secure the rod shaft.
5
![Image]
xx1500001968
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
Continues on next page
Product manual - IRB 8700
383
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002098
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]
xx1500002745
Use caution and lift the parallel rod off.
10
Strap
![Image]
xx1500002099
Secure bearing, thrust washer and cover
washer with a strap (or similar), to prevent
them from dropping out of its position.
11
Continues on next page
384
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 384
|
Note
Action
![Image]
xx1500001966
Remove the attachment screw with washer
that secure the rod shaft.
5
![Image]
xx1500001968
Remove the protection plug.
Note
Keep the protection plug. It shall be refitted
when the work is done.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
Continues on next page
Product manual - IRB 8700
383
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002098
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]
xx1500002745
Use caution and lift the parallel rod off.
10
Strap
![Image]
xx1500002099
Secure bearing, thrust washer and cover
washer with a strap (or similar), to prevent
them from dropping out of its position.
11
Continues on next page
384
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Preparations of axis-2 before lifting the lower arm complete off
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002708
Attach a roundsling to the lower arm and
to an overhead crane (or similar), with the
robot in the current position.
2
Stretch the lifting accessories to take the
weight of the lower arm.
3
To release the brakes on axis-2, connect
the 24 VDC power supply.
4
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
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385
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 385
|
Note
Action
![Image]
xx1500002098
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]
xx1500002745
Use caution and lift the parallel rod off.
10
Strap
![Image]
xx1500002099
Secure bearing, thrust washer and cover
washer with a strap (or similar), to prevent
them from dropping out of its position.
11
Continues on next page
384
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Preparations of axis-2 before lifting the lower arm complete off
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002708
Attach a roundsling to the lower arm and
to an overhead crane (or similar), with the
robot in the current position.
2
Stretch the lifting accessories to take the
weight of the lower arm.
3
To release the brakes on axis-2, connect
the 24 VDC power supply.
4
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
385
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
![Image]
xx1500002705
Release the brakes on axis-2 and with the
help of an overhead crane, lift the lower
arm up as close as possible to calibration
position.
5
Unscrewing the axis-1 bracket
In order to protect the lower end of the cable harness, the axis-1 bracket shall be
removed with the cable harness still attached to it.
Note
There is no need to disconnect the motor cables to axis-1, 2 and 3 motors or to
the SMB unit.
Note
Action
![Image]
xx1500002372
Unscrew the attachment screws that secure
the axis-1 bracket. Leave the cables at-
tached!
Note
This is done to facilitate the removal of the
cable harness in the base.
1
Remove the cable harness in the base.
2
Continues on next page
386
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 386
|
Preparations of axis-2 before lifting the lower arm complete off
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002708
Attach a roundsling to the lower arm and
to an overhead crane (or similar), with the
robot in the current position.
2
Stretch the lifting accessories to take the
weight of the lower arm.
3
To release the brakes on axis-2, connect
the 24 VDC power supply.
4
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
385
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
![Image]
xx1500002705
Release the brakes on axis-2 and with the
help of an overhead crane, lift the lower
arm up as close as possible to calibration
position.
5
Unscrewing the axis-1 bracket
In order to protect the lower end of the cable harness, the axis-1 bracket shall be
removed with the cable harness still attached to it.
Note
There is no need to disconnect the motor cables to axis-1, 2 and 3 motors or to
the SMB unit.
Note
Action
![Image]
xx1500002372
Unscrew the attachment screws that secure
the axis-1 bracket. Leave the cables at-
tached!
Note
This is done to facilitate the removal of the
cable harness in the base.
1
Remove the cable harness in the base.
2
Continues on next page
386
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Preparations of axis-3 before lifting away the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002707
Attach a roundsling to the parallel arm and
to an overhead crane (or similar).
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Stretch the lifting accessories to take the
weight of the parallel arm.
3
To release the brakes on axis-3, connect
the 24 VDC power supply.
4
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
387
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 387
|
Note
Action
![Image]
![Image]
xx1500002705
Release the brakes on axis-2 and with the
help of an overhead crane, lift the lower
arm up as close as possible to calibration
position.
5
Unscrewing the axis-1 bracket
In order to protect the lower end of the cable harness, the axis-1 bracket shall be
removed with the cable harness still attached to it.
