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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
| 447
|
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
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
448
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
| 448
|
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
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
448
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
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
Product manual - IRB 8700
449
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
| 449
|
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
448
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
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
Product manual - IRB 8700
449
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
450
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
| 450
|
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
Product manual - IRB 8700
449
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
450
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]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
451
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
| 451
|
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
450
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]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
451
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
452
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
| 452
|
Note
Action
![Image]
xx1300000488
Disconnect the motor cables.
4
![Image]
xx1300000484
Unscrew the attachment screws holding
the cable bracket.
5
![Image]
xx1300000485
Unscrew the screw holding the carrier.
Note
The screw is located at the bottom of the
carrier.
6
Continues on next page
Product manual - IRB 8700
451
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
452
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]
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
Product manual - IRB 8700
453
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
| 453
|
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
452
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]
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
Product manual - IRB 8700
453
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with washers and
remove the motor cover.
2
![Image]
xx1200001070
Make sure the o-ring is present.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket.
Note
Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
454
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
| 454
|
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
Product manual - IRB 8700
453
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with washers and
remove the motor cover.
2
![Image]
xx1200001070
Make sure the o-ring is present.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket.
Note
Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
454
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 cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
Product manual - IRB 8700
455
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
| 455
|
Note
Action
![Image]
xx1200001135
Unscrew the attachment screws with washers and
remove the motor cover.
2
![Image]
xx1200001070
Make sure the o-ring is present.
3
![Image]
xx1200001066
Disconnect the motor cables.
4
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket.
Note
Replace if damaged.
Tip
Make a note in which direction the cable exit hole
is facing, if the motor will be removed too. The
motor shall be refitted in the same position.
5
Use caution and pull out the motor cables.
6
Continues on next page
454
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 cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
Product manual - IRB 8700
455
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
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
Continues on next page
456
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
| 456
|
Removing the cable harness in the upper arm
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002718
Unscrew the screw that hold the cable
clamp.
2
![Image]
xx1500002719
Remove the protection cover. Make sure
not to damage the surface exposed.
3
![Image]
xx1500002720
Unscrew the nut holding the bracket inside
the upper arm.
Note
The nut is reached from the outside.
4
Continues on next page
Product manual - IRB 8700
455
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
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
Continues on next page
456
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]
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
457
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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|
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| 457
|
Note
Action
![Image]
![Image]
xx1500002721
Cut the cable tie.
5
![Image]
xx1500002722
Unscrew the screws that secure the cover.
6
![Image]
xx1500002723
Remove the cover.
7
Use caution and remove the cable harness
out of the upper arm.
8
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
Continues on next page
456
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]
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
457
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
458
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
|
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| 458
|
Note
Action
![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
457
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
458
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]
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
459
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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ABB_IRB8700_Product_Manual.pdf
|
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| 459
|
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
458
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]
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
459
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
460
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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
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ABB_IRB8700_Product_Manual.pdf
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| 460
|
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
459
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
460
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]
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
461
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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| 461
|
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
460
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]
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
461
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, 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
462
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
|
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| 462
|
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
461
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, 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
462
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]
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
463
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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| 463
|
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
462
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]
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
463
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
464
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
|
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| 464
|
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
463
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
464
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
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
465
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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| 465
|
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
464
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
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
465
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
466
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
|
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| 466
|
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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465
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
466
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4 Repair
4.5.7 Replacing the parallel 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
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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
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ABB_IRB8700_Product_Manual.pdf
|
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| 467
|
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
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
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467
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
468
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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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| 468
|
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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467
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
468
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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
Attaching lifting accessories to lower arm complete - removal
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
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
Continues on next page
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469
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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| 469
|
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
468
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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
Attaching lifting accessories to lower arm complete - removal
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
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
Continues on next page
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469
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4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002733
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
3
Continues on next page
470
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3HAC052853-001 Revision: D
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4 Repair
4.5.7 Replacing the parallel arm
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 470
|
Attaching lifting accessories to lower arm complete - removal
Note
Action
CAUTION
The lower arm complete weighs 600 kg.
All lifting accessories used must be sized
accordingly!
1
Endless ratchet lashing belt
![Image]
![Image]
xx1500002709
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
Continues on next page
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469
3HAC052853-001 Revision: D
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4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002733
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
3
Continues on next page
470
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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
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
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
Continues on next page
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471
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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| 471
|
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002733
Attach a roundsling to the lower arm com-
plete and to an overhead crane (or similar).
Attach the roundsling through the holes, in
the upper ends of the lower arm and paral-
lel arm.
3
Continues on next page
470
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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
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
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
Continues on next page
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471
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![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
Removing the parallel arm
Note
Action
Remove the ratchet lashing belt.
