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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
| 547
|
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
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
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
548
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
| 548
|
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
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
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
548
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
4.6.4 Unloading and restoring the balancing device
Location of the balancing device
The balancing device is located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
549
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 549
|
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
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
548
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
4.6.4 Unloading and restoring the balancing device
Location of the balancing device
The balancing device is located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
549
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Molykote 1000
Unloading the pressure of the balancing device
Use these procedures to unload the pressure of the balancing device.
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
550
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 550
|
4.6.4 Unloading and restoring the balancing device
Location of the balancing device
The balancing device is located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
549
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Molykote 1000
Unloading the pressure of the balancing device
Use these procedures to unload the pressure of the balancing device.
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
550
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
551
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 551
|
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Molykote 1000
Unloading the pressure of the balancing device
Use these procedures to unload the pressure of the balancing device.
Preparations before unloading the pressure of balancing device
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
550
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
551
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Continues on next page
552
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 552
|
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
551
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Continues on next page
552
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Restoring the pressure of the balancing device
Use these procedures to restore the pressure of the balancing device.
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Before starting up the robot, make sure to
remove the M20x60 used as lock screw on
axis-2 and/or axis-3.
1
Continues on next page
Product manual - IRB 8700
553
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 553
|
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Continues on next page
552
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
Restoring the pressure of the balancing device
Use these procedures to restore the pressure of the balancing device.
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Before starting up the robot, make sure to
remove the M20x60 used as lock screw on
axis-2 and/or axis-3.
1
Continues on next page
Product manual - IRB 8700
553
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
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
554
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 554
|
Restoring the pressure of the balancing device
Use these procedures to restore the pressure of the balancing device.
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Before starting up the robot, make sure to
remove the M20x60 used as lock screw on
axis-2 and/or axis-3.
1
Continues on next page
Product manual - IRB 8700
553
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
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
554
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
4.6.5 Replacing the balancing devices
Location of the balancing devices
The balancing devices are located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
555
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 555
|
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
554
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.4 Unloading and restoring the balancing device
Continued
4.6.5 Replacing the balancing devices
Location of the balancing devices
The balancing devices are located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
555
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Bearing grease
3HAC9408-1
Bearing grease
Loctite 243
3HAB7116-1
Locking liquid
Molykote 1000
Removing the balancing device
Use these procedures to remove the balancing device.
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
556
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 556
|
4.6.5 Replacing the balancing devices
Location of the balancing devices
The balancing devices are located as shown in the figure.
![Image]
xx1500001979
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
3HAC048239-003
Balancing device
Continues on next page
Product manual - IRB 8700
555
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Bearing grease
3HAC9408-1
Bearing grease
Loctite 243
3HAB7116-1
Locking liquid
Molykote 1000
Removing the balancing device
Use these procedures to remove the balancing device.
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
556
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
557
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 557
|
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Fully threaded
-
Screw M16x80
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Used when removing parallel arm from
lower arm
-
Crowbar (small)
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Bearing grease
3HAC9408-1
Bearing grease
Loctite 243
3HAB7116-1
Locking liquid
Molykote 1000
Removing the balancing device
Use these procedures to remove the balancing device.
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
556
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
557
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
558
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 558
|
Unloading the pressure of the balancing device
CAUTION
Make sure to relief the pressure of the correct balancing device. Relief pressure
on axis 2 side when changing axis-2 gearbox, and relief pressure on axis 3 side
when changing axis-3 gearbox.
![Image]
xx1600001406
Axis-2 balancing device
A
Axis-3 balancing device
B
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Only needed when the upper arm is fitted
on the robot:
Use a Mobile platform ladder (or similar) to
reach the upper end of the balancing
device.
DANGER
Do not use the robot as ladder!
2
Continues on next page
Product manual - IRB 8700
557
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
558
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
559
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 559
|
Note
Action
![Image]
xx1500001971
Remove the screws, fitted in the screw
holes on top of the balancing device.
Note
Keep the screws. They shall be refitted
after the work is done.
3
M16x35
Apply Molykote on colored areas.
![Image]
xx1500002303
Apply some Molykote on threads and at
the bottom end of two fully threaded
screws.
4
Screws M16x80 fully threaded
![Image]
xx1500002309
Unload the pressure of the balancing
device by inserting the screws.
Attach the screws until the screws reaches
the piston. Then, alternately little by little,
attach the screws at least another five mil-
limeters. The pressure is now unloaded.
5
Screw M16x80 (2 pcs)
In a procedure where both balancing
devices shall be removed, unload the
pressure of the other in the same way.
6
Removing the balancing device
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
558
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
559
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
560
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 560
|
Note
Action
Mobile platform ladder
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Use a Mobile platform ladder to reach the
upper end of the balancing device.
DANGER
Do not use the robot as a ladder.
2
CAUTION
The balancing device weights 200 kg.
All lifting accessories used must be sized
accordingly.
3
Roundsling 1 m: Lifting capacity: 1,000 kg
![Image]
xx1500001983
Attach a roundsling to the lifting hole on
top of the balancing device and to an
overhead crane (or similar).
4
Stretch the lifting accessories to take the
weight of the balancing device.
5
![Image]
xx1500001973
Remove upper and lower KM-nuts.
Note
Make sure that V-ring or support ring are
present.
6
Continues on next page
Product manual - IRB 8700
559
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
560
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Refitting the balancing device
Use these procedures to refit the balancing device.
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
Continues on next page
Product manual - IRB 8700
561
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 561
|
Note
Action
Crowbar (small)
![Image]
xx1500002735
Use caution and lift the balancing device
off.
Tip
If needed, use a Crowbar (small), to care-
fully help pressing the balancing device
out. A suitable bearing puller is another al-
ternative.
7
![Image]
xx1500001975
Note
Make sure that the support ring and spacer
ring with V-ring are present.
8
Pallet
Put the balancing device down.
Tip
Turn a pallet upside down and place the
balancing device in the opening for the
trucks forks. This will prevent the balancing
device from starting to move unexpectedly.
9
If both balancing devices shall be removed,
remove the other in the same way.
10
Continues on next page
560
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Refitting the balancing device
Use these procedures to refit the balancing device.
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
Continues on next page
Product manual - IRB 8700
561
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
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
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
Continues on next page
562
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 562
|
Refitting the balancing device
Use these procedures to refit the balancing device.
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
Continues on next page
Product manual - IRB 8700
561
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
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
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
Continues on next page
562
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
![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
Continues on next page
Product manual - IRB 8700
563
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 563
|
Note
Action
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
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
Continues on next page
562
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4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
![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
Continues on next page
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563
3HAC052853-001 Revision: D
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4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
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
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
Continues on next page
564
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3HAC052853-001 Revision: D
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4 Repair
4.6.5 Replacing the balancing devices
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 564
|
Note
Action
![Image]
xx1500002306
Note
Make sure the bearings are axially centered
in the balancing device ears, before putting
them on the shafts.
3
![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
Continues on next page
Product manual - IRB 8700
563
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
Note
Action
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
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
Continues on next page
564
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
Continues on next page
Product manual - IRB 8700
565
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 565
|
Note
Action
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
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
Continues on next page
564
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
Continues on next page
Product manual - IRB 8700
565
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
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
566
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 566
|
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
![Image]
xx1500002308
Restore the pressure of the balancing
device by unscrewing the two M16x80
screws alternately little by little.
2
Remove the screws.
3
Attachment screws: M16x35 (2 pcs)
![Image]
xx1500001971
Refit the M16x35 screws in the holes on
top of the balancing device.
4
Concluding procedure
Note
Action
Calibration is described in a separate calib-
ration manual enclosed with the calibration
tools.
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
Continues on next page
Product manual - IRB 8700
565
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
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
566
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
4.7 Motors
4.7.1 Replacing the axis-1 motor
Location of the axis-1 motor
The axis-1 motor is located as shown in the figure.
![Image]
xx1500002063
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
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
Product manual - IRB 8700
567
3HAC052853-001 Revision: D
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4 Repair
4.7.1 Replacing the axis-1 motor
|
ABB_IRB8700_Product_Manual.pdf
|
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| 567
|
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
566
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.6.5 Replacing the balancing devices
Continued
4.7 Motors
4.7.1 Replacing the axis-1 motor
Location of the axis-1 motor
The axis-1 motor is located as shown in the figure.
![Image]
xx1500002063
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
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
Product manual - IRB 8700
567
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
568
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 568
|
4.7 Motors
4.7.1 Replacing the axis-1 motor
Location of the axis-1 motor
The axis-1 motor is located as shown in the figure.
![Image]
xx1500002063
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
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
Product manual - IRB 8700
567
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
568
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Removing the motor
Use these procedures to remove the axis-1 motor.
Preparations before removing the axis-1 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
569
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 569
|
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
568
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Removing the motor
Use these procedures to remove the axis-1 motor.
Preparations before removing the axis-1 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
569
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
570
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 570
|
Removing the motor
Use these procedures to remove the axis-1 motor.
Preparations before removing the axis-1 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the calibration position.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
569
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
570
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Lifting accessory (chain): 3HAC15556-1
Attach the lifting accessories.
2
Lifting accessory, motor: 3HAC14459-1.
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
The weight of the motor is 27 kg
All lifting accessories used must be sized
accordingly.
4
Bits extender: 3HAC12342-1
![Image]
xx1500002083
Unscrew the attachment screws and
washers.
Use a bits extender in order to reach the
screws.
5
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
6
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
Removal tool M12: 3HAC14631-1
If needed, use removal tools to help re-
move the motor.