Note
There is no need to disconnect the motor cables to axis-1, 2 and 3 motors or to
the SMB unit.
Note
Action
![Image]
xx1500002372
Unscrew the attachment screws that secure
the axis-1 bracket. Leave the cables at-
tached!
Note
This is done to facilitate the removal of the
cable harness in the base.
1
Remove the cable harness in the base.
2
Continues on next page
386
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Preparations of axis-3 before lifting away the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002707
Attach a roundsling to the parallel arm and
to an overhead crane (or similar).
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Stretch the lifting accessories to take the
weight of the parallel arm.
3
To release the brakes on axis-3, connect
the 24 VDC power supply.
4
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
387
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
![Image]
xx1500002706
Use caution, release the brakes on the axis-
3 and lift the parallel arm up as close as
possible against the lower arm.
5
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
Secure the parallel arm to the lower arm
with a Endless ratchet lashing belt.
6
With the brakes still released on axis-3, use
the ratchet belt and manually move the
parallel arm the last bit against the lower
arm.
7
Secure with the ratchet belt.
Remove the 24 VDC power supply.
8
Remove the lifting accessory from the par-
allel arm.
9
Continues on next page
388
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 388
|
Preparations of axis-3 before lifting away the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002707
Attach a roundsling to the parallel arm and
to an overhead crane (or similar).
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Stretch the lifting accessories to take the
weight of the parallel arm.
3
To release the brakes on axis-3, connect
the 24 VDC power supply.
4
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
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387
3HAC052853-001 Revision: D
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4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
![Image]
xx1500002706
Use caution, release the brakes on the axis-
3 and lift the parallel arm up as close as
possible against the lower arm.
5
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
Secure the parallel arm to the lower arm
with a Endless ratchet lashing belt.
6
With the brakes still released on axis-3, use
the ratchet belt and manually move the
parallel arm the last bit against the lower
arm.
7
Secure with the ratchet belt.
Remove the 24 VDC power supply.
8
Remove the lifting accessory from the par-
allel arm.
9
Continues on next page
388
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
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389
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 389
|
Note
Action
![Image]
![Image]
xx1500002706
Use caution, release the brakes on the axis-
3 and lift the parallel arm up as close as
possible against the lower arm.
5
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
Secure the parallel arm to the lower arm
with a Endless ratchet lashing belt.
6
With the brakes still released on axis-3, use
the ratchet belt and manually move the
parallel arm the last bit against the lower
arm.
7
Secure with the ratchet belt.
Remove the 24 VDC power supply.
8
Remove the lifting accessory from the par-
allel arm.
9
Continues on next page
388
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
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389
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Removing the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
![Image]
![Image]
xx1500002733
Make sure that the lower arm complete is
attached to the lifting accessories.
1
Continues on next page
390
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 390
|
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
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389
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Removing the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
![Image]
![Image]
xx1500002733
Make sure that the lower arm complete is
attached to the lifting accessories.
1
Continues on next page
390
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Make absolutely sure that the parallel arm
is secured against the lower arm with a
ratchet lashing belt.
2
Unscrew the remaining attachment screws
that secure the lower arm to the axis-2
gearbox and the parallel arm to the axis-3
gearbox.
3
Crowbar (small)
Use a Crowbar (small) (or similar), and
press the lower arm and parallel arm togeth-
er as much as possible.
4
![Image]
xx1500002700
Use caution and lift the lower arm complete
off.
5
Pallet (2 pcs)
![Image]
xx1500002701
Put the complete lower arm down on two
pallets.
Tip
Put a piece of wood underneath the lower
arm to avoid the plastic cover, fitted on the
calibration surface, from being damaged.
6
Remove the lifting accessories.
7
Continues on next page
Product manual - IRB 8700
391
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 391
|
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Removing the lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
![Image]
![Image]
xx1500002733
Make sure that the lower arm complete is
attached to the lifting accessories.
1
Continues on next page
390
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Make absolutely sure that the parallel arm
is secured against the lower arm with a
ratchet lashing belt.
2
Unscrew the remaining attachment screws
that secure the lower arm to the axis-2
gearbox and the parallel arm to the axis-3
gearbox.