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Continues on next page
472
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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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| 472
|
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
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
Continues on next page
Product manual - IRB 8700
471
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![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
Removing the parallel arm
Note
Action
Remove the ratchet lashing belt.
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Continues on next page
472
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3HAC052853-001 Revision: D
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4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002734
Attach a roundsling to the parallel arm and
lift it to vertical position.
3
Press tool:
Use the press tool and disassemble the
parallel arm from the lower arm.
4
![Image]
xx1500002703
Use caution and lift the parallel arm up from
the lower arm.
5
If needed replace the bearings.
6
Refitting the parallel arm
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm and lower arm.
1
Remove residues of corrosion protection
and other contamination on the bearings.
2
Continues on next page
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473
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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ABB_IRB8700_Product_Manual.pdf
|
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| 473
|
Note
Action
![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
Removing the parallel arm
Note
Action
Remove the ratchet lashing belt.
1
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
2
Continues on next page
472
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
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002734
Attach a roundsling to the parallel arm and
lift it to vertical position.
3
Press tool:
Use the press tool and disassemble the
parallel arm from the lower arm.
4
![Image]
xx1500002703
Use caution and lift the parallel arm up from
the lower arm.
5
If needed replace the bearings.
6
Refitting the parallel arm
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm and lower arm.
1
Remove residues of corrosion protection
and other contamination on the bearings.
2
Continues on next page
Product manual - IRB 8700
473
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
For instructions how to replace bearings,
see below.
Examine the bearings for damage.
Note
Replace if damaged.
3
Mercasol
Apply corrosion protection on the outer
surface of the bearings.
4
Mercasol
Apply corrosion protection in the holes.
5
Replacing the bearings
Note
Action
Remove the bearing.
1
Remove the washer and remove all
residues of old corrosion protection and
other contamination from the washer.
2
Remove residues of old corrosion protec-
tion and other contamination on the parallel
arm shafts.
3
Wipe clean all contact surfaces from
residues of corrosion protection and other
contamination.
4
Mercasol
Apply new corrosion protection.
5
Refit the washer.
6
Press tool:
Attach the pull bar, press plate, spherical
roller bearing and dolly.
7
Hydraulic cylinder
Secure a Hydraulic cylinder with a lock nut
and press the bearings into position.
8
Lock nut:
Refitting the parallel arm
Note
Action
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Roundsling 2 m
Attach the roundsling to the parallel arm
and to an overhead crane (or similar), and
lift it up to vertical position.
2
Continues on next page
474
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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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| 474
|
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002734
Attach a roundsling to the parallel arm and
lift it to vertical position.
3
Press tool:
Use the press tool and disassemble the
parallel arm from the lower arm.
4
![Image]
xx1500002703
Use caution and lift the parallel arm up from
the lower arm.
5
If needed replace the bearings.
6
Refitting the parallel arm
Use these procedures to refit the parallel arm.
Preparations
Note
Action
Wipe clean all contact surfaces on parallel
arm and lower arm.
1
Remove residues of corrosion protection
and other contamination on the bearings.
2
Continues on next page
Product manual - IRB 8700
473
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
For instructions how to replace bearings,
see below.
Examine the bearings for damage.
Note
Replace if damaged.
3
Mercasol
Apply corrosion protection on the outer
surface of the bearings.
4
Mercasol
Apply corrosion protection in the holes.
5
Replacing the bearings
Note
Action
Remove the bearing.
1
Remove the washer and remove all
residues of old corrosion protection and
other contamination from the washer.
2
Remove residues of old corrosion protec-
tion and other contamination on the parallel
arm shafts.
3
Wipe clean all contact surfaces from
residues of corrosion protection and other
contamination.
4
Mercasol
Apply new corrosion protection.
5
Refit the washer.
6
Press tool:
Attach the pull bar, press plate, spherical
roller bearing and dolly.
7
Hydraulic cylinder
Secure a Hydraulic cylinder with a lock nut
and press the bearings into position.
8
Lock nut:
Refitting the parallel arm
Note
Action
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Roundsling 2 m
Attach the roundsling to the parallel arm
and to an overhead crane (or similar), and
lift it up to vertical position.
2
Continues on next page
474
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4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500002703
Use caution and move the parallel arm into
mounting position.
3
Press tool:
Use the press tool and assemble the paral-
lel arm and lower arm.
4
![Image]
![Image]
xx1500002737
Use caution and lower the parallel arm until
it rests on the lower arm.
5
Remove the lifting accessories.
6
Endless ratchet lashing belt
![Image]
xx1500002738
Secure the parallel arm to the lower arm
with an Endless ratchet lashing belt.
7
Continues on next page
Product manual - IRB 8700
475
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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| 475
|
Note
Action
For instructions how to replace bearings,
see below.
Examine the bearings for damage.
