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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
| 647
|
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
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is not lost when remov-
ing the cover.
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
648
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
| 648
|
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
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is not lost when remov-
ing the cover.
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
648
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
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
649
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
| 649
|
Note
Action
![Image]
xx1200001070
Note
Make sure the o-ring is not lost when remov-
ing the cover.
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
648
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
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
649
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]
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
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
Continues on next page
650
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
| 650
|
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
649
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]
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
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
Continues on next page
650
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
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
![Image]
xx1500002326
Lift out the hub carefully.
5
Separating base, including gearbox, from the arm system
Note
Action
![Image]
xx1500003118
Remove the plastic plugs covering the
M16x110 screws.
1
Continues on next page
Product manual - IRB 8700
651
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
| 651
|
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
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
Continues on next page
650
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
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
![Image]
xx1500002326
Lift out the hub carefully.
5
Separating base, including gearbox, from the arm system
Note
Action
![Image]
xx1500003118
Remove the plastic plugs covering the
M16x110 screws.
1
Continues on next page
Product manual - IRB 8700
651
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]
xx1500003119
Unscrew the M16x110 screws (18 pcs) that
secure the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
![Image]
xx1500003120
With lifting accessories stretched, unscrew
the M16x70 screws (18 pcs) that secure
the cross roller bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
3
Make sure that all screws have been re-
moved and that the lifting accessories are
fastened correctly.
4
The cross roller bearing is still fitted to the
frame and the axis-1 gearbox is still fitted
to the base.
It is now possible to lift the complete arm
system off.
5
Lifting the complete arm system off
Note
Action
Guide pin, M16x300 (2 pcs)
Fit two guide pins in opposite holes of the
cross roller bearing.
1
Always use guide pins in pairs.
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
652
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
| 652
|
Note
Action
Attachment screws: M6x110 (2 pcs)
![Image]
xx1500002081
Fit two screws in opposite holes of the hub
and use them as removal tools.
4
![Image]
xx1500002326
Lift out the hub carefully.
5
Separating base, including gearbox, from the arm system
Note
Action
![Image]
xx1500003118
Remove the plastic plugs covering the
M16x110 screws.
1
Continues on next page
Product manual - IRB 8700
651
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]
xx1500003119
Unscrew the M16x110 screws (18 pcs) that
secure the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
![Image]
xx1500003120
With lifting accessories stretched, unscrew
the M16x70 screws (18 pcs) that secure
the cross roller bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
3
Make sure that all screws have been re-
moved and that the lifting accessories are
fastened correctly.
4
The cross roller bearing is still fitted to the
frame and the axis-1 gearbox is still fitted
to the base.
It is now possible to lift the complete arm
system off.
5
Lifting the complete arm system off
Note
Action
Guide pin, M16x300 (2 pcs)
Fit two guide pins in opposite holes of the
cross roller bearing.
1
Always use guide pins in pairs.
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
652
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]
xx1500003121
Use caution and lift the complete arm sys-
tem up.
Note
Lifting height needed for the complete arm
system to go free from the axis-1 gearbox:
375 cm.
3
Remove the guide pins before the arm
system is put down.
4
Put the arm system on a level foundation.
DANGER
DO NOT remove the lifting accessories
until it is tested that the arm system is
stable. Lower the lifting accessory a little,
while at the same time using force to test
if the arm system remains stable. If not,
adjust the position of the robots axes.
5
Remove the lifting accessories.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation. Test
if the robot is stable, before the lifting ac-
cessories are removed.
6
Removing the axis-1 gearbox
Note
Action
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
1
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
Product manual - IRB 8700
653
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
| 653
|
Note
Action
![Image]
xx1500003119
Unscrew the M16x110 screws (18 pcs) that
secure the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
![Image]
xx1500003120
With lifting accessories stretched, unscrew
the M16x70 screws (18 pcs) that secure
the cross roller bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
and making sure the bit is correctly
fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
3
Make sure that all screws have been re-
moved and that the lifting accessories are
fastened correctly.
4
The cross roller bearing is still fitted to the
frame and the axis-1 gearbox is still fitted
to the base.
It is now possible to lift the complete arm
system off.
5
Lifting the complete arm system off
Note
Action
Guide pin, M16x300 (2 pcs)
Fit two guide pins in opposite holes of the
cross roller bearing.
1
Always use guide pins in pairs.
CAUTION
The complete arm system weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
652
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]
xx1500003121
Use caution and lift the complete arm sys-
tem up.
Note
Lifting height needed for the complete arm
system to go free from the axis-1 gearbox:
375 cm.
3
Remove the guide pins before the arm
system is put down.
4
Put the arm system on a level foundation.
DANGER
DO NOT remove the lifting accessories
until it is tested that the arm system is
stable. Lower the lifting accessory a little,
while at the same time using force to test
if the arm system remains stable. If not,
adjust the position of the robots axes.
5
Remove the lifting accessories.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation. Test
if the robot is stable, before the lifting ac-
cessories are removed.
6
Removing the axis-1 gearbox
Note
Action
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
1
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
Product manual - IRB 8700
653
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Attach the lifting accessories to the axis-1
gearbox.