3
Crowbar (small)
Use a Crowbar (small) (or similar), and
press the lower arm and parallel arm togeth-
er as much as possible.
4
![Image]
xx1500002700
Use caution and lift the lower arm complete
off.
5
Pallet (2 pcs)
![Image]
xx1500002701
Put the complete lower arm down on two
pallets.
Tip
Put a piece of wood underneath the lower
arm to avoid the plastic cover, fitted on the
calibration surface, from being damaged.
6
Remove the lifting accessories.
7
Continues on next page
Product manual - IRB 8700
391
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Refitting the lower arm complete
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm, lower arm and frame.
1
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
392
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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|
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| 392
|
Note
Action
DANGER
Make absolutely sure that the parallel arm
is secured against the lower arm with a
ratchet lashing belt.
2
Unscrew the remaining attachment screws
that secure the lower arm to the axis-2
gearbox and the parallel arm to the axis-3
gearbox.
3
Crowbar (small)
Use a Crowbar (small) (or similar), and
press the lower arm and parallel arm togeth-
er as much as possible.
4
![Image]
xx1500002700
Use caution and lift the lower arm complete
off.
5
Pallet (2 pcs)
![Image]
xx1500002701
Put the complete lower arm down on two
pallets.
Tip
Put a piece of wood underneath the lower
arm to avoid the plastic cover, fitted on the
calibration surface, from being damaged.
6
Remove the lifting accessories.
7
Continues on next page
Product manual - IRB 8700
391
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Refitting the lower arm complete
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm, lower arm and frame.
1
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
392
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Refitting the lower arm complete - step 1
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Find the hole pattern between lower arm
and axis-2 gearbox, as well as between
parallel arm and axis-3 gearbox. Make sure
that all reachable screwholes will match,
before refitting the attachment screws.
Tip
Use caution and release the brakes if the
hole pattern is not matching.
1
Attachment screws: M16x70 12.9 Gleitmo
Refit attachment screws in all holes pos-
sible to reach in this position.
Note
Make sure not to torque the screws until
all screws match.
2
Tightening torque: 300 Nm
Secure the attachment screws.
3
Remove the endless ratchet lashing belt.
4
Continues on next page
Product manual - IRB 8700
393
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 393
|
Refitting the lower arm complete
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm, lower arm and frame.
1
Attaching lifting accessories, lower arm complete
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
DANGER
Make sure that the parallel arm is secured
to the lower arm with an Endless ratchet
lashing belt to prevent the parallel arm from
falling down uncontrolled, when the lower
arm complete is lifted up.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
3
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
![Image]
![Image]
xx1500002739
Use caution and lift the lower arm complete
up to a vertical position.
4
Continues on next page
392
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Refitting the lower arm complete - step 1
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Find the hole pattern between lower arm
and axis-2 gearbox, as well as between
parallel arm and axis-3 gearbox. Make sure
that all reachable screwholes will match,
before refitting the attachment screws.
Tip
Use caution and release the brakes if the
hole pattern is not matching.
1
Attachment screws: M16x70 12.9 Gleitmo
Refit attachment screws in all holes pos-
sible to reach in this position.
Note
Make sure not to torque the screws until
all screws match.
2
Tightening torque: 300 Nm
Secure the attachment screws.
3
Remove the endless ratchet lashing belt.
4
Continues on next page
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393
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
394
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 394
|
Note
Action
![Image]
xx1500002700
Use caution and move the lower arm com-
plete into mounting position.
5
Refitting the lower arm complete - step 1
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Find the hole pattern between lower arm
and axis-2 gearbox, as well as between
parallel arm and axis-3 gearbox. Make sure
that all reachable screwholes will match,
before refitting the attachment screws.
Tip
Use caution and release the brakes if the
hole pattern is not matching.
1
Attachment screws: M16x70 12.9 Gleitmo
Refit attachment screws in all holes pos-
sible to reach in this position.
Note
Make sure not to torque the screws until
all screws match.
2
Tightening torque: 300 Nm
Secure the attachment screws.
3
Remove the endless ratchet lashing belt.