Note
Replace if damaged.
3
Mercasol
Apply corrosion protection on the outer
surface of the bearings.
4
Mercasol
Apply corrosion protection in the holes.
5
Replacing the bearings
Note
Action
Remove the bearing.
1
Remove the washer and remove all
residues of old corrosion protection and
other contamination from the washer.
2
Remove residues of old corrosion protec-
tion and other contamination on the parallel
arm shafts.
3
Wipe clean all contact surfaces from
residues of corrosion protection and other
contamination.
4
Mercasol
Apply new corrosion protection.
5
Refit the washer.
6
Press tool:
Attach the pull bar, press plate, spherical
roller bearing and dolly.
7
Hydraulic cylinder
Secure a Hydraulic cylinder with a lock nut
and press the bearings into position.
8
Lock nut:
Refitting the parallel arm
Note
Action
CAUTION
The parallel arm weighs 255 kg.
All lifting accessories used must be sized
accordingly!
1
Roundsling 2 m: Roundsling 2 m
Attach the roundsling to the parallel arm
and to an overhead crane (or similar), and
lift it up to vertical position.
2
Continues on next page
474
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]
xx1500002703
Use caution and move the parallel arm into
mounting position.
3
Press tool:
Use the press tool and assemble the paral-
lel arm and lower arm.
4
![Image]
![Image]
xx1500002737
Use caution and lower the parallel arm until
it rests on the lower arm.
5
Remove the lifting accessories.
6
Endless ratchet lashing belt
![Image]
xx1500002738
Secure the parallel arm to the lower arm
with an Endless ratchet lashing belt.
7
Continues on next page
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475
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
476
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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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| 476
|
Note
Action
![Image]
xx1500002703
Use caution and move the parallel arm into
mounting position.
3
Press tool:
Use the press tool and assemble the paral-
lel arm and lower arm.
4
![Image]
![Image]
xx1500002737
Use caution and lower the parallel arm until
it rests on the lower arm.
5
Remove the lifting accessories.
6
Endless ratchet lashing belt
![Image]
xx1500002738
Secure the parallel arm to the lower arm
with an Endless ratchet lashing belt.
7
Continues on next page
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475
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
476
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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]
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
![Image]
xx1500002344
The hole pattern in gearboxes and robot is
arranged in three areas.
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 screw holes will match,
before securing any of the attachment
screws.
1
Continues on next page
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477
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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| 477
|
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
476
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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]
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
![Image]
xx1500002344
The hole pattern in gearboxes and robot is
arranged in three areas.
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 screw holes will match,
before securing any of the attachment
screws.
1
Continues on next page
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477
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500002345
Release the brakes on axis-2 and find the
hole pattern between lower arm and axis-
2 gearbox.
Tip
Use caution and rotate the small gear on
the axis-2 gearbox.
2
![Image]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the outer holes
in the outer ring of holes, to make sure the
hole pattern will match.
If needed, carefully turn the small gear in
the gearbox to find the hole pattern.
3
Tightening torque: 300 Nm
Secure the attached screws that secure the
lower arm to the axis-2 gearbox.
4
![Image]
xx1500002345
Release the brakes on axis-3 and find the
hole pattern between parallel arm and axis-
3 gearbox.
Tip
Use caution and rotate the small gear on
the axis-3 gearbox.
5
Continues on next page
478
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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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| 478
|
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
![Image]
xx1500002344
The hole pattern in gearboxes and robot is
arranged in three areas.
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 screw holes will match,
before securing any of the attachment
screws.
1
Continues on next page
Product manual - IRB 8700
477
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
xx1500002345
Release the brakes on axis-2 and find the
hole pattern between lower arm and axis-
2 gearbox.
Tip
Use caution and rotate the small gear on
the axis-2 gearbox.
2
![Image]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the outer holes
in the outer ring of holes, to make sure the
hole pattern will match.
If needed, carefully turn the small gear in
the gearbox to find the hole pattern.
3
Tightening torque: 300 Nm
Secure the attached screws that secure the
lower arm to the axis-2 gearbox.
4
![Image]
xx1500002345
Release the brakes on axis-3 and find the
hole pattern between parallel arm and axis-
3 gearbox.
Tip
Use caution and rotate the small gear on
the axis-3 gearbox.
5
Continues on next page
478
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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]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the most outer
holes in the outer ring of holes, to make
sure the hole pattern will be matching. If
needed use caution and turn the small gear
in the gearbox to find the hole pattern.
6
Tightening torque: 300 Nm
Secure the attached screws that secure the
parallel arm to the axis-3 gearbox.
7
Preparations of the parallel arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002742
Attach a roundsling to the parallel arm.
1
Continues on next page
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479
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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| 479
|
Note
Action
![Image]
xx1500002345
Release the brakes on axis-2 and find the
hole pattern between lower arm and axis-
2 gearbox.