3
Stretch the lifting accessory (chain) to take
the weight of the axis-1 gearbox.
4
Torque Multiplier
![Image]
xx1500003122
Unscrew the M20x60 screws that secure
the axis-1 gearbox to the base.
Tip
Use a Torque Multiplier between the screw
and the torque wrench, to facilitate the re-
moval.
5
![Image]
xx1500003123
Use caution and lift the gearbox off.
6
![Image]
xx1500003124
Make sure not to loose the small o-ring
between base and gearbox.
7
Continues on next page
654
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
| 654
|
Note
Action
![Image]
xx1500003121
Use caution and lift the complete arm sys-
tem up.
Note
Lifting height needed for the complete arm
system to go free from the axis-1 gearbox:
375 cm.
3
Remove the guide pins before the arm
system is put down.
4
Put the arm system on a level foundation.
DANGER
DO NOT remove the lifting accessories
until it is tested that the arm system is
stable. Lower the lifting accessory a little,
while at the same time using force to test
if the arm system remains stable. If not,
adjust the position of the robots axes.
5
Remove the lifting accessories.
WARNING
The robot is likely to be mechanically un-
stable if not secured to the foundation. Test
if the robot is stable, before the lifting ac-
cessories are removed.
6
Removing the axis-1 gearbox
Note
Action
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
1
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
2
Continues on next page
Product manual - IRB 8700
653
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Attach the lifting accessories to the axis-1
gearbox.
3
Stretch the lifting accessory (chain) to take
the weight of the axis-1 gearbox.
4
Torque Multiplier
![Image]
xx1500003122
Unscrew the M20x60 screws that secure
the axis-1 gearbox to the base.
Tip
Use a Torque Multiplier between the screw
and the torque wrench, to facilitate the re-
moval.
5
![Image]
xx1500003123
Use caution and lift the gearbox off.
6
![Image]
xx1500003124
Make sure not to loose the small o-ring
between base and gearbox.
7
Continues on next page
654
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
Refitting the gearbox
Use these procedures to fit the gearbox.
Preparations before fitting the gearbox
Note
Action
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
2
3HAC15556-1 Lifting accessory (chain)
Attach the lifting accessory (chain) to the
axis-1 gearbox.
3
Stretch the lifting chain and lift the axis-1
gearbox up.
4
Remove old residues of sealant and other
contamination from the axis-1 gearbox and
base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
5
Clean the contact surfaces between gear-
box and base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
6
Fitting the axis-1 gearbox
Note
Action
![Image]
xx1600000042
Clean the groove for the small o-ring.
1
Continues on next page
Product manual - IRB 8700
655
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
| 655
|
Note
Action
Attach the lifting accessories to the axis-1
gearbox.
3
Stretch the lifting accessory (chain) to take
the weight of the axis-1 gearbox.
4
Torque Multiplier
![Image]
xx1500003122
Unscrew the M20x60 screws that secure
the axis-1 gearbox to the base.
Tip
Use a Torque Multiplier between the screw
and the torque wrench, to facilitate the re-
moval.
5
![Image]
xx1500003123
Use caution and lift the gearbox off.
6
![Image]
xx1500003124
Make sure not to loose the small o-ring
between base and gearbox.
7
Continues on next page
654
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
Refitting the gearbox
Use these procedures to fit the gearbox.
Preparations before fitting the gearbox
Note
Action
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
2
3HAC15556-1 Lifting accessory (chain)
Attach the lifting accessory (chain) to the
axis-1 gearbox.
3
Stretch the lifting chain and lift the axis-1
gearbox up.
4
Remove old residues of sealant and other
contamination from the axis-1 gearbox and
base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
5
Clean the contact surfaces between gear-
box and base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
6
Fitting the axis-1 gearbox
Note
Action
![Image]
xx1600000042
Clean the groove for the small o-ring.
1
Continues on next page
Product manual - IRB 8700
655
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Inspect the o-ring.
Note
Replace if damaged.
2
Put some grease on the o-ring and fit it in
the oil hose groove.
3
Attach two guide pins in opposite holes of
the gearbox.
4
One of the guide pins shall be fitted in the
hole closest to the guiding pin.
Before fitting the gearbox, make sure that
the guiding pin and the oil canal will match
the holes in the frame.
5
![Image]
xx1500003123
Use caution and lift the gearbox onto the
guide pins.
6
Attachment screws: M20x60 12.9 Gleitmo
![Image]
xx1500003122
Attach the 16 of the 18 attachment screws
that will secure the gearbox to the base.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
7
Remove the guide pins and attach the re-
maining screws.
8
Continues on next page
656
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
| 656
|
Refitting the gearbox
Use these procedures to fit the gearbox.
Preparations before fitting the gearbox
Note
Action
CAUTION
The gearbox weighs 150 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting eye: M16 3HAC14457-4 (2 pcs)
Fit lifting eyes in opposite holes.
Note
Do not tighten the lifting eyes completely
against the gearbox. Leave a 5 mm gap, or
the sealing surface on the gearbox will be
damaged.
2
3HAC15556-1 Lifting accessory (chain)
Attach the lifting accessory (chain) to the
axis-1 gearbox.