8
Continues on next page
Product manual - IRB 8700
571
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 571
|
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
570
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Lifting accessory (chain): 3HAC15556-1
Attach the lifting accessories.
2
Lifting accessory, motor: 3HAC14459-1.
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
The weight of the motor is 27 kg
All lifting accessories used must be sized
accordingly.
4
Bits extender: 3HAC12342-1
![Image]
xx1500002083
Unscrew the attachment screws and
washers.
Use a bits extender in order to reach the
screws.
5
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
6
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
Removal tool M12: 3HAC14631-1
If needed, use removal tools to help re-
move the motor.
8
Continues on next page
Product manual - IRB 8700
571
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1500002084
Use caution and lift the motor straight up
to get the pinion parted from the gear.
9
Disconnect the 24 VDC power supply.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
Continues on next page
572
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 572
|
Note
Action
Lifting accessory (chain): 3HAC15556-1
Attach the lifting accessories.
2
Lifting accessory, motor: 3HAC14459-1.
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
The weight of the motor is 27 kg
All lifting accessories used must be sized
accordingly.
4
Bits extender: 3HAC12342-1
![Image]
xx1500002083
Unscrew the attachment screws and
washers.
Use a bits extender in order to reach the
screws.
5
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
6
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
Removal tool M12: 3HAC14631-1
If needed, use removal tools to help re-
move the motor.
8
Continues on next page
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571
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1500002084
Use caution and lift the motor straight up
to get the pinion parted from the gear.
9
Disconnect the 24 VDC power supply.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
Continues on next page
572
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-1 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
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573
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 573
|
Note
Action
![Image]
xx1500002084
Use caution and lift the motor straight up
to get the pinion parted from the gear.
9
Disconnect the 24 VDC power supply.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-1 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
Continues on next page
572
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-1 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
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573
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Lifting accessory, motor: 3HAC14459-1.
Apply the lifting accessory.
3
Rotation tool: 3HAC7887-1
Fit the rotation tool.
4
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
5
In order to release the brakes, connect the
24 VDC power supply.
6
To release the brakes, connect the 24 VDC
power supply as described in the list.
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
![Image]
xx1500002084
Lower the motor into position.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
8
Continues on next page
574
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4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 574
|
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-1 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
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573
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Lifting accessory, motor: 3HAC14459-1.
Apply the lifting accessory.
3
Rotation tool: 3HAC7887-1
Fit the rotation tool.
4
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
5
In order to release the brakes, connect the
24 VDC power supply.
6
To release the brakes, connect the 24 VDC
power supply as described in the list.
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
![Image]
xx1500002084
Lower the motor into position.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
8
Continues on next page
574
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
9
Tightening torque: 50 Nm.
Use a bits extender to reach the screws.
Screw dimension : M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002083
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
10
Disconnect the 24 VDC power supply.
11
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
Continues on next page
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575
3HAC052853-001 Revision: D
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4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 575
|
Note
Action
Lifting accessory, motor: 3HAC14459-1.
Apply the lifting accessory.
3
Rotation tool: 3HAC7887-1
Fit the rotation tool.
4
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
5
In order to release the brakes, connect the
24 VDC power supply.
6
To release the brakes, connect the 24 VDC
power supply as described in the list.
Connect to R2.MP1-connector:
•
+ = pin 2
•
- = pin 5
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
7
![Image]
xx1500002084
Lower the motor into position.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
8
Continues on next page
574
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
9
Tightening torque: 50 Nm.
Use a bits extender to reach the screws.
Screw dimension : M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002083
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
10
Disconnect the 24 VDC power supply.
11
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
Continues on next page
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575
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![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
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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
Continues on next page
576
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 576
|
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
9
Tightening torque: 50 Nm.
Use a bits extender to reach the screws.
Screw dimension : M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002083
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
10
Disconnect the 24 VDC power supply.
11
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
Continues on next page
Product manual - IRB 8700
575
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![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
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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
Continues on next page
576
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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 covers are tightly
sealed.
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 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
2
Product manual - IRB 8700
577
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 577
|
Note
Action
![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
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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
Continues on next page
576
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
Note
Action
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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 covers are tightly
sealed.
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 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
2
Product manual - IRB 8700
577
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
4.7.2 Replacing the axis-2 and axis-3 motors
Location of the axis-2 and axis-3 motors
The axis-2 and axis-3 motors are located as shown in the figure.
![Image]
xx1500002064
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
Equipment, etc.
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
578
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
|
ABB_IRB8700_Product_Manual.pdf
|
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| 578
|
Note
Action
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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 covers are tightly
sealed.
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 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
2
Product manual - IRB 8700
577
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.1 Replacing the axis-1 motor
Continued
4.7.2 Replacing the axis-2 and axis-3 motors
Location of the axis-2 and axis-3 motors
The axis-2 and axis-3 motors are located as shown in the figure.
![Image]
xx1500002064
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
Equipment, etc.
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
578
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
Product manual - IRB 8700
579
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 579
|
4.7.2 Replacing the axis-2 and axis-3 motors
Location of the axis-2 and axis-3 motors
The axis-2 and axis-3 motors are located as shown in the figure.
![Image]
xx1500002064
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
Equipment, etc.
3HAC058949-003
Rotating AC motor (including
pinion)
Continues on next page
578
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
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579
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the axis-2 and axis-3 motors.
Preparations before removing the motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
![Image]
xx1500002085
Jog the robot to the calibration position.
2
If needed adjust the position of axis-2 or
axis-3, to make it possible to insert a lock
screw, depending on which motor is re-
placed.
3
DANGER
Valid for the axis-2 motor.
Secure the weight of the lower arm with a
lock screw, before releasing the brakes on
the axis-2 motor as well as before removing
the axis-2 motor or the axis-2 gearbox.
4
The lock screw is used to secure the weight
of the lower arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-2 motor.
5
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
Continues on next page
580
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 580
|
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
Product manual - IRB 8700
579
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the axis-2 and axis-3 motors.
Preparations before removing the motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
![Image]
xx1500002085
Jog the robot to the calibration position.
2
If needed adjust the position of axis-2 or
axis-3, to make it possible to insert a lock
screw, depending on which motor is re-
placed.
3
DANGER
Valid for the axis-2 motor.
Secure the weight of the lower arm with a
lock screw, before releasing the brakes on
the axis-2 motor as well as before removing
the axis-2 motor or the axis-2 gearbox.
4
The lock screw is used to secure the weight
of the lower arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-2 motor.
5
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
Continues on next page
580
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
DANGER
Valid for the axis-3 motor.
Secure the weight of the parallel arm with
a lock screw, before releasing the brakes
on the axis-3 motor as well as before remov-
ing the axis-3 motor or the axis-3 gearbox.
6
The lock screw is used to secure the weight
of the parallel arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-3 motor.
7
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
8
Remove any equipment that obstructs ac-
cess to the motor.
9
Disconnecting the 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
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3HAC052853-001 Revision: D
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 581
|
Note
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the axis-2 and axis-3 motors.
Preparations before removing the motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
![Image]
xx1500002085
Jog the robot to the calibration position.
2
If needed adjust the position of axis-2 or
axis-3, to make it possible to insert a lock
screw, depending on which motor is re-
placed.
3
DANGER
Valid for the axis-2 motor.
Secure the weight of the lower arm with a
lock screw, before releasing the brakes on
the axis-2 motor as well as before removing
the axis-2 motor or the axis-2 gearbox.
4
The lock screw is used to secure the weight
of the lower arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-2 motor.
5
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
Continues on next page
580
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
DANGER
Valid for the axis-3 motor.
Secure the weight of the parallel arm with
a lock screw, before releasing the brakes
on the axis-3 motor as well as before remov-
ing the axis-3 motor or the axis-3 gearbox.
6
The lock screw is used to secure the weight
of the parallel arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-3 motor.
7
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
8
Remove any equipment that obstructs ac-
cess to the motor.
9
Disconnecting the 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
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581
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
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
Continues on next page
582
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 582
|
Note
Action
DANGER
Valid for the axis-3 motor.
Secure the weight of the parallel arm with
a lock screw, before releasing the brakes
on the axis-3 motor as well as before remov-
ing the axis-3 motor or the axis-3 gearbox.
6
The lock screw is used to secure the weight
of the parallel arm, in order to avoid acci-
dents or damage.
Lock screw, M20x150
Valid for the axis-3 motor.
7
Insert the lock screw into the hole for the
lock screw in the frame.
Note
Tighten the lock screw manually. No tools
needed.
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
8
Remove any equipment that obstructs ac-
cess to the motor.
9
Disconnecting the 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
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581
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
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
Continues on next page
582
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-2 or axis-3 motor
Use this procedure to remove either the axis-2 or axis-3 motor, depending on which
gearbox is being replaced.
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or the parallel
arm will move and may fall down!
Before continuing, make sure the lower
arm and/or parallel arm are secured with
lock screws.
1
To release the brake, connect the 24 VDC
power supply.
2
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1500002323
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
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583
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 583
|
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
Continues on next page
582
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-2 or axis-3 motor
Use this procedure to remove either the axis-2 or axis-3 motor, depending on which
gearbox is being replaced.
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or the parallel
arm will move and may fall down!
Before continuing, make sure the lower
arm and/or parallel arm are secured with
lock screws.
1
To release the brake, connect the 24 VDC
power supply.
2
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1500002323
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
Product manual - IRB 8700
583
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
If required, press the motor out of position
by using the removal tool in opposite holes
of the motor.
6
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
![Image]
xx1500002325
Use caution and lift the motor out on the
guide pins, in order to get the pinion away
from the gear.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1500002324
Use caution and remove the motor by slid-
ing it out on the guide pins.