Tip
Use caution and rotate the small gear on
the axis-2 gearbox.
2
![Image]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the outer holes
in the outer ring of holes, to make sure the
hole pattern will match.
If needed, carefully turn the small gear in
the gearbox to find the hole pattern.
3
Tightening torque: 300 Nm
Secure the attached screws that secure the
lower arm to the axis-2 gearbox.
4
![Image]
xx1500002345
Release the brakes on axis-3 and find the
hole pattern between parallel arm and axis-
3 gearbox.
Tip
Use caution and rotate the small gear on
the axis-3 gearbox.
5
Continues on next page
478
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]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the most outer
holes in the outer ring of holes, to make
sure the hole pattern will be matching. If
needed use caution and turn the small gear
in the gearbox to find the hole pattern.
6
Tightening torque: 300 Nm
Secure the attached screws that secure the
parallel arm to the axis-3 gearbox.
7
Preparations of the parallel arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002742
Attach a roundsling to the parallel arm.
1
Continues on next page
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479
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
![Image]
xx1500002743
Remove the Endless ratchet lashing belt.
2
Stretch the roundsling to take the weight
of the parallel arm.
3
![Image]
![Image]
xx1500002741
Release the brakes on axis-3 and lower the
parallel arm to calibration position.
4
Continues on next page
480
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
|
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| 480
|
Note
Action
![Image]
xx1500002740
Attach as many screws as possible with
the robot in this position.
Tip
Begin by fitting screws in the most outer
holes in the outer ring of holes, to make
sure the hole pattern will be matching. If
needed use caution and turn the small gear
in the gearbox to find the hole pattern.
6
Tightening torque: 300 Nm
Secure the attached screws that secure the
parallel arm to the axis-3 gearbox.
7
Preparations of the parallel arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
![Image]
xx1500002742
Attach a roundsling to the parallel arm.
1
Continues on next page
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479
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
Note
Action
![Image]
![Image]
xx1500002743
Remove the Endless ratchet lashing belt.
2
Stretch the roundsling to take the weight
of the parallel arm.
3
![Image]
![Image]
xx1500002741
Release the brakes on axis-3 and lower the
parallel arm to calibration position.
4
Continues on next page
480
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
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
481
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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| 481
|
Note
Action
![Image]
![Image]
xx1500002743
Remove the Endless ratchet lashing belt.
2
Stretch the roundsling to take the weight
of the parallel arm.
3
![Image]
![Image]
xx1500002741
Release the brakes on axis-3 and lower the
parallel arm to calibration position.
4
Continues on next page
480
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
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
481
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
482
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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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| 482
|
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
481
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
482
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]
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
483
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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| 483
|
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
482
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]
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
483
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Continues on next page
484
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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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| 484
|
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
483
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
Continues on next page
484
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
Preparations of the lower arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002747
Attach a roundsling to the lower arm.
1
Stretch the roundsling to take the weight
of the parallel arm.
2
![Image]
![Image]
xx1500002746
Release the brakes on axis-2 and lower the
lower arm until the distance between the
dampers on the lower arm and the parallel
arm is approximately 30 mm.
3
Remove the 24 VDC power supply.
4
Remove the lifting accessories.
5
Continues on next page
Product manual - IRB 8700
485
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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| 485
|
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
Continues on next page
484
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
Preparations of the lower arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002747
Attach a roundsling to the lower arm.
1
Stretch the roundsling to take the weight
of the parallel arm.
2
![Image]
![Image]
xx1500002746
Release the brakes on axis-2 and lower the
lower arm until the distance between the
dampers on the lower arm and the parallel
arm is approximately 30 mm.
3
Remove the 24 VDC power supply.
4
Remove the lifting accessories.
5
Continues on next page
Product manual - IRB 8700
485
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
486
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
|
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| 486
|
Preparations of the lower arm before the continued refitting
Note
Action
Roundsling 2 m: Lifting capacity: 2,000 kg
![Image]
xx1500002747
Attach a roundsling to the lower arm.
1
Stretch the roundsling to take the weight
of the parallel arm.
2
![Image]
![Image]
xx1500002746
Release the brakes on axis-2 and lower the
lower arm until the distance between the
dampers on the lower arm and the parallel
arm is approximately 30 mm.
3
Remove the 24 VDC power supply.
4
Remove the lifting accessories.