4
Continues on next page
Product manual - IRB 8700
393
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
394
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
395
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 395
|
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
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
Continues on next page
394
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
395
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
396
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 396
|
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
395
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
396
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
397
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 397
|
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
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
Continues on next page
396
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
397
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
398
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 398
|
Note
Action
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
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
Continues on next page
Product manual - IRB 8700
397
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
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
Continues on next page
398
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
![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
Continues on next page
Product manual - IRB 8700
399
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 399
|
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
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
Continues on next page
398
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
![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
Continues on next page
Product manual - IRB 8700
399
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
400
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 400
|
Note
Action
![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
![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
Continues on next page
Product manual - IRB 8700
399
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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
Continues on next page
400
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
401
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 401
|
Note
Action
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
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
Continues on next page
400
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
401
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
![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
Continues on next page
402
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 402
|
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
401
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
![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
Continues on next page
402
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
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
Continues on next page
Product manual - IRB 8700
403
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 403
|
Note
Action
![Image]
xx1600000084
Inspect sealing ring.
2
![Image]
xx1600000084
Refit sealing ring.
3
![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
Continues on next page
402
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
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
Continues on next page
Product manual - IRB 8700
403
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
![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
Continues on next page
404
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 404
|
Note
Action
Loctite 243
![Image]
xx1600000192
Apply locking liquid on the threads and refit
the KM nut.
7
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
Continues on next page
Product manual - IRB 8700
403
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
![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
Continues on next page
404
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Refitting the cable harness in the lower arm
Note
Action
Run the cable harness up through the lower
arm.
1
Note
Make sure the cable harness is rotated one
revolution between the upper and lower
bracket inside the lower arm, when refitted.
2
Continues on next page
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405
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 405
|
Note
Action
![Image]
xx1600000083
Inspect the pre-mounted gamma sealing
on the KM nut.
2
![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
Continues on next page
404
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4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
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
Refitting the cable harness in the lower arm
Note
Action
Run the cable harness up through the lower
arm.
1
Note
Make sure the cable harness is rotated one
revolution between the upper and lower
bracket inside the lower arm, when refitted.
2
Continues on next page
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405
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Screws M6x16 (4 pcs)
![Image]
xx1500002695
Refit the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
3
![Image]
xx1600000075
Refit upper and lower cable guides.
4
The figure show the positions of the cable
guides.
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
Continues on next page
406
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 406
|
Note
Action
![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
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
Refitting the cable harness in the lower arm
Note
Action
Run the cable harness up through the lower
arm.
1
Note
Make sure the cable harness is rotated one
revolution between the upper and lower
bracket inside the lower arm, when refitted.
2
Continues on next page
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405
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Screws M6x16 (4 pcs)
![Image]
xx1500002695
Refit the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
3
![Image]
xx1600000075
Refit upper and lower cable guides.
4
The figure show the positions of the cable
guides.
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
Continues on next page
406
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
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
Continues on next page
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407
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 407
|
Note
Action
Screws M6x16 (4 pcs)
![Image]
xx1500002695
Refit the two cable brackets inside the
lower arm.
Note
The screws are reached from the outside.
3
![Image]
xx1600000075
Refit upper and lower cable guides.
4
The figure show the positions of the cable
guides.
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
Continues on next page
406
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
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
Continues on next page
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407
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
![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
408
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 408
|
Note
Action
Nut: M6
![Image]
xx1500002720
Refit the cable clamp inside the upper arm.
Note
The nut is attached from the outside.
2
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
Continues on next page
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407
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
![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
408
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
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409
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 409
|
Note
Action
![Image]
xx1500003093
Secure the cable harness with a cable tie.
6
![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
408
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
409
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
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.
Note
Make sure the o-ring is properly fitted and
undamaged.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
410
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 410
|
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
409
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
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.
Note
Make sure the o-ring is properly fitted and
undamaged.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
410
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
411
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 411
|
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
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.
Note
Make sure the o-ring is properly fitted and
undamaged.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
410
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
411
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
412
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 412
|
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
411
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
412
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
413
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 413
|
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
412
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
413
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
414
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 414
|
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
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413
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
414
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
415
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 415
|
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
414
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
415
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Refitting the lower arm complete - step 2
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Turn on the power and jog the robot to the spe-
cified position:
•
Axis-2: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis-2: +20
•
Axis-3: 0
•
Axis-4: 0
•
Axis-5: 0
•
Axis-6: No significance
1
Refit the remaining screws that secure the lower
arm and parallel arm to the axis-2 and axis-3
gearboxes.