11
Continues on next page
584
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 584
|
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-2 or axis-3 motor
Use this procedure to remove either the axis-2 or axis-3 motor, depending on which
gearbox is being replaced.
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or the parallel
arm will move and may fall down!
Before continuing, make sure the lower
arm and/or parallel arm are secured with
lock screws.
1
To release the brake, connect the 24 VDC
power supply.
2
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1500002323
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
Product manual - IRB 8700
583
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
If required, press the motor out of position
by using the removal tool in opposite holes
of the motor.
6
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
![Image]
xx1500002325
Use caution and lift the motor out on the
guide pins, in order to get the pinion away
from the gear.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1500002324
Use caution and remove the motor by slid-
ing it out on the guide pins.
11
Continues on next page
584
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Continues on next page
Product manual - IRB 8700
585
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 585
|
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
If required, press the motor out of position
by using the removal tool in opposite holes
of the motor.
6
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
![Image]
xx1500002325
Use caution and lift the motor out on the
guide pins, in order to get the pinion away
from the gear.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1500002324
Use caution and remove the motor by slid-
ing it out on the guide pins.
11
Continues on next page
584
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Continues on next page
Product manual - IRB 8700
585
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
2
Lifting accessory, motor: 3HAC15534-1
Apply the lifting accessory.
3
![Image]
xx1600000050
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
586
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
|
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Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Inspect the o-ring.
Note
Replace if damaged.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
2
Lifting accessory, motor: 3HAC15534-1
Apply the lifting accessory.
3
![Image]
xx1600000050
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Lift the motor and put it on the guide pins
as close as possible to its final position
without pushing the motor pinion into the
gear.
5
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
6
Remove the lifting accessory and allow the
motor to rest on the guide pins.
7
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
8
Valid for the axis-2 motor:
9
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP2, axis-2 mo-
tor:
•
pin 2 = 24V
•
pin 5 = 0V
Valid for the axis-3 motor:
10
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
11
Use caution and fit the motor in its final
position while at the same time rotating the
motor pinion slightly using the rotation tool.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
12
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
13
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
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| 587
|
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Fit guide pins in opposite holes.
1
Always use guide pins in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
2
Lifting accessory, motor: 3HAC15534-1
Apply the lifting accessory.
3
![Image]
xx1600000050
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Lift the motor and put it on the guide pins
as close as possible to its final position
without pushing the motor pinion into the
gear.
5
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
6
Remove the lifting accessory and allow the
motor to rest on the guide pins.
7
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
8
Valid for the axis-2 motor:
9
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP2, axis-2 mo-
tor:
•
pin 2 = 24V
•
pin 5 = 0V
Valid for the axis-3 motor:
10
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
11
Use caution and fit the motor in its final
position while at the same time rotating the
motor pinion slightly using the rotation tool.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
12
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
13
Continues on next page
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587
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Remove the guide pins and replace with
the remaining attachment screws.
14
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
15
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002323
Connecting the 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
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
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| 588
|
Note
Action
Lift the motor and put it on the guide pins
as close as possible to its final position
without pushing the motor pinion into the
gear.
5
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting. If not, apply 1
gram of grease.
6
Remove the lifting accessory and allow the
motor to rest on the guide pins.
7
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
8
Valid for the axis-2 motor:
9
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP2, axis-2 mo-
tor:
•
pin 2 = 24V
•
pin 5 = 0V
Valid for the axis-3 motor:
10
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
11
Use caution and fit the motor in its final
position while at the same time rotating the
motor pinion slightly using the rotation tool.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
12
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
13
Continues on next page
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587
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Remove the guide pins and replace with
the remaining attachment screws.
14
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
15
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002323
Connecting the 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
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring axis-2 & 3: 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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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589
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
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| 589
|
Note
Action
Remove the guide pins and replace with
the remaining attachment screws.
14
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
15
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500002323
Connecting the 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
Continues on next page
588
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring axis-2 & 3: 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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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589
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Make sure that the covers are tightly
sealed.
9
Concluding procedure
Note
Action
![Image]
xx1500002322
Valid for the axis-2 motor:
Use caution and jog axis-2 until it is pos-
sible to remove the M16 lock screw.
1
![Image]
xx1500002366
Refit the plastic plug in lower arm.
2
![Image]
xx1500002321
Valid for the axis-3 motor:
Use caution and jog axis-3 until it is pos-
sible to remove the M16 lock screw.
3
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
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| 590
|
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring axis-2 & 3: 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 fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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589
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
Make sure that the covers are tightly
sealed.
9
Concluding procedure
Note
Action
![Image]
xx1500002322
Valid for the axis-2 motor:
Use caution and jog axis-2 until it is pos-
sible to remove the M16 lock screw.
1
![Image]
xx1500002366
Refit the plastic plug in lower arm.
2
![Image]
xx1500002321
Valid for the axis-3 motor:
Use caution and jog axis-3 until it is pos-
sible to remove the M16 lock screw.
3
Continues on next page
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![Image]
xx1500002365
Refit the plastic plug in parallel arm.
4
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
6
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591
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
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| 591
|
Note
Action
Make sure that the covers are tightly
sealed.
9
Concluding procedure
Note
Action
![Image]
xx1500002322
Valid for the axis-2 motor:
Use caution and jog axis-2 until it is pos-
sible to remove the M16 lock screw.
1
![Image]
xx1500002366
Refit the plastic plug in lower arm.
2
![Image]
xx1500002321
Valid for the axis-3 motor:
Use caution and jog axis-3 until it is pos-
sible to remove the M16 lock screw.
3
Continues on next page
590
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4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
Note
Action
![Image]
xx1500002365
Refit the plastic plug in parallel arm.
4
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
6
Product manual - IRB 8700
591
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
4.7.3 Replacing the axis-4 motor
Location of the axis-4 motor
The axis-4 motor is located as shown in the figure.
![Image]
xx1500002065
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
3HAC058950-003
Rotating AC motor (including
pinion)
Continues on next page
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4 Repair
4.7.3 Replacing the axis-4 motor
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| 592
|
Note
Action
![Image]
xx1500002365
Refit the plastic plug in parallel arm.
4
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in the section
DANGER - First test run may cause injury
or damage! on page 46 .
6
Product manual - IRB 8700
591
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 and axis-3 motors
Continued
4.7.3 Replacing the axis-4 motor
Location of the axis-4 motor
The axis-4 motor is located as shown in the figure.
![Image]
xx1500002065
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
3HAC058950-003
Rotating AC motor (including
pinion)
Continues on next page
592
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
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593
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 593
|
4.7.3 Replacing the axis-4 motor
Location of the axis-4 motor
The axis-4 motor is located as shown in the figure.
![Image]
xx1500002065
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
3HAC058950-003
Rotating AC motor (including
pinion)
Continues on next page
592
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
Product manual - IRB 8700
593
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-4 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot into the best position for re-
placing the axis-4 motor.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the 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
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 594
|
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-4 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot into the best position for re-
placing the axis-4 motor.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the 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
594
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly!
1
Continues on next page
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595
3HAC052853-001 Revision: D
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4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 595
|
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-4 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot into the best position for re-
placing the axis-4 motor.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Disconnecting the 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
594
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly!
1
Continues on next page
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595
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000064
Unscrew the attachment screws that secure
the motor.
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
Disconnect the 24 VDC power supply.
9
Continues on next page
596
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 596
|
Note
Action
![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 re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly!
1
Continues on next page
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595
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000064
Unscrew the attachment screws that secure
the motor.
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
Disconnect the 24 VDC power supply.
9
Continues on next page
596
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1600000065
Remove the motor by carefully lifting it
straight out.
Make sure the pinion is not damaged in the
process.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Continues on next page
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597
3HAC052853-001 Revision: D
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4 Repair
4.7.3 Replacing the axis-4 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 597
|
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000064
Unscrew the attachment screws that secure
the motor.
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
5
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
7
Lifting accessory, motor: 3HAC15534-1
Attach the lifting accessory.
8
Disconnect the 24 VDC power supply.
9
Continues on next page
596
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1600000065
Remove the motor by carefully lifting it
straight out.
Make sure the pinion is not damaged in the
process.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Continues on next page
Product manual - IRB 8700
597
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Lifting accessory, motor: 3HAC15534-1
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
598
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 598
|
Note
Action
![Image]
xx1600000065
Remove the motor by carefully lifting it
straight out.
Make sure the pinion is not damaged in the
process.
10
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Continues on next page
Product manual - IRB 8700
597
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Lifting accessory, motor: 3HAC15534-1
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
598
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Attach the lifting accessory and lift the
motor up.
3
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
4
Put the motor onto the guide pins.
5
![Image]
xx1600000066
Note
Make sure the cable exit hole will be turned
the correct way.
6
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
7
To release the brakes, connect the 24 VDC
power supply.
8
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
9
Push the motor carefully in position while
at the same time the motor pinion is slightly
rotated.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
10
Remove the guide pins.
11
Continues on next page
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599
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 599
|
Note
Action
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
5
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Lifting accessory, motor: 3HAC15534-1
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
598
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Attach the lifting accessory and lift the
motor up.
3
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
4
Put the motor onto the guide pins.
5
![Image]
xx1600000066
Note
Make sure the cable exit hole will be turned
the correct way.
6
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
7
To release the brakes, connect the 24 VDC
power supply.
8
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
9
Push the motor carefully in position while
at the same time the motor pinion is slightly
rotated.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
10
Remove the guide pins.
11
Continues on next page
Product manual - IRB 8700
599
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
12
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
Disconnect the 24 VDC power supply.