5
Continues on next page
Product manual - IRB 8700
485
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
486
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
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
487
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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| 487
|
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
486
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
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
487
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
488
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
|
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| 488
|
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
487
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
488
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
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
489
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
| 489
|
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
488
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
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
489
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
490
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
| 490
|
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
489
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
490
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]
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
491
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
| 491
|
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
490
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]
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
491
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
492
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
| 492
|
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
491
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
492
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]
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
493
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
| 493
|
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
492
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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]
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
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493
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
494
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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
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ABB_IRB8700_Product_Manual.pdf
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| 494
|
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
493
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
494
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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
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
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495
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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ABB_IRB8700_Product_Manual.pdf
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| 495
|
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
494
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
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
495
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
496
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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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| 496
|
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
495
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
496
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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]
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
Product manual - IRB 8700
497
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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| 497
|
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
496
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]
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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497
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
498
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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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| 498
|
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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497
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
498
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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
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
Product manual - IRB 8700
499
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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| 499
|
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
498
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
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
Product manual - IRB 8700
499
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
500
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© 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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| 500
|
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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499
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
500
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
501
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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| 501
|
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
500
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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
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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501
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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 or the threads will be damaged.
Note
Make sure the o-ring is undamaged and
properly fitted.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
502
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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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| 502
|
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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501
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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 or the threads will be damaged.
Note
Make sure the o-ring is undamaged and
properly fitted.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
502
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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
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
503
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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| 503
|
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 or the threads will be damaged.
Note
Make sure the o-ring is undamaged and
properly fitted.
8
Make sure that the cover is tightly sealed.
9
Continues on next page
502
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
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
503
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
504
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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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| 504
|
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
503
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
504
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]
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
505
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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| 505
|
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
504
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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]
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
505
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
506
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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
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ABB_IRB8700_Product_Manual.pdf
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| 506
|
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
505
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
506
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
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
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507
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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| 507
|
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
506
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
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
507
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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 remaining screws securing 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
specified position:
•
Axis-2: No significance (as long as
the robot is secured to the founda-
tion)
•
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
Tightening torque: 300 Nm
Secure the attachment screws.
3
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
508
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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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| 508
|
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
507
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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 remaining screws securing 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
specified position:
•
Axis-2: No significance (as long as
the robot is secured to the founda-
tion)
•
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
Tightening torque: 300 Nm
Secure the attachment screws.
3
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
508
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]
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
509
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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| 509
|
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 remaining screws securing 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
specified position:
•
Axis-2: No significance (as long as
the robot is secured to the founda-
tion)
•
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
Tightening torque: 300 Nm
Secure the attachment screws.
3
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
508
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]
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
509
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
510
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
|
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| 510
|
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
509
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
510
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
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
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511
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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| 511
|
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
510
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
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
511
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
512
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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
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 512
|
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
511
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
512
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
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
513
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
| 513
|
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
512
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
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
513
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
514
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
|
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| 514
|
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
513
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
514
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
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
515
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
| 515
|
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
514
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
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
515
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
516
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
| 516
|
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
515
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel 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
516
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
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
517
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
| 517
|
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
516
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
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
517
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 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
518
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
| 518
|
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
517
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 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
518
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
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
519
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
| 519
|
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
518
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
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
519
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
4.6 Frame and base
4.6.1 Replacing the counterweight
Location of the counterweight
The counterweight is located as shown in the figure.
![Image]
xx1500001977
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
3HAC048154-004
Counterweight
Continues on next page
520
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
|
ABB_IRB8700_Product_Manual.pdf
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| 520
|
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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519
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
4.6 Frame and base
4.6.1 Replacing the counterweight
Location of the counterweight
The counterweight is located as shown in the figure.
![Image]
xx1500001977
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
3HAC048154-004
Counterweight
Continues on next page
520
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Required tools and equipment
Note
Article number
Equipment, etc.
M16
3HAC14457-4
Lifting eye
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Flange sealant
Loctite 574
Removing the counterweight
Use these procedures to remove the counterweight.
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
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521
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 521
|
4.6 Frame and base
4.6.1 Replacing the counterweight
Location of the counterweight
The counterweight is located as shown in the figure.
![Image]
xx1500001977
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
3HAC048154-004
Counterweight
Continues on next page
520
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Required tools and equipment
Note
Article number
Equipment, etc.
M16
3HAC14457-4
Lifting eye
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Flange sealant
Loctite 574
Removing the counterweight
Use these procedures to remove the counterweight.
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
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521
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
522
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 522
|
Required tools and equipment
Note
Article number
Equipment, etc.
M16
3HAC14457-4
Lifting eye
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumables
Flange sealant
Loctite 574
Removing the counterweight
Use these procedures to remove the counterweight.
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
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521
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
522
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
Refitting the counterweight
Use these procedures to refit the counterweight.
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
Product manual - IRB 8700
523
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 523
|
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
522
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
Refitting the counterweight
Use these procedures to refit the counterweight.
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
Product manual - IRB 8700
523
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
524
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 524
|
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
Refitting the counterweight
Use these procedures to refit the counterweight.