2
Attachment screws: M16x70 12.9
Gleitmo
Secure the attachment screws.
3
Tightening torque: 300 Nm
Continues on next page
416
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 416
|
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
415
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Refitting the lower arm complete - step 2
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Turn on the power and jog the robot to the spe-
cified position:
•
Axis-2: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis-2: +20
•
Axis-3: 0
•
Axis-4: 0
•
Axis-5: 0
•
Axis-6: No significance
1
Refit the remaining screws that secure the lower
arm and parallel arm to the axis-2 and axis-3
gearboxes.
2
Attachment screws: M16x70 12.9
Gleitmo
Secure the attachment screws.
3
Tightening torque: 300 Nm
Continues on next page
416
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
![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
Continues on next page
Product manual - IRB 8700
417
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 417
|
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
Refitting the lower arm complete - step 2
The lower arm complete consists of lower arm and parallel arm together.
Note
Action
Turn on the power and jog the robot to the spe-
cified position:
•
Axis-2: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis-2: +20
•
Axis-3: 0
•
Axis-4: 0
•
Axis-5: 0
•
Axis-6: No significance
1
Refit the remaining screws that secure the lower
arm and parallel arm to the axis-2 and axis-3
gearboxes.
2
Attachment screws: M16x70 12.9
Gleitmo
Secure the attachment screws.
3
Tightening torque: 300 Nm
Continues on next page
416
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
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
![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
Continues on next page
Product manual - IRB 8700
417
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Refitting the parallel rod, lower end
Note
Action
![Image]
xx1500001965
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
CAUTION
The parallel rod weighs 55 kg.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the parallel rod and
to an overhead crane (or similar).
3
Continues on next page
418
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 418
|
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
![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
Continues on next page
Product manual - IRB 8700
417
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Refitting the parallel rod, lower end
Note
Action
![Image]
xx1500001965
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
CAUTION
The parallel rod weighs 55 kg.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the parallel rod and
to an overhead crane (or similar).
3
Continues on next page
418
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002745
Use caution, stretch the roundsling and lift
the parallel rod into mounting position.
4
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
5
![Image]
xx1500002098
Thrust washer
Left side
Cover washer
Right side
Make sure that the thrust washer and cover
washer on either side of the bearing, are
in position.
Note
Make sure that the washers are on the
correct sides of the bearing.
6
![Image]
xx1500002301
Apply some grease on the shafts and in
the holes on both sides of parallel arm, as
well as in the bearing hole.
7
Continues on next page
Product manual - IRB 8700
419
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 419
|
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Refitting the parallel rod, lower end
Note
Action
![Image]
xx1500001965
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
CAUTION
The parallel rod weighs 55 kg.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the parallel rod and
to an overhead crane (or similar).
3
Continues on next page
418
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500002745
Use caution, stretch the roundsling and lift
the parallel rod into mounting position.
4
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
5
![Image]
xx1500002098
Thrust washer
Left side
Cover washer
Right side
Make sure that the thrust washer and cover
washer on either side of the bearing, are
in position.
Note
Make sure that the washers are on the
correct sides of the bearing.
6
![Image]
xx1500002301
Apply some grease on the shafts and in
the holes on both sides of parallel arm, as
well as in the bearing hole.
7
Continues on next page
Product manual - IRB 8700
419
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001969
Use caution and press the shaft in.
8
![Image]
xx1500001968
Refit the protection plug.
9
Attachment screw: M10x16 8.8
Apply locking liquid on the screw and se-
cure the shaft.
10
Loctite 243
![Image]
xx1500001966
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
Continues on next page
420
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 420
|
Note
Action
![Image]
xx1500002745
Use caution, stretch the roundsling and lift
the parallel rod into mounting position.
4
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
5
![Image]
xx1500002098
Thrust washer
Left side
Cover washer
Right side
Make sure that the thrust washer and cover
washer on either side of the bearing, are
in position.
Note
Make sure that the washers are on the
correct sides of the bearing.
6
![Image]
xx1500002301
Apply some grease on the shafts and in
the holes on both sides of parallel arm, as
well as in the bearing hole.