13
Connecting the 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
Continues on next page
600
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 600
|
Note
Action
Attach the lifting accessory and lift the
motor up.
3
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
4
Put the motor onto the guide pins.
5
![Image]
xx1600000066
Note
Make sure the cable exit hole will be turned
the correct way.
6
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
7
To release the brakes, connect the 24 VDC
power supply.
8
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used!
9
Push the motor carefully in position while
at the same time the motor pinion is slightly
rotated.
•
Make sure that the motor pinion is
properly mated into the hub.
•
Make sure that the motor pinion
does not get damaged.
•
Make sure that the direction of the
cable exit is facing the correct way.
10
Remove the guide pins.
11
Continues on next page
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599
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
12
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
Disconnect the 24 VDC power supply.
13
Connecting the 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
Continues on next page
600
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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601
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 601
|
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
12
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
Disconnect the 24 VDC power supply.
13
Connecting the 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
Continues on next page
600
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4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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601
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Make sure that the covers are tightly
sealed.
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 .
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
602
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 602
|
Note
Action
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
O-ring: 3HAC054692-002
![Image]
xx1200001070
Make sure the o-ring is undamaged.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
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
Continues on next page
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601
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
Note
Action
Make sure that the covers are tightly
sealed.
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 .
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
602
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
4.7.4 Replacing the axis-5 motor
Location of the axis-5 motor
The axis-5 motor is located as shown in the figure.
![Image]
xx1500002066
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
3HAC058949-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Continues on next page
Product manual - IRB 8700
603
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
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ABB_IRB8700_Product_Manual.pdf
|
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| 603
|
Note
Action
Make sure that the covers are tightly
sealed.
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 .
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
602
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-4 motor
Continued
4.7.4 Replacing the axis-5 motor
Location of the axis-5 motor
The axis-5 motor is located as shown in the figure.
![Image]
xx1500002066
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
3HAC058949-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Continues on next page
Product manual - IRB 8700
603
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-5 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
604
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 604
|
4.7.4 Replacing the axis-5 motor
Location of the axis-5 motor
The axis-5 motor is located as shown in the figure.
![Image]
xx1500002066
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
3HAC058949-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
3HAC14459-1
Lifting accessory, Axis 1 mo-
tor
Used to release the motor brakes.
-
24 VDC power supply
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Continues on next page
Product manual - IRB 8700
603
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-5 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
604
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis 2: comfortable working position
•
Axis 3: comfortable working position
•
Axis 4: +90°
•
Axis 5: no significance
•
Axis 6: no significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
605
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 605
|
Note
Article number
Equipment, etc.
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-5 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
604
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis 2: comfortable working position
•
Axis 3: comfortable working position
•
Axis 4: +90°
•
Axis 5: no significance
•
Axis 6: no significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
605
3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
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
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
Continues on next page
606
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 606
|
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance, as long as
the robot is secured to the founda-
tion
•
Axis 2: comfortable working position
•
Axis 3: comfortable working position
•
Axis 4: +90°
•
Axis 5: no significance
•
Axis 6: no significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
Product manual - IRB 8700
605
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
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
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
Continues on next page
606
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![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
Removing the axis-5 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
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607
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 607
|
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
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
![Image]
xx1200001070
Note
Make sure the o-ring is present when re-
moving the cover.
3
Continues on next page
606
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![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
Removing the axis-5 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
607
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
![Image]
xx1200001017
Unscrew the attachment screws that secure
the motor, using a bits extender.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
4
Removal tool M12
If needed fit removal tools in opposite
holes.
5
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
6
Lifting accessory, motor: 3HAC14459-1
Attach the lifting accessory to the motor.
7
Continues on next page
608
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 608
|
Note
Action
![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
Removing the axis-5 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
607
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
![Image]
xx1200001017
Unscrew the attachment screws that secure
the motor, using a bits extender.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
4
Removal tool M12
If needed fit removal tools in opposite
holes.
5
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
6
Lifting accessory, motor: 3HAC14459-1
Attach the lifting accessory to the motor.
7
Continues on next page
608
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1200001018
Use caution and lift the motor out.
8
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-5 motor
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
609
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 609
|
Note
Action
Bits extender: 3HAC12342-1
![Image]
xx1200001017
Unscrew the attachment screws that secure
the motor, using a bits extender.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
4
Removal tool M12
If needed fit removal tools in opposite
holes.
5
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
6
Lifting accessory, motor: 3HAC14459-1
Attach the lifting accessory to the motor.
7
Continues on next page
608
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1200001018
Use caution and lift the motor out.
8
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-5 motor
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
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609
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1200001019
Wipe clean the contact surfaces from any
contamination.
Also wipe clean the o-ring groove.
2
O-ring: 3HAB3772-107
Make sure the o-ring is undamaged.
Note
Replace if damaged.
3
Lubricate the o-ring with some grease.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the
groove.
5
Continues on next page
610
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3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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| 610
|
Note
Action
![Image]
xx1200001018
Use caution and lift the motor out.
8
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-5 motor
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
609
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
![Image]
xx1200001019
Wipe clean the contact surfaces from any
contamination.
Also wipe clean the o-ring groove.
2
O-ring: 3HAB3772-107
Make sure the o-ring is undamaged.
Note
Replace if damaged.
3
Lubricate the o-ring with some grease.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the
groove.
5
Continues on next page
610
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
7
Securing the axis-5 motor
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
1
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
2
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
4
Attach the lifting accessory and lift the
motor up.
5
Continues on next page
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611
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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| 611
|
Note
Action
![Image]
xx1200001019
Wipe clean the contact surfaces from any
contamination.
Also wipe clean the o-ring groove.
2
O-ring: 3HAB3772-107
Make sure the o-ring is undamaged.
Note
Replace if damaged.
3
Lubricate the o-ring with some grease.
4
![Image]
xx1200001020
Make sure the o-ring is seated in the
groove.
5
Continues on next page
610
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
7
Securing the axis-5 motor
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
1
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
2
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
4
Attach the lifting accessory and lift the
motor up.
5
Continues on next page
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611
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
6
Note
Make sure the cable exit hole is turned the
correct way.
Use caution and lower the motor into posi-
tion on the guide pins, while at the same
time rotating the motor pinion slightly.
Make sure that:
•
the motor pinion is properly mated
into the hub.
•
the motor pinion does not get dam-
aged.
•
the direction of the cable exit is fa-
cing the correct way.
7
![Image]
xx1200001018
Remove the guide pins.
8
Continues on next page
612
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 612
|
Note
Action
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
7
Securing the axis-5 motor
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
1
Rotation tool: 3HAC7887-1
Attach the rotation tool and use it to rotate
the pinion when mating it into the gear.
2
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP5:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly!
4
Attach the lifting accessory and lift the
motor up.
5
Continues on next page
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611
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
6
Note
Make sure the cable exit hole is turned the
correct way.
Use caution and lower the motor into posi-
tion on the guide pins, while at the same
time rotating the motor pinion slightly.
Make sure that:
•
the motor pinion is properly mated
into the hub.
•
the motor pinion does not get dam-
aged.
•
the direction of the cable exit is fa-
cing the correct way.
7
![Image]
xx1200001018
Remove the guide pins.
8
Continues on next page
612
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers, using a bits extender.
9
Tightening torque: 50 Nm.
Screw dimension: M10x30 quality 12.9
Gleitmo(4 pcs)
![Image]
xx1200001017
Disconnect the 24 VDC power supply.
10
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Continues on next page
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613
3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 613
|
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting. If not, apply 1
gram of grease.
6
Note
Make sure the cable exit hole is turned the
correct way.
Use caution and lower the motor into posi-
tion on the guide pins, while at the same
time rotating the motor pinion slightly.
Make sure that:
•
the motor pinion is properly mated
into the hub.
•
the motor pinion does not get dam-
aged.
•
the direction of the cable exit is fa-
cing the correct way.
7
![Image]
xx1200001018
Remove the guide pins.
8
Continues on next page
612
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3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers, using a bits extender.
9
Tightening torque: 50 Nm.
Screw dimension: M10x30 quality 12.9
Gleitmo(4 pcs)
![Image]
xx1200001017
Disconnect the 24 VDC power supply.
10
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Continues on next page
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613
3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
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
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
Continues on next page
614
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 614
|
Note
Action
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers, using a bits extender.
9
Tightening torque: 50 Nm.
Screw dimension: M10x30 quality 12.9
Gleitmo(4 pcs)
![Image]
xx1200001017
Disconnect the 24 VDC power supply.
10
Connecting the axis-5 motor cables
Note
Action
![Image]
xx1500002717
Push the motor cables in through the cable
gland opening.
1
Continues on next page
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613
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
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
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
Continues on next page
614
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
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
Concluding procedure
Note
Action
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
1
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
2
Place the cable harness in a way so it will
not be damaged when the wrist cover is
fitted.
3
Continues on next page
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615
3HAC052853-001 Revision: D
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4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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| 615
|
Note
Action
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
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
Continues on next page
614
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
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
Concluding procedure
Note
Action
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
1
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
2
Place the cable harness in a way so it will
not be damaged when the wrist cover is
fitted.
3
Continues on next page
Product manual - IRB 8700
615
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
4
Tightening torque: 24 Nm
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
6
616
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 616
|
Note
Action
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
Concluding procedure
Note
Action
![Image]
xx1600000046
Make sure the contact surface on the wrist
cover is undamaged.
1
Loctite 574
![Image]
xx1600000048
Apply flange sealant (Loctite 574) on the
wrist cover flange.