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
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523
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
524
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
Product manual - IRB 8700
525
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 525
|
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
524
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
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
Product manual - IRB 8700
525
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
4.6.2 Replacing the mechanichal stop pin
Location of the mechanical stop pin
The mechanical stop pin is located as shown in the figure.
![Image]
xx1500002077
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
3HAC048180-001
Mechanical stop pin
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Continues on next page
526
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
|
ABB_IRB8700_Product_Manual.pdf
|
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| 526
|
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
Product manual - IRB 8700
525
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.1 Replacing the counterweight
Continued
4.6.2 Replacing the mechanichal stop pin
Location of the mechanical stop pin
The mechanical stop pin is located as shown in the figure.
![Image]
xx1500002077
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
3HAC048180-001
Mechanical stop pin
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Continues on next page
526
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 243
3HAB7116-1
Locking liquid
Mercasol
Corrosion protection
Removing the mechanical stop pin
Use these procedures to remove the mechanical stop pin.
Robot position when replacing the mechanical stop pin
Note
Action
![Image]
xx1500002093
Jog axis-1 to the position where it is pos-
sible to replace the mechanical stop pin.
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 mechanical stop pin
Note
Action
CAUTION
The mechanical stop pin weighs 13 kg.
1
Continues on next page
Product manual - IRB 8700
527
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 527
|
4.6.2 Replacing the mechanichal stop pin
Location of the mechanical stop pin
The mechanical stop pin is located as shown in the figure.
![Image]
xx1500002077
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
3HAC048180-001
Mechanical stop pin
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Continues on next page
526
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 243
3HAB7116-1
Locking liquid
Mercasol
Corrosion protection
Removing the mechanical stop pin
Use these procedures to remove the mechanical stop pin.
Robot position when replacing the mechanical stop pin
Note
Action
![Image]
xx1500002093
Jog axis-1 to the position where it is pos-
sible to replace the mechanical stop pin.
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 mechanical stop pin
Note
Action
CAUTION
The mechanical stop pin weighs 13 kg.
1
Continues on next page
Product manual - IRB 8700
527
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled, when the set screw is re-
moved.
2
Take a firm grip on the stop pin with one
hand.
3
![Image]
xx1500002090
Unscrew the set screw with the other hand.
4
![Image]
xx1500002299
Hold the stop pin with one hand and re-
move the piece of wood (or similar) with
the other hand.
5
Continues on next page
528
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 528
|
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Loctite 243
3HAB7116-1
Locking liquid
Mercasol
Corrosion protection
Removing the mechanical stop pin
Use these procedures to remove the mechanical stop pin.
Robot position when replacing the mechanical stop pin
Note
Action
![Image]
xx1500002093
Jog axis-1 to the position where it is pos-
sible to replace the mechanical stop pin.
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 mechanical stop pin
Note
Action
CAUTION
The mechanical stop pin weighs 13 kg.
1
Continues on next page
Product manual - IRB 8700
527
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled, when the set screw is re-
moved.
2
Take a firm grip on the stop pin with one
hand.
3
![Image]
xx1500002090
Unscrew the set screw with the other hand.
4
![Image]
xx1500002299
Hold the stop pin with one hand and re-
move the piece of wood (or similar) with
the other hand.
5
Continues on next page
528
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Refitting the mechanical stop pin
Use these procedures to refit the mechanical stop pin.
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
Product manual - IRB 8700
529
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 529
|
Note
Action
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled, when the set screw is re-
moved.
2
Take a firm grip on the stop pin with one
hand.
3
![Image]
xx1500002090
Unscrew the set screw with the other hand.
4
![Image]
xx1500002299
Hold the stop pin with one hand and re-
move the piece of wood (or similar) with
the other hand.
5
Continues on next page
528
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Refitting the mechanical stop pin
Use these procedures to refit the mechanical stop pin.
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
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529
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4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
530
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4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
|
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| 530
|
Note
Action
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Refitting the mechanical stop pin
Use these procedures to refit the mechanical stop pin.
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
Product manual - IRB 8700
529
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
530
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
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 .
1
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531
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 531
|
Note
Action
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
530
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
Note
Action
![Image]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
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 .
1
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531
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
4.6.3 Replacing the parallel rod
Location of the parallel rod
The parallel rod is located as shown in the figure.
![Image]
xx1500001978
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
3HAC048077-003
Parallel bar
Continues on next page
532
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4 Repair
4.6.3 Replacing the parallel rod
|
ABB_IRB8700_Product_Manual.pdf
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| 532
|
Note
Action
![Image]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
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 .
1
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531
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.2 Replacing the mechanichal stop pin
Continued
4.6.3 Replacing the parallel rod
Location of the parallel rod
The parallel rod is located as shown in the figure.