7
Continues on next page
Product manual - IRB 8700
419
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001969
Use caution and press the shaft in.
8
![Image]
xx1500001968
Refit the protection plug.
9
Attachment screw: M10x16 8.8
Apply locking liquid on the screw and se-
cure the shaft.
10
Loctite 243
![Image]
xx1500001966
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
Continues on next page
420
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
Product manual - IRB 8700
421
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 421
|
Note
Action
![Image]
xx1500001969
Use caution and press the shaft in.
8
![Image]
xx1500001968
Refit the protection plug.
9
Attachment screw: M10x16 8.8
Apply locking liquid on the screw and se-
cure the shaft.
10
Loctite 243
![Image]
xx1500001966
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
Continues on next page
420
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![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
Product manual - IRB 8700
421
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
422
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 422
|
Note
Action
![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
Product manual - IRB 8700
421
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
422
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
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
Product manual - IRB 8700
423
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 423
|
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
422
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
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
Product manual - IRB 8700
423
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
424
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 424
|
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
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
Product manual - IRB 8700
423
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
424
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Product manual - IRB 8700
425
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 425
|
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
424
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Product manual - IRB 8700
425
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
426
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 426
|
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
Product manual - IRB 8700
425
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
426
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Product manual - IRB 8700
427
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 427
|
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
426
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Product manual - IRB 8700
427
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Robot position when refitting the counterweight
Note
Action
![Image]
xx1500002096
If not already in this position, turn on the
power and jog to a position where the area
the counterweight is fitted to the parallel
arm, is horizontal to the foundation.
1
Continues on next page
428
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 428
|
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
Product manual - IRB 8700
427
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower 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
Robot position when refitting the counterweight
Note
Action
![Image]
xx1500002096
If not already in this position, turn on the
power and jog to a position where the area
the counterweight is fitted to the parallel
arm, is horizontal to the foundation.
1
Continues on next page
428
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the counterweight
Note
Action
CAUTION
The counter weight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500002087
Attach lifting eyes, if not already done.
2
Lifting accessory chain (with four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
3
Stretch the lifting accessory to take the
weight of the counterweight.
4
Flange sealant: Loctite 574
![Image]
xx1600000049
Apply flange sealant (Loctite 574) on the
contact surface between parallel arm and
counterweight,
5
Continues on next page
Product manual - IRB 8700
429
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 429
|
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
Robot position when refitting the counterweight
Note
Action
![Image]
xx1500002096
If not already in this position, turn on the
power and jog to a position where the area
the counterweight is fitted to the parallel
arm, is horizontal to the foundation.
1
Continues on next page
428
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the counterweight
Note
Action
CAUTION
The counter weight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500002087
Attach lifting eyes, if not already done.
2
Lifting accessory chain (with four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
3
Stretch the lifting accessory to take the
weight of the counterweight.
4
Flange sealant: Loctite 574
![Image]
xx1600000049
Apply flange sealant (Loctite 574) on the
contact surface between parallel arm and
counterweight,
5
Continues on next page
Product manual - IRB 8700
429
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001982
Use caution and lift the counterweight up
onto the parallel arm.
6
Attachment screws: M16x70 Gleitmo (10
pcs)
Fit attachment screws with washers and
secure the counterweight to the parallel
arm.
7
Tightening torque: 300 Nm
![Image]
xx1500001981
Remove lifting accessories; lifting chains
and the lifting eyes.
8
![Image]
xx1500001980
If used, refit the plastic plugs in the holes
for the lifting eyes.
9
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 .
Continues on next page
430
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 430
|
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the counterweight
Note
Action
CAUTION
The counter weight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
![Image]
xx1500002087
Attach lifting eyes, if not already done.
2
Lifting accessory chain (with four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
3
Stretch the lifting accessory to take the
weight of the counterweight.
4
Flange sealant: Loctite 574
![Image]
xx1600000049
Apply flange sealant (Loctite 574) on the
contact surface between parallel arm and
counterweight,
5
Continues on next page
Product manual - IRB 8700
429
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
![Image]
xx1500001982
Use caution and lift the counterweight up
onto the parallel arm.
6
Attachment screws: M16x70 Gleitmo (10
pcs)
Fit attachment screws with washers and
secure the counterweight to the parallel
arm.