2
Place the cable harness in a way so it will
not be damaged when the wrist cover is
fitted.
3
Continues on next page
Product manual - IRB 8700
615
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
4
Tightening torque: 24 Nm
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
6
616
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
4.7.5 Replacing the axis-6 motor
Location of the axis-6 motor
The axis-6 motor is located as shown in the figure.
![Image]
xx1500002067
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
3HAC058951-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to push out the motor if neces-
sary.
-
Removal tool M10
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
617
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
|
ABB_IRB8700_Product_Manual.pdf
|
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| 617
|
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
4
Tightening torque: 24 Nm
![Image]
xx1500002330
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
5
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
6
616
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-5 motor
Continued
4.7.5 Replacing the axis-6 motor
Location of the axis-6 motor
The axis-6 motor is located as shown in the figure.
![Image]
xx1500002067
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
3HAC058951-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to push out the motor if neces-
sary.
-
Removal tool M10
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
617
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
618
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4 Repair
4.7.5 Replacing the axis-6 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 618
|
4.7.5 Replacing the axis-6 motor
Location of the axis-6 motor
The axis-6 motor is located as shown in the figure.
![Image]
xx1500002067
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
3HAC058951-003
Rotating AC motor (including
pinion)
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to push out the motor if neces-
sary.
-
Removal tool M10
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
617
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
618
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: Comfortable working position
•
Axis 3: Comfortable working position
•
Axis 4: +90°
•
Axis 5: +90°
•
Axis 6: No significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
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619
3HAC052853-001 Revision: D
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4 Repair
4.7.5 Replacing the axis-6 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
|
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| 619
|
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 574
12340011-116
Flange sealant
-
Cable ties
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
618
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: Comfortable working position
•
Axis 3: Comfortable working position
•
Axis 4: +90°
•
Axis 5: +90°
•
Axis 6: No significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
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619
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
620
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 620
|
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as
the robot is secured to the founda-
tion)
•
Axis 2: Comfortable working position
•
Axis 3: Comfortable working position
•
Axis 4: +90°
•
Axis 5: +90°
•
Axis 6: No significance.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Retrieving access to the wrist cabling
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003100
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
2
![Image]
xx1500002330
Continues on next page
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619
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
620
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
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
621
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 621
|
Note
Action
![Image]
xx1500003101
Cut the cable tie that secure the axis-6
motor cable.
3
Disconnecting the axis-6 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Make sure that the axis-5 is as close to
+90° or -90° position as possible, depend-
ing on what repair work is being done.
Note
Not applicable when replacing the axis-6
unit.
2
![Image]
xx1200001080
Unscrew the attachment screws and re-
move the motor cover.
Note
Do not damage the gasket. Replace if
damaged.
3
Continues on next page
620
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
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
621
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
622
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 622
|
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
621
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
622
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
Continues on next page
Product manual - IRB 8700
623
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 623
|
Note
Action
![Image]
xx1300001113
Use caution and pull out the carrier.
Tip
If needed, use a screwdriver to help pulling
out the carrier.
7
![Image]
xx1300000666
Use caution and pull out the axis-6 motor
cables by holding the cables at the motor
with one hand, and the other one at the
carrier.
8
Removing the axis-6 motor
Note
Action
24 VDC power supply
To release the brakes, connect the 24 VDC
power supply .
1
Connect to R2.MP6-connector:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500003097
Unscrew the attachment screws with
washers.
2
Continues on next page
622
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
Continues on next page
Product manual - IRB 8700
623
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
624
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 624
|
Note
Action
CAUTION
Parting/mating motor pinion and hub, may
damage the splines if excessive force is
used.
3
Removal tool M10
If required, press the motor out of position
by fitting the removal tool, to the attach-
ment holes of the motor.
4
CAUTION
The motor weighs 14 kg.
5
![Image]
xx1500003098
Remove the motor by lifting it straight up
from the gear.
Make sure the motor pinion is not dam-
aged.
6
Disconnect the 24 VDC power supply.
7
Refitting the motor
Use these procedures to refit the motor.
Preparations before refitting the axis-6 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
10
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
11
Wipe clean the contact surfaces from any remain-
ing contamination.
12
Also wipe clean the o-ring groove.
Continues on next page
Product manual - IRB 8700
623
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
624
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Connecting the axis-6 motor cables - step 1
Note
Action
Note
Axis-5 must be in position +90° (or as close
as possible) for a correct installation of the
cable harness spiral in the wrist.
If not, connect the 24 VDC power supply,
release the brakes and move axis-5 manu-
ally to +90°.
1
![Image]
xx1500003099
Use caution and push the cable harness in
through the wrist recess.
2
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
Tip
Use a screwdriver (or similar) to press the
carrier into position.
3
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The M4 screw is located at the bottom of
the carrier.
Tip
The M4 screw may be difficult to fit. Make
sure the carrier is level and completely
pressed against the bottom.
4
Continues on next page
Product manual - IRB 8700
625
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 625
|
Note
Action
O-ring, 3HAB3772-107
![Image]
xx1200001019
Make sure the o-ring is undamaged.
Replace if damaged.
13
![Image]
xx1200001020
Make sure the o-ring is seated in the groove.
Tip
Lubricate the o-ring with some grease for a better
fitting in the groove.
14
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
15
If the motor is a new spare part, remove the motor
cover.
16
Continues on next page
624
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Connecting the axis-6 motor cables - step 1
Note
Action
Note
Axis-5 must be in position +90° (or as close
as possible) for a correct installation of the
cable harness spiral in the wrist.
If not, connect the 24 VDC power supply,
release the brakes and move axis-5 manu-
ally to +90°.
1
![Image]
xx1500003099
Use caution and push the cable harness in
through the wrist recess.
2
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
Tip
Use a screwdriver (or similar) to press the
carrier into position.
3
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The M4 screw is located at the bottom of
the carrier.
Tip
The M4 screw may be difficult to fit. Make
sure the carrier is level and completely
pressed against the bottom.
4
Continues on next page
Product manual - IRB 8700
625
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket.
5
Securing the axis-6 motor
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
1
To release the brakes, connect the 24 VDC
power supply .
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting.
If not, apply 1 gram of grease.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
4
Continues on next page
626
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 626
|
Connecting the axis-6 motor cables - step 1
Note
Action
Note
Axis-5 must be in position +90° (or as close
as possible) for a correct installation of the
cable harness spiral in the wrist.
If not, connect the 24 VDC power supply,
release the brakes and move axis-5 manu-
ally to +90°.
1
![Image]
xx1500003099
Use caution and push the cable harness in
through the wrist recess.
2
![Image]
xx1300001113
Use caution and push the carrier into posi-
tion.
Tip
Use a screwdriver (or similar) to press the
carrier into position.
3
Attachment screw: M4x10
![Image]
xx1300000485
Secure the carrier with the M4 screw.
Note
The M4 screw is located at the bottom of
the carrier.
Tip
The M4 screw may be difficult to fit. Make
sure the carrier is level and completely
pressed against the bottom.
4
Continues on next page
Product manual - IRB 8700
625
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket.
5
Securing the axis-6 motor
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
1
To release the brakes, connect the 24 VDC
power supply .
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting.
If not, apply 1 gram of grease.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
4
Continues on next page
626
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1200001094
Inspect the gasket.
Note
Replace if damaged.
5
CAUTION
The motor weighs 14 kg.
All lifting accessories used must be sized
accordingly!
6
![Image]
xx1500003102
Put the motor into its mounting position,
while at the same time, pushing the motor
cables in through the cable gland recess.
Make sure the motor pinion is properly
mated into the hub.
Make sure the motor pinion is not dam-
aged.
7
Continues on next page
Product manual - IRB 8700
627
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 627
|
Note
Action
Attachment screws: M6x12 (2 pcs)
![Image]
xx1300000484
Secure the cable bracket.
5
Securing the axis-6 motor
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
1
To release the brakes, connect the 24 VDC
power supply .
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines, before fitting.
If not, apply 1 gram of grease.
3
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
4
Continues on next page
626
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
![Image]
xx1200001094
Inspect the gasket.
Note
Replace if damaged.
5
CAUTION
The motor weighs 14 kg.
All lifting accessories used must be sized
accordingly!
6
![Image]
xx1500003102
Put the motor into its mounting position,
while at the same time, pushing the motor
cables in through the cable gland recess.
Make sure the motor pinion is properly
mated into the hub.
Make sure the motor pinion is not dam-
aged.
7
Continues on next page
Product manual - IRB 8700
627
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Tightening torque: 24 Nm
Secure the motor.
8
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500003097
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
9
Connecting the axis-6 motor cables - step 2
Note
Action
![Image]
xx1300000488
Reconnect the the axis-6 motor connectors.
Note
Place the resolver cable underneath the
motor cable.
1
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
2
Continues on next page
628
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 628
|
Note
Action
![Image]
xx1200001094
Inspect the gasket.
Note
Replace if damaged.
5
CAUTION
The motor weighs 14 kg.
All lifting accessories used must be sized
accordingly!
6
![Image]
xx1500003102
Put the motor into its mounting position,
while at the same time, pushing the motor
cables in through the cable gland recess.
Make sure the motor pinion is properly
mated into the hub.
Make sure the motor pinion is not dam-
aged.
7
Continues on next page
Product manual - IRB 8700
627
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Tightening torque: 24 Nm
Secure the motor.
8
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500003097
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
9
Connecting the axis-6 motor cables - step 2
Note
Action
![Image]
xx1300000488
Reconnect the the axis-6 motor connectors.
Note
Place the resolver cable underneath the
motor cable.