![Image]
xx1500001978
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
3HAC048077-003
Parallel bar
Continues on next page
532
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Fully threaded
-
Screw M10x50
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
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Removing the parallel rod
Use these procedures to remove the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be removed,
start removing in the upper end.
Continues on next page
Product manual - IRB 8700
533
3HAC052853-001 Revision: D
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4 Repair
4.6.3 Replacing the parallel rod
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 533
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4.6.3 Replacing the parallel rod
Location of the parallel rod
The parallel rod is located as shown in the figure.
![Image]
xx1500001978
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
3HAC048077-003
Parallel bar
Continues on next page
532
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Fully threaded
-
Screw M10x50
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
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Removing the parallel rod
Use these procedures to remove the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be removed,
start removing in the upper end.
Continues on next page
Product manual - IRB 8700
533
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Robot position when removing the parallel rod
Note
Action
Note
The upper arm shall be in horizontal posi-
tion against the foundation.
If not already in this position, jog the robot
to the specified position:
•
Axis 1: No significance, as long as
the robot is secured to the founda-
tion.
•
Axis 2: Comfortable working posi-
tion.
•
Axis 3: Comfortable working posi-
tion.
•
Axis 4: +90° (only needed if the
cable harness shall be removed later
in the procedure)
•
Axis 5: -90° (only needed if the
cable harness shall be removed later
in the procedure)
•
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 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
Continues on next page
534
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3HAC052853-001 Revision: D
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4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 534
|
Required tools and equipment
Note
Article number
Equipment, etc.
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Fully threaded
-
Screw M10x50
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
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Removing the parallel rod
Use these procedures to remove the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be removed,
start removing in the upper end.
Continues on next page
Product manual - IRB 8700
533
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Robot position when removing the parallel rod
Note
Action
Note
The upper arm shall be in horizontal posi-
tion against the foundation.
If not already in this position, jog the robot
to the specified position:
•
Axis 1: No significance, as long as
the robot is secured to the founda-
tion.
•
Axis 2: Comfortable working posi-
tion.
•
Axis 3: Comfortable working posi-
tion.
•
Axis 4: +90° (only needed if the
cable harness shall be removed later
in the procedure)
•
Axis 5: -90° (only needed if the
cable harness shall be removed later
in the procedure)
•
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 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
Continues on next page
534
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
535
3HAC052853-001 Revision: D
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4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 535
|
Robot position when removing the parallel rod
Note
Action
Note
The upper arm shall be in horizontal posi-
tion against the foundation.
If not already in this position, jog the robot
to the specified position:
•
Axis 1: No significance, as long as
the robot is secured to the founda-
tion.
•
Axis 2: Comfortable working posi-
tion.
•
Axis 3: Comfortable working posi-
tion.
•
Axis 4: +90° (only needed if the
cable harness shall be removed later
in the procedure)
•
Axis 5: -90° (only needed if the
cable harness shall be removed later
in the procedure)
•
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 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
Continues on next page
534
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
535
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
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
Continues on next page
536
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 536
|
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
535
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
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
Continues on next page
536
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
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
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
Continues on next page
Product manual - IRB 8700
537
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 537
|
Note
Action
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
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
Continues on next page
536
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
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
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
Continues on next page
Product manual - IRB 8700
537
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
![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
Continues on next page
538
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 538
|
Note
Action
![Image]
xx1500001965
Move the parallel rod down and let it rest
on the piece of wood, which was put there
earlier.
10
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
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
Continues on next page
Product manual - IRB 8700
537
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
![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
Continues on next page
538
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
![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
Continues on next page
Product manual - IRB 8700
539
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 539
|
Note
Action
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
![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
Continues on next page
538
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
![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
Continues on next page
Product manual - IRB 8700
539
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
Refitting the parallel rod
Use these procedures to refit the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be refitted,
start refitting in the lower end.
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
540
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 540
|
Note
Action
![Image]
xx1500001969
Use the press tool and press the shaft out.
8
![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
Continues on next page
Product manual - IRB 8700
539
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
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
Refitting the parallel rod
Use these procedures to refit the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be refitted,
start refitting in the lower end.
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
540
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
541
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 541
|
Note
Action
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
Refitting the parallel rod
Use these procedures to refit the parallel rod.
Note
If the shafts in both upper and lower ends of the parallel rod shall be refitted,
start refitting in the lower end.
Preparations before refitting the parallel rod, lower end
Note
Action
![Image]
![Image]
xx1500002744
Remove the strap which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
540
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
541
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
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
![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
Continues on next page
542
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 542
|
Note
Action
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Remove the thrust washer and cover
washer, and wipe them clean.
Note
Make a note on which side the covers are
placed.