7
Tightening torque: 300 Nm
![Image]
xx1500001981
Remove lifting accessories; lifting chains
and the lifting eyes.
8
![Image]
xx1500001980
If used, refit the plastic plugs in the holes
for the lifting eyes.
9
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 .
Continues on next page
430
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
431
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 431
|
Note
Action
![Image]
xx1500001982
Use caution and lift the counterweight up
onto the parallel arm.
6
Attachment screws: M16x70 Gleitmo (10
pcs)
Fit attachment screws with washers and
secure the counterweight to the parallel
arm.
7
Tightening torque: 300 Nm
![Image]
xx1500001981
Remove lifting accessories; lifting chains
and the lifting eyes.
8
![Image]
xx1500001980
If used, refit the plastic plugs in the holes
for the lifting eyes.
9
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 .
Continues on next page
430
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
Note
Action
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
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431
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
4.5.7 Replacing the parallel arm
Location of the parallel arm
The parallel arm is located as shown in the figure.
![Image]
xx1500002062
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
3HAC049074-003
Parallel arm
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
432
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
|
ABB_IRB8700_Product_Manual.pdf
|
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| 432
|
Note
Action
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
431
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.6 Replacing the complete lower arm
Continued
4.5.7 Replacing the parallel arm
Location of the parallel arm
The parallel arm is located as shown in the figure.
![Image]
xx1500002062
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
3HAC049074-003
Parallel arm
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
432
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Note
Article number
Equipment, etc.
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M10x50
Fully threaded
-
Screw M16x80
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051101-001
Assembly tool, press plate
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051099-001
Anvil
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC12348-9
Adjustment nut
Used on parallel arm for assembly of:
•
lower arm and parallel arm
3HAC051097-001
Center disc
Used to disassemble and assemble the
parallel arm
3HACXXXXXX-XXX
Press tool
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
Continues on next page
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433
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 433
|
4.5.7 Replacing the parallel arm
Location of the parallel arm
The parallel arm is located as shown in the figure.
![Image]
xx1500002062
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
3HAC049074-003
Parallel arm
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Continues on next page
432
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Note
Article number
Equipment, etc.
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M10x50
Fully threaded
-
Screw M16x80
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051101-001
Assembly tool, press plate
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051099-001
Anvil
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC12348-9
Adjustment nut
Used on parallel arm for assembly of:
•
lower arm and parallel arm
3HAC051097-001
Center disc
Used to disassemble and assemble the
parallel arm
3HACXXXXXX-XXX
Press tool
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
Continues on next page
Product manual - IRB 8700
433
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Article number
Equipment, etc.
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Molykote 1000
Cable ties
Mercasol 3110 Waxcoat
Corrosion protection
Tribol GR 100-0 PD
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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.
Continues on next page
434
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 434
|
Note
Article number
Equipment, etc.
Used to holding parallel rod in position.
-
Fixing screw, M10x50 (4 pcs)
Fully threaded
-
Screw M10x50
Fully threaded
-
Screw M16x80
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Lifting capacity: 2,000 kg
-
Roundsling 2 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
M16
3HAC14457-4
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
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051101-001
Assembly tool, press plate
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC051099-001
Anvil
Used on parallel arm for assembly of:
•
bearings
•
lower arm and parallel arm
3HAC12348-9
Adjustment nut
Used on parallel arm for assembly of:
•
lower arm and parallel arm
3HAC051097-001
Center disc
Used to disassemble and assemble the
parallel arm
3HACXXXXXX-XXX
Press tool
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
Continues on next page
Product manual - IRB 8700
433
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Article number
Equipment, etc.
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Molykote 1000
Cable ties
Mercasol 3110 Waxcoat
Corrosion protection
Tribol GR 100-0 PD
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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.
Continues on next page
434
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the parallel arm
Use these procedures to remove the parallel 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
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
435
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 435
|
Note
Article number
Equipment, etc.
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
Used to secure the parallel arm against
the lower arm
-
Endless ratchet lashing belt
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Molykote 1000
Cable ties
Mercasol 3110 Waxcoat
Corrosion protection
Tribol GR 100-0 PD
Bearing grease
Loctite 243
Locking liquid
Isopropanol
Scotch-brite abrasive cleaning
hand pad
Scotch-brite
Glycerine
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.