1
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
2
Continues on next page
628
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
3
![Image]
xx1200001080
Refit the motor cover.
4
Cable tie
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket, with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
5
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the wrist cover
contact surfaces.
6
Flange sealant: Loctite 574
Apply flange sealant (Loctite 574) on the
wrist cover flange.
7
Continues on next page
Product manual - IRB 8700
629
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 629
|
Note
Action
Tightening torque: 24 Nm
Secure the motor.
8
Screw dimension: M8x25 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1500003097
Make sure that the gasket is fitted correctly.
Disconnect the 24 V DC power supply.
9
Connecting the axis-6 motor cables - step 2
Note
Action
![Image]
xx1300000488
Reconnect the the axis-6 motor connectors.
Note
Place the resolver cable underneath the
motor cable.
1
![Image]
xx1500003095
Make sure the gasket on the motor cover
is undamaged.
Note
Replace if damaged.
2
Continues on next page
628
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
3
![Image]
xx1200001080
Refit the motor cover.
4
Cable tie
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket, with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
5
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the wrist cover
contact surfaces.
6
Flange sealant: Loctite 574
Apply flange sealant (Loctite 574) on the
wrist cover flange.
7
Continues on next page
Product manual - IRB 8700
629
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
8
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
630
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 630
|
Note
Action
CAUTION
When refitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
3
![Image]
xx1200001080
Refit the motor cover.
4
Cable tie
![Image]
xx1500003101
Secure the axis-6 motor cable to the cable
fixing bracket, with a cable tie.
Note
The position of axis-4 depends on the on-
going procedure.
5
![Image]
xx1500002331
Remove all residues of old sealant and
other contamination from the wrist cover
contact surfaces.
6
Flange sealant: Loctite 574
Apply flange sealant (Loctite 574) on the
wrist cover flange.
7
Continues on next page
Product manual - IRB 8700
629
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
8
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
630
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
4.8 Gearboxes
4.8.1 Replacing the hub
Location of the hub
The hub is located as shown in the figure.
![Image]
xx1500002036
The location of the hub is inbetween motor and gearbox on all six axes. The figure
shows one example, but the principle is the same for all axes. The number of
attachment screws and pinion differ.
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
3HAC049795-003
Hub with pinion
Required tools and equipment
Note
Article number
Equipment, etc.
Fully threaded (2 pcs)
-
Screw M6x110
Content is defined in section Standard
toolkit on page 825 . (2 pcs)
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
631
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
|
ABB_IRB8700_Product_Manual.pdf
|
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| 631
|
Note
Action
Attachment screws: M8x25 8.8 (17 pcs)
Refit the wrist cover and tighten all screws
alternately and repeat once.
Note
The position of axis-4 depends on the on-
going procedure.
8
Tightening torque: 24 Nm
![Image]
xx1500003100
![Image]
xx1500002330
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
630
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.7.5 Replacing the axis-6 motor
Continued
4.8 Gearboxes
4.8.1 Replacing the hub
Location of the hub
The hub is located as shown in the figure.
![Image]
xx1500002036
The location of the hub is inbetween motor and gearbox on all six axes. The figure
shows one example, but the principle is the same for all axes. The number of
attachment screws and pinion differ.
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
3HAC049795-003
Hub with pinion
Required tools and equipment
Note
Article number
Equipment, etc.
Fully threaded (2 pcs)
-
Screw M6x110
Content is defined in section Standard
toolkit on page 825 . (2 pcs)
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
631
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Hub specification
Quantity of attachment screws
The number of attachment screws that secure the hub, differ depending on gearbox.
The number of holes in the hub is the same on the three types of hub. The table
shows the number of screws used on the different axes.
Axis-6
Axis-5
Axis-4
Axis-3
Axis-2
Axis-1
4 pcs
6 pcs
4 pcs
8 pcs
8 pcs
6 pcs
Pinion on the hub
There are three different pinions on the hub.
Pinion axis-5
Pinion axis-4 and axis-6
Pinion axis-1, axis-2 and ax-
is-3
![Image]
xx1500002978
![Image]
xx1500002977
![Image]
xx1500002976
Removing the hub
Use these procedures to remove the hub.
Preparations before removing the hub
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
See Draining the axis-1 gearbox on
page 147
Drain the oil in axis-1 gearbox.
2
See Replacing the axis-1 motor on
page 567
Remove the axis-1 motor.
3
Continues on next page
632
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 632
|
4.8 Gearboxes
4.8.1 Replacing the hub
Location of the hub
The hub is located as shown in the figure.
![Image]
xx1500002036
The location of the hub is inbetween motor and gearbox on all six axes. The figure
shows one example, but the principle is the same for all axes. The number of
attachment screws and pinion differ.
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
3HAC049795-003
Hub with pinion
Required tools and equipment
Note
Article number
Equipment, etc.
Fully threaded (2 pcs)
-
Screw M6x110
Content is defined in section Standard
toolkit on page 825 . (2 pcs)
-
Standard toolkit
Continues on next page
Product manual - IRB 8700
631
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Hub specification
Quantity of attachment screws
The number of attachment screws that secure the hub, differ depending on gearbox.
The number of holes in the hub is the same on the three types of hub. The table
shows the number of screws used on the different axes.
Axis-6
Axis-5
Axis-4
Axis-3
Axis-2
Axis-1
4 pcs
6 pcs
4 pcs
8 pcs
8 pcs
6 pcs
Pinion on the hub
There are three different pinions on the hub.
Pinion axis-5
Pinion axis-4 and axis-6
Pinion axis-1, axis-2 and ax-
is-3
![Image]
xx1500002978
![Image]
xx1500002977
![Image]
xx1500002976
Removing the hub
Use these procedures to remove the hub.
Preparations before removing the hub
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
See Draining the axis-1 gearbox on
page 147
Drain the oil in axis-1 gearbox.
2
See Replacing the axis-1 motor on
page 567
Remove the axis-1 motor.
3
Continues on next page
632
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Removing the hub
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002038
Unscrew the M6x30 hex socket head cap
screws that secure the hub.
Note
Do not remove the M6x16 torx pan head
screws.
2
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
3
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
Continues on next page
Product manual - IRB 8700
633
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 633
|
Required consumables
Note
Article number
Consumable
Castrol Molub. 777-1 NG: To be
used on hub splines to prevent
from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Hub specification
Quantity of attachment screws
The number of attachment screws that secure the hub, differ depending on gearbox.
The number of holes in the hub is the same on the three types of hub. The table
shows the number of screws used on the different axes.
Axis-6
Axis-5
Axis-4
Axis-3
Axis-2
Axis-1
4 pcs
6 pcs
4 pcs
8 pcs
8 pcs
6 pcs
Pinion on the hub
There are three different pinions on the hub.
Pinion axis-5
Pinion axis-4 and axis-6
Pinion axis-1, axis-2 and ax-
is-3
![Image]
xx1500002978
![Image]
xx1500002977
![Image]
xx1500002976
Removing the hub
Use these procedures to remove the hub.
Preparations before removing the hub
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot working
area.
1
See Draining the axis-1 gearbox on
page 147
Drain the oil in axis-1 gearbox.
2
See Replacing the axis-1 motor on
page 567
Remove the axis-1 motor.
3
Continues on next page
632
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Removing the hub
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002038
Unscrew the M6x30 hex socket head cap
screws that secure the hub.
Note
Do not remove the M6x16 torx pan head
screws.
2
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
3
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
Continues on next page
Product manual - IRB 8700
633
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Refitting the hub
Use these procedures to refit the hub.
Preparations before refitting the hub
Note
Action
Wipe the hub clean.
1
Inspect the hole where the hub shall be
refitted. Wipe clean if needed.
2
![Image]
xx1500002039
Make sure the o-ring on the hub is undam-
aged.
Note
Replace if damaged.
3
Apply some grease on the o-ring for a bet-
ter fitting.
4
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
5
Continues on next page
634
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 634
|
Removing the hub
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002038
Unscrew the M6x30 hex socket head cap
screws that secure the hub.
Note
Do not remove the M6x16 torx pan head
screws.
2
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
3
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
Continues on next page
Product manual - IRB 8700
633
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Refitting the hub
Use these procedures to refit the hub.
Preparations before refitting the hub
Note
Action
Wipe the hub clean.
1
Inspect the hole where the hub shall be
refitted. Wipe clean if needed.
2
![Image]
xx1500002039
Make sure the o-ring on the hub is undam-
aged.
Note
Replace if damaged.
3
Apply some grease on the o-ring for a bet-
ter fitting.
4
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
5
Continues on next page
634
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting.
If not, apply 3 gram of grease.
6
Refitting the hub
Note
Action
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Attach two screws in opposite holes of the
hub and use them as tools to fit the hub.
1
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
2
![Image]
xx1500002326
Refit the hub.
3
Continues on next page
Product manual - IRB 8700
635
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 635
|
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Refitting the hub
Use these procedures to refit the hub.
Preparations before refitting the hub
Note
Action
Wipe the hub clean.
1
Inspect the hole where the hub shall be
refitted. Wipe clean if needed.
2
![Image]
xx1500002039
Make sure the o-ring on the hub is undam-
aged.
Note
Replace if damaged.
3
Apply some grease on the o-ring for a bet-
ter fitting.
4
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
5
Continues on next page
634
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4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting.
If not, apply 3 gram of grease.
6
Refitting the hub
Note
Action
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Attach two screws in opposite holes of the
hub and use them as tools to fit the hub.
1
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
2
![Image]
xx1500002326
Refit the hub.