2
Wipe the shafts and the holes for the shafts
clean.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection on both sides
of the bearings, and on all machined sur-
faces on the parallel rod.
4
![Image]
xx1500002098
Right side
Left side
Cover washer
Thrust washer
Put back the thrust washer (left side) and
cover washer (right side).
5
Continues on next page
Product manual - IRB 8700
541
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
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
![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
Continues on next page
542
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
![Image]
xx1500001969
Use caution and press the shaft in.
8
Continues on next page
Product manual - IRB 8700
543
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 543
|
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
![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
Continues on next page
542
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
![Image]
xx1500001969
Use caution and press the shaft in.
8
Continues on next page
Product manual - IRB 8700
543
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
Preparations before refitting the parallel rod, upper end
Note
Action
![Image]
xx1500002097
Remove the strap, which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
544
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 544
|
Note
Action
![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
![Image]
xx1500001969
Use caution and press the shaft in.
8
Continues on next page
Product manual - IRB 8700
543
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![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
Preparations before refitting the parallel rod, upper end
Note
Action
![Image]
xx1500002097
Remove the strap, which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
544
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001964
Thrust washer
Left side
Cover washer
Right side
Remove thrust washer and cover washers,
and wipe them clean.
2
Wipe clean the shafts and the holes for the
shafts.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection (Mercasol) on
both sides of the bearings, and on all ma-
chined surfaces on the parallel arm.
4
![Image]
xx1500002293
Apply some grease on shafts and in holes
of both sides of parallel rod.
5
Continues on next page
Product manual - IRB 8700
545
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 545
|
Note
Action
![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
Preparations before refitting the parallel rod, upper end
Note
Action
![Image]
xx1500002097
Remove the strap, which was used to keep
bearing, thrust washer and cover washer
in position.
1
Continues on next page
544
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
![Image]
xx1500001964
Thrust washer
Left side
Cover washer
Right side
Remove thrust washer and cover washers,
and wipe them clean.
2
Wipe clean the shafts and the holes for the
shafts.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection (Mercasol) on
both sides of the bearings, and on all ma-
chined surfaces on the parallel arm.
4
![Image]
xx1500002293
Apply some grease on shafts and in holes
of both sides of parallel rod.
5
Continues on next page
Product manual - IRB 8700
545
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Refitting parallel rod, upper end
Note
Action
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
![Image]
xx1500001965
Take a firm grip of the parallel rod and lift
it up into mounting position.
2
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the procedure.
3
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Place the thrust washer and cover washer
on either side of the bearing and make sure
that they are correctly fitted.
Note
Make sure that the washers are on the
correct sides of the bearing.
4
Continues on next page
546
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 546
|
Note
Action
![Image]
xx1500001964
Thrust washer
Left side
Cover washer
Right side
Remove thrust washer and cover washers,
and wipe them clean.
2
Wipe clean the shafts and the holes for the
shafts.
3
Mercasol
![Image]
xx1500002100
Apply corrosion protection (Mercasol) on
both sides of the bearings, and on all ma-
chined surfaces on the parallel arm.
4
![Image]
xx1500002293
Apply some grease on shafts and in holes
of both sides of parallel rod.
5
Continues on next page
Product manual - IRB 8700
545
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Refitting parallel rod, upper end
Note
Action
Note
If the parallel rod has been removed from
the robot, always start refitting at the lower
end!
1
![Image]
xx1500001965
Take a firm grip of the parallel rod and lift
it up into mounting position.
2
![Image]
xx1500001963
Put a piece of wood (or similar) between
parallel arm and parallel rod, used as pro-
tection to prevent the rod from moving un-
expectedly during the procedure.
3
![Image]
xx1500001964
Right side
Left side
Cover washer
Thrust washer
Place the thrust washer and cover washer
on either side of the bearing and make sure
that they are correctly fitted.
Note
Make sure that the washers are on the
correct sides of the bearing.
4
Continues on next page
546
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
Note
Action
Unscrew two of the M10x50 screws only
on one side of the parallel rod, approxim-
ately 5 mm. Leave the screws fastened on
the other side.
Note
This is done to be able to refit the parallel
rod without problems and to be able to find
the correct position of the parallel rod.
5
Attachment screws: M10x50 (4 pcs)
![Image]
xx1500002300
Place the parallel rod into position and
reattach the two M10x50 screws against
the parallel rod.
Note
This is done to prevent the arm housing
from being deformed when pressing the
shaft and thereby making it more difficult
to press the shaft in or out.
6
Apply the press tool parts (Assembly tool,
Press plate and Round plate).
7
![Image]
xx1500001962
Use caution and press the shaft in.
8
![Image]
xx1500001967
Refit the protection plug.
9
Continues on next page
Product manual - IRB 8700
547
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.3 Replacing the parallel rod
Continued
|
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