Continues on next page
434
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the parallel arm
Use these procedures to remove the parallel 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
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
435
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
Continues on next page
436
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 436
|
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the parallel arm
Use these procedures to remove the parallel 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
Robot position when removing the counterweight
Note
Action
![Image]
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the counterweight
Note
Action
CAUTION
The counterweight weighs 1200 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
435
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
Continues on next page
436
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
Product manual - IRB 8700
437
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 437
|
Note
Action
![Image]
xx1500001980
If used, remove the plastic plugs covering
the holes for the lifting eyes.
Note
Keep the plastic plugs. They shall be refit-
ted.
2
Lifting eye: M16 3HAC14457-4 (4 pcs)
![Image]
xx1500002087
Attach lifting eyes.
3
Lifting accessory (four chains)
Attach the lifting accessory chain (with four
chains), to the lifting eyes.
4
Stretch the lifting accessory to take the
weight of the counterweight.
5
Attachment screws: M16x70 (10 pcs)
![Image]
xx1500001981
Unscrew the attachment screws with
washers, that hold the counterweight.
6
Continues on next page
436
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
Product manual - IRB 8700
437
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
438
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 438
|
Note
Action
![Image]
xx1500001982
Use caution, lift the counterweight off.
7
![Image]
xx1500002095
CAUTION
The counterweight will start to lean back-
wards when laying it down, before it is
resting on the floor.
8
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
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437
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
438
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Product manual - IRB 8700
439
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 439
|
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
438
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Product manual - IRB 8700
439
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
440
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 440
|
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
Product manual - IRB 8700
439
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
440
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Product manual - IRB 8700
441
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 441
|
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
440
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Product manual - IRB 8700
441
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
442
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 442
|
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
Product manual - IRB 8700
441
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
442
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
Product manual - IRB 8700
443
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 443
|
Robot position when removing screws in the first area
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws, that secure the axis-2 gearbox to the lower arm and the
axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +30°
•
Axis 3: -20°
•
Axis 4: 0°
•
Axis 5: 0°
•
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
Removing the attachment screws in the first area
Remove attachment screws in the first of the three areas of screws. Remove screws
that secure the axis-2 gearbox to the lower arm, as well as the ones that secure
the axis-3 gearbox to the parallel arm.
Note
Action
Unscrew and remove screws, that secure
the axis-2 gearbox to the lower arm, now
possible to reach.
1
Unscrew and remove screws, that secure
the axis-3 gearbox to the parallel arm, now
possible to reach.
2
Continues on next page
442
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
Product manual - IRB 8700
443
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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]
xx1500002330
Remove the wrist cover.
Note
Do not damage the sealing. Replace if damaged.
2
![Image]
xx1500002331
Cut the cable tie that secure the axis-5 motor
cable to the cable fixing bracket.
3
Continues on next page
444
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 444
|
Unscrewing the brackets that secure cable harness in lower arm
Note
Action
![Image]
xx1500002694
In order to be able to remove the cable
harness, it is necessary to unscrew the two
brackets inside the lower arm at this stage.
It will be very difficult to reach the bracket
screws after the position of the robot is
changed.
1
![Image]
xx1500002695
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
Note
The screws are reached from the outside.
2
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
Continues on next page
Product manual - IRB 8700
443
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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]
xx1500002330
Remove the wrist cover.
Note
Do not damage the sealing. Replace if damaged.
2
![Image]
xx1500002331
Cut the cable tie that secure the axis-5 motor
cable to the cable fixing bracket.
3
Continues on next page
444
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
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
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
Continues on next page
Product manual - IRB 8700
445
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 445
|
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
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]
xx1500002330
Remove the wrist cover.
Note
Do not damage the sealing. Replace if damaged.
2
![Image]
xx1500002331
Cut the cable tie that secure the axis-5 motor
cable to the cable fixing bracket.
3
Continues on next page
444
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
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
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
Continues on next page
Product manual - IRB 8700
445
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
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
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
Continues on next page
446
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 446
|
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
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
Continues on next page
Product manual - IRB 8700
445
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
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
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
Continues on next page
446
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
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
Product manual - IRB 8700
447
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
|
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