3
Continues on next page
Product manual - IRB 8700
635
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
Attachment screws: M6x30 12.9.
Remove the two M6x110 and fit the attach-
ment screws for the hub.
4
Loctite 243
Apply locking liquid (Loctite 243) on the
screws.
Note
The number of attachment screws differ
depending on gearbox.
Quantity:
•
Axis-1 = 6 pcs
•
Axis-2 = 8 pcs
•
Axis-3 = 8 pcs
•
Axis-4 = 4 pcs
•
Axis-5 = 6 pcs
•
Axis-6 = 4 pcs
Tightening torque: 14 Nm.
Secure the hub.
5
Concluding procedure
Note
Action
See Replacing the axis-1 motor on page567
Refit the axis-1 motor.
1
See Filling oil into the axis-1 gearbox on
page 149
Refill oil in axis-1 gearbox.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Re-calibrate the robot.
3
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in DANGER - First
test run may cause injury or damage! on
page 46 .
4
636
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 636
|
Note
Action
Grease: Castrol Molub. Alloy 777-1 NG
![Image]
xx1500002346
Make sure that there is enough grease on
the splines before fitting.
If not, apply 3 gram of grease.
6
Refitting the hub
Note
Action
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Attach two screws in opposite holes of the
hub and use them as tools to fit the hub.
1
CAUTION
Whenever parting/mating the hub pinion
and gearbox, the gears may be damaged
if excessive force is used.
2
![Image]
xx1500002326
Refit the hub.
3
Continues on next page
Product manual - IRB 8700
635
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
Note
Action
Attachment screws: M6x30 12.9.
Remove the two M6x110 and fit the attach-
ment screws for the hub.
4
Loctite 243
Apply locking liquid (Loctite 243) on the
screws.
Note
The number of attachment screws differ
depending on gearbox.
Quantity:
•
Axis-1 = 6 pcs
•
Axis-2 = 8 pcs
•
Axis-3 = 8 pcs
•
Axis-4 = 4 pcs
•
Axis-5 = 6 pcs
•
Axis-6 = 4 pcs
Tightening torque: 14 Nm.
Secure the hub.
5
Concluding procedure
Note
Action
See Replacing the axis-1 motor on page567
Refit the axis-1 motor.
1
See Filling oil into the axis-1 gearbox on
page 149
Refill oil in axis-1 gearbox.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Re-calibrate the robot.
3
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in DANGER - First
test run may cause injury or damage! on
page 46 .
4
636
Product manual - IRB 8700
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
4.8.2 Replacing the axis-1 gearbox
Location of the axis-1 gearbox
The axis-1 gearbox is located as shown in the figure.
![Image]
xx1500002068
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
3HAC048963-002
Reduction gear RV 700CS
Continues on next page
Product manual - IRB 8700
637
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
|
ABB_IRB8700_Product_Manual.pdf
|
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| 637
|
Note
Action
Attachment screws: M6x30 12.9.
Remove the two M6x110 and fit the attach-
ment screws for the hub.
4
Loctite 243
Apply locking liquid (Loctite 243) on the
screws.
Note
The number of attachment screws differ
depending on gearbox.
Quantity:
•
Axis-1 = 6 pcs
•
Axis-2 = 8 pcs
•
Axis-3 = 8 pcs
•
Axis-4 = 4 pcs
•
Axis-5 = 6 pcs
•
Axis-6 = 4 pcs
Tightening torque: 14 Nm.
Secure the hub.
5
Concluding procedure
Note
Action
See Replacing the axis-1 motor on page567
Refit the axis-1 motor.
1
See Filling oil into the axis-1 gearbox on
page 149
Refill oil in axis-1 gearbox.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Re-calibrate the robot.
3
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further described in DANGER - First
test run may cause injury or damage! on
page 46 .
4
636
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.1 Replacing the hub
Continued
4.8.2 Replacing the axis-1 gearbox
Location of the axis-1 gearbox
The axis-1 gearbox is located as shown in the figure.
![Image]
xx1500002068
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
3HAC048963-002
Reduction gear RV 700CS
Continues on next page
Product manual - IRB 8700
637
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Lifting capacity: 2,000 kg
-
Roundsling 2 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
M16
3HAC14457-4
Lifting eye
M24
3HAC038295-003
Lifting eye
Used to elevate the base to remove
and refit axis 1 gear box.
-
Support legs
For support legs
-
Attachment screw
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13120-2
Guide pin, M16x150
Always use guide pins in pairs.
3HAC13120-3
Guide pin, M16x200
Always use guide pins in pairs.
3HAC
Guide pin, M16x300
Always use guide pins in pairs.
Guide pin, M20x200
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC047108-001
Removal tool M14
Fully threaded
-
Screw M6x110
Nova Torque
-
Torque Multiplier
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Used to remove and refit the R1.SMB
in the base.
-
Sparkplug wrench
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to release the motor brakes.
-
24 VDC power supply
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Grease
Mercasol
Continues on next page
638
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 638
|
4.8.2 Replacing the axis-1 gearbox
Location of the axis-1 gearbox
The axis-1 gearbox is located as shown in the figure.
![Image]
xx1500002068
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
3HAC048963-002
Reduction gear RV 700CS
Continues on next page
Product manual - IRB 8700
637
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Lifting capacity: 2,000 kg
-
Roundsling 2 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
M16
3HAC14457-4
Lifting eye
M24
3HAC038295-003
Lifting eye
Used to elevate the base to remove
and refit axis 1 gear box.
-
Support legs
For support legs
-
Attachment screw
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13120-2
Guide pin, M16x150
Always use guide pins in pairs.
3HAC13120-3
Guide pin, M16x200
Always use guide pins in pairs.
3HAC
Guide pin, M16x300
Always use guide pins in pairs.
Guide pin, M20x200
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC047108-001
Removal tool M14
Fully threaded
-
Screw M6x110
Nova Torque
-
Torque Multiplier
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Used to remove and refit the R1.SMB
in the base.
-
Sparkplug wrench
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to release the motor brakes.
-
24 VDC power supply
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Grease
Mercasol
Continues on next page
638
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Article number
Consumable
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-1 gearbox on
page 147 .
Begin draining the oil.
3
Continues on next page
Product manual - IRB 8700
639
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 639
|
Required tools and equipment
Note
Article number
Equipment, etc.
-
MobilePlatformLadder
Lifting capacity: 2,000 kg
-
Roundsling 2 m
Lifting capacity: 2,000 kg
-
Roundsling 2.5 m
M16
3HAC14457-4
Lifting eye
M24
3HAC038295-003
Lifting eye
Used to elevate the base to remove
and refit axis 1 gear box.
-
Support legs
For support legs
-
Attachment screw
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1
Lifting accessory (chain)
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
300 mm, bits 1/2"
3HAC12342-1
Bits extender
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13120-2
Guide pin, M16x150
Always use guide pins in pairs.
3HAC13120-3
Guide pin, M16x200
Always use guide pins in pairs.
3HAC
Guide pin, M16x300
Always use guide pins in pairs.
Guide pin, M20x200
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC047108-001
Removal tool M14
Fully threaded
-
Screw M6x110
Nova Torque
-
Torque Multiplier
Used to rotate the motor pinion.
3HAC7887-1
Rotation tool
Used to remove and refit the R1.SMB
in the base.
-
Sparkplug wrench
Used when replacing the parallel rod
and mechanical stop pin as a safety
measure
-
Piece of wood
Used to release the motor brakes.
-
24 VDC power supply
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Loctite 243
3HAB7116-1
Locking liquid
Grease
Mercasol
Continues on next page
638
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Article number
Consumable
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-1 gearbox on
page 147 .
Begin draining the oil.
3
Continues on next page
Product manual - IRB 8700
639
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
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
![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
Continues on next page
640
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 640
|
Note
Article number
Consumable
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-1 gearbox on
page 147 .
Begin draining the oil.
3
Continues on next page
Product manual - IRB 8700
639
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
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
![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
Continues on next page
640
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
![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
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Continues on next page
Product manual - IRB 8700
641
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 641
|
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
![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
Continues on next page
640
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
![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
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Continues on next page
Product manual - IRB 8700
641
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Attaching lifting accessories, complete robot
Note
Action
xx1400002584
Jog the robot into position:
•
Axis 1: -90° (optional)
•
Axis 2: -65°
•
Axis 3: +2°
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: 0°.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation.
1
CAUTION
The IRB 8700 robot weighs 4,750 kg.
All lifting accessories used must be sized
accordingly!
2
Mobile platform ladder
Use a Mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Shackle (2 pcs)
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
A
![Image]
xx1400002590
Lifting eye: M24 (4 pcs)
A
Fit lifting eyes to the holes on frame and
counter weight respectively.
4
Continues on next page
642
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 642
|
Note
Action
![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
![Image]
xx1500002089
Remove the stop pin by sliding it down, out
off its hole and moving it slightly forwards.
6
Continues on next page
Product manual - IRB 8700
641
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Attaching lifting accessories, complete robot
Note
Action
xx1400002584
Jog the robot into position:
•
Axis 1: -90° (optional)
•
Axis 2: -65°
•
Axis 3: +2°
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: 0°.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation.
1
CAUTION
The IRB 8700 robot weighs 4,750 kg.
All lifting accessories used must be sized
accordingly!
2
Mobile platform ladder
Use a Mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Shackle (2 pcs)
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
A
![Image]
xx1400002590
Lifting eye: M24 (4 pcs)
A
Fit lifting eyes to the holes on frame and
counter weight respectively.
4
Continues on next page
642
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
![Image]
xx1500002369
Shackle (2 pcs)
Attach shackles to the lifting eyes in the
frame.
5
Make sure the roundslings do not rub
against any sharp edges.
3550
200 ±50
1150 ±50
2x L=2m
2x L=2m
A
B
xx1400002583
Lifting eye: M24 (4 pcs)
A
Shackle (2 pcs)
B
Run roundslings through the lifting eyes
and shackles, and attach them to an over-
head crane.
Note
Make sure to run the roundslings as shown
in the figure:
•
the ones fitted to the shackles on
the frame, on the inside of the balan-
cing devices shafts
•
the ones fitted to the lifting eyes on
the counter weight, on the outside
of the balancing devices.
CAUTION
If the lifting eyes have sharp edges that
might damage the roundslings, lifting
shackles must be used to attach the
roundslings to the lifting eyes.
6
Stretch the lifting accessories to take the
weight of the robot.
7
Continues on next page
Product manual - IRB 8700
643
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 643
|
Attaching lifting accessories, complete robot
Note
Action
xx1400002584
Jog the robot into position:
•
Axis 1: -90° (optional)
•
Axis 2: -65°
•
Axis 3: +2°
•
Axis 4: +90°
•
Axis 5: -90°
•
Axis 6: 0°.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation.
1
CAUTION
The IRB 8700 robot weighs 4,750 kg.
All lifting accessories used must be sized
accordingly!
2
Mobile platform ladder
Use a Mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Shackle (2 pcs)
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
A
![Image]
xx1400002590
Lifting eye: M24 (4 pcs)
A
Fit lifting eyes to the holes on frame and
counter weight respectively.
4
Continues on next page
642
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
![Image]
xx1500002369
Shackle (2 pcs)
Attach shackles to the lifting eyes in the
frame.
5
Make sure the roundslings do not rub
against any sharp edges.
3550
200 ±50
1150 ±50
2x L=2m
2x L=2m
A
B
xx1400002583
Lifting eye: M24 (4 pcs)
A
Shackle (2 pcs)
B
Run roundslings through the lifting eyes
and shackles, and attach them to an over-
head crane.
Note
Make sure to run the roundslings as shown
in the figure:
•
the ones fitted to the shackles on
the frame, on the inside of the balan-
cing devices shafts
•
the ones fitted to the lifting eyes on
the counter weight, on the outside
of the balancing devices.
CAUTION
If the lifting eyes have sharp edges that
might damage the roundslings, lifting
shackles must be used to attach the
roundslings to the lifting eyes.
6
Stretch the lifting accessories to take the
weight of the robot.
7
Continues on next page
Product manual - IRB 8700
643
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
WARNING
Personnel must not, under any circum-
stances, be present under the suspended
load.
8
Use caution and raise the overhead crane
to lift the robot.
9
Lifting the complete robot onto the support legs
Note
Action
CAUTION
Make sure that the robot is secured in the
lifting accessories.
1
Unscrew the attachment screws that secure
the robot to the foundation.
2
Support legs
Use caution and lift the complete robot up,
high enough to be able to attach the sup-
port legs.
3
Tightening torque: 300 Nm
Fit the support legs to the foundation.
4
Use caution and lower the robot slowly
down onto the support legs, making sure
the holes in robot base will match the holes
in the support legs.
5
Attachment screws:
Secure the base to the support legs.
6
Tightening torque: 300 Nm
Robot position when lifting off the complete arm system
The complete arm system consists of:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
Remove the roundslings from the overhead
crane.
1
DANGER
It is very important to change the position
of axis-2 before lifting off the complete arm
system.
If not, the complete arm system will not be
stable when it is resting on the foundation
after it has been removed from the base.
2
Continues on next page
644
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 644
|
Note
Action
![Image]
xx1500002369
Shackle (2 pcs)
Attach shackles to the lifting eyes in the
frame.
5
Make sure the roundslings do not rub
against any sharp edges.
3550
200 ±50
1150 ±50
2x L=2m
2x L=2m
A
B
xx1400002583
Lifting eye: M24 (4 pcs)
A
Shackle (2 pcs)
B
Run roundslings through the lifting eyes
and shackles, and attach them to an over-
head crane.
Note
Make sure to run the roundslings as shown
in the figure:
•
the ones fitted to the shackles on
the frame, on the inside of the balan-
cing devices shafts
•
the ones fitted to the lifting eyes on
the counter weight, on the outside
of the balancing devices.
CAUTION
If the lifting eyes have sharp edges that
might damage the roundslings, lifting
shackles must be used to attach the
roundslings to the lifting eyes.
6
Stretch the lifting accessories to take the
weight of the robot.
7
Continues on next page
Product manual - IRB 8700
643
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
WARNING
Personnel must not, under any circum-
stances, be present under the suspended
load.
8
Use caution and raise the overhead crane
to lift the robot.
9
Lifting the complete robot onto the support legs
Note
Action
CAUTION
Make sure that the robot is secured in the
lifting accessories.
1
Unscrew the attachment screws that secure
the robot to the foundation.
2
Support legs
Use caution and lift the complete robot up,
high enough to be able to attach the sup-
port legs.
3
Tightening torque: 300 Nm
Fit the support legs to the foundation.
4
Use caution and lower the robot slowly
down onto the support legs, making sure
the holes in robot base will match the holes
in the support legs.
5
Attachment screws:
Secure the base to the support legs.
6
Tightening torque: 300 Nm
Robot position when lifting off the complete arm system
The complete arm system consists of:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
Remove the roundslings from the overhead
crane.
1
DANGER
It is very important to change the position
of axis-2 before lifting off the complete arm
system.
If not, the complete arm system will not be
stable when it is resting on the foundation
after it has been removed from the base.
2
Continues on next page
644
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Use caution and jog the robot slowly into
the specified position:
•
Axis 1: 0°
•
Axis 2: -51°
•
Axis 3: +13°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: 0°.
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Attaching the lifting accessories, complete arm system
The complete arm system contains:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
Use a mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Lifting eye: M24 (4 pcs)
Shackle: SA-10-8-NA1
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Stretch the lifting accessories to take the
weight of the arm system.
3
Adjust if needed.
4
Continues on next page
Product manual - IRB 8700
645
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 645
|
Note
Action
WARNING
Personnel must not, under any circum-
stances, be present under the suspended
load.
8
Use caution and raise the overhead crane
to lift the robot.
9
Lifting the complete robot onto the support legs
Note
Action
CAUTION
Make sure that the robot is secured in the
lifting accessories.
1
Unscrew the attachment screws that secure
the robot to the foundation.
2
Support legs
Use caution and lift the complete robot up,
high enough to be able to attach the sup-
port legs.
3
Tightening torque: 300 Nm
Fit the support legs to the foundation.
4
Use caution and lower the robot slowly
down onto the support legs, making sure
the holes in robot base will match the holes
in the support legs.
5
Attachment screws:
Secure the base to the support legs.
6
Tightening torque: 300 Nm
Robot position when lifting off the complete arm system
The complete arm system consists of:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
Remove the roundslings from the overhead
crane.
1
DANGER
It is very important to change the position
of axis-2 before lifting off the complete arm
system.
If not, the complete arm system will not be
stable when it is resting on the foundation
after it has been removed from the base.
2
Continues on next page
644
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Use caution and jog the robot slowly into
the specified position:
•
Axis 1: 0°
•
Axis 2: -51°
•
Axis 3: +13°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: 0°.
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Attaching the lifting accessories, complete arm system
The complete arm system contains:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
Use a mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Lifting eye: M24 (4 pcs)
Shackle: SA-10-8-NA1
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Stretch the lifting accessories to take the
weight of the arm system.
3
Adjust if needed.
4
Continues on next page
Product manual - IRB 8700
645
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Disconnecting the cable harness in the base
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003082
Remove the base cover.
2
![Image]
xx1500003083
Disconnect R1.MP-A and R1.MP-B.
3
Sparkplug wrench
![Image]
xx1500003084
Disconnect R1.SMB.
Tip
Use a Sparkplug wrench (or similar).
![Image]
![Image]
xx1200000888
4
Continues on next page
646
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 646
|
Note
Action
Use caution and jog the robot slowly into
the specified position:
•
Axis 1: 0°
•
Axis 2: -51°
•
Axis 3: +13°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: 0°.
3
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
4
Attaching the lifting accessories, complete arm system
The complete arm system contains:
•
upper arm, including wrist
•
lower arm, including parallel arm
•
frame
•
counterweight
Note
Action
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly!
1
Mobile platform ladder
Use a mobile platform ladder (or similar)
and attach the lifting accessories.
DANGER
Never use the robot as ladder.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(4 pcs)
Lifting eye: M24 (4 pcs)
Shackle: SA-10-8-NA1
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500001985
Stretch the lifting accessories to take the
weight of the arm system.
3
Adjust if needed.
4
Continues on next page
Product manual - IRB 8700
645
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Disconnecting the cable harness in the base
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500003082
Remove the base cover.
2
![Image]
xx1500003083
Disconnect R1.MP-A and R1.MP-B.
3
Sparkplug wrench
![Image]
xx1500003084
Disconnect R1.SMB.
Tip
Use a Sparkplug wrench (or similar).
![Image]
![Image]
xx1200000888
4
Continues on next page
646
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
![Image]
xx1500003085
Remove the two earth cables.
5
![Image]
xx1500003088
For easier access: Remove connection
plate and bottom plate.
6
Use caution and pull out the cable harness
from the base.
7
Disconnecting the axis-1 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1200001135
Unscrew the attachment screws with
washers and remove the motor cover.
2
Continues on next page
Product manual - IRB 8700
647
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
|
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