3
Stretch the lifting chain and lift the axis-1
gearbox up.
4
Remove old residues of sealant and other
contamination from the axis-1 gearbox and
base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
5
Clean the contact surfaces between gear-
box and base.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
6
Fitting the axis-1 gearbox
Note
Action
![Image]
xx1600000042
Clean the groove for the small o-ring.
1
Continues on next page
Product manual - IRB 8700
655
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Inspect the o-ring.
Note
Replace if damaged.
2
Put some grease on the o-ring and fit it in
the oil hose groove.
3
Attach two guide pins in opposite holes of
the gearbox.
4
One of the guide pins shall be fitted in the
hole closest to the guiding pin.
Before fitting the gearbox, make sure that
the guiding pin and the oil canal will match
the holes in the frame.
5
![Image]
xx1500003123
Use caution and lift the gearbox onto the
guide pins.
6
Attachment screws: M20x60 12.9 Gleitmo
![Image]
xx1500003122
Attach the 16 of the 18 attachment screws
that will secure the gearbox to the base.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
7
Remove the guide pins and attach the re-
maining screws.
8
Continues on next page
656
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
Tightening torque, step 1: 100 Nm
Secure the gearbox to the base in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 450
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
9
Tightening torque, step 2: 450 Nm
Torque Multiplier
![Image]
xx1500003127
Attaching 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 armsystem 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 complete arm system.
3
Continues on next page
Product manual - IRB 8700
657
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
| 657
|
Note
Action
Inspect the o-ring.
Note
Replace if damaged.
2
Put some grease on the o-ring and fit it in
the oil hose groove.
3
Attach two guide pins in opposite holes of
the gearbox.
4
One of the guide pins shall be fitted in the
hole closest to the guiding pin.
Before fitting the gearbox, make sure that
the guiding pin and the oil canal will match
the holes in the frame.
5
![Image]
xx1500003123
Use caution and lift the gearbox onto the
guide pins.
6
Attachment screws: M20x60 12.9 Gleitmo
![Image]
xx1500003122
Attach the 16 of the 18 attachment screws
that will secure the gearbox to the base.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
7
Remove the guide pins and attach the re-
maining screws.
8
Continues on next page
656
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
Tightening torque, step 1: 100 Nm
Secure the gearbox to the base in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 450
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
9
Tightening torque, step 2: 450 Nm
Torque Multiplier
![Image]
xx1500003127
Attaching 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 armsystem 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 complete arm system.
3
Continues on next page
Product manual - IRB 8700
657
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Adjust if needed.
4
Lifting complete arm system onto base and axis-1 gearbox
Note
Action
CAUTION
The complete armsystem weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
1
Use caution and lift the complete arm sys-
tem up.
2
Clean contact surfaces between base in-
cluding gearbox, cross roller bearing and
frame.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
3
Flange sealant: Loctite 574
![Image]
xx1600000045
Apply flange sealant (Loctite 574) on the
sealing surface for the cross roller bearing
on the base.
4
Guide pins: M16x200
Attach guide pins in opposite holes of the
cross roller bearing. One of the guide pins
shall be attached in the hole closest to the
small dowel pin.
5
Guide pins: M16x300
Attach two guide pins in opposite threaded
holes of the gearbox.
6
Continues on next page
658
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
| 658
|
Note
Action
Tightening torque, step 1: 100 Nm
Secure the gearbox to the base in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 450
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
9
Tightening torque, step 2: 450 Nm
Torque Multiplier
![Image]
xx1500003127
Attaching 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 armsystem 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 complete arm system.
3
Continues on next page
Product manual - IRB 8700
657
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Adjust if needed.
4
Lifting complete arm system onto base and axis-1 gearbox
Note
Action
CAUTION
The complete armsystem weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
1
Use caution and lift the complete arm sys-
tem up.
2
Clean contact surfaces between base in-
cluding gearbox, cross roller bearing and
frame.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
3
Flange sealant: Loctite 574
![Image]
xx1600000045
Apply flange sealant (Loctite 574) on the
sealing surface for the cross roller bearing
on the base.
4
Guide pins: M16x200
Attach guide pins in opposite holes of the
cross roller bearing. One of the guide pins
shall be attached in the hole closest to the
small dowel pin.
5
Guide pins: M16x300
Attach two guide pins in opposite threaded
holes of the gearbox.
6
Continues on next page
658
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]
xx1600000043
Orient the small dowel pins in gearbox and
frame, and at the same time, match cross
roller bearing dowel pin to the hole in the
base, while lowering the complete arm
system carefully onto the long guide pins.
Note
It is possible to rotate the cross roller
bearing and the gearbox by hand, to match
the small dowel pins.
7
![Image]
xx1600000044
Slowly lower the complete arm system,
while checking the position of the small
dowel pins and the guide pins.
8
Securing the complete arm system to base and axis-1 gearbox
Note
Action
![Image]
xx1500002980
Note
Use caution when attaching the screws that
secure the gearbox.
If a screw is dropped, it will probably end
up in the recess underneath the gearbox
and be very difficult to reach. Using a
magnet will probably be the only way to get
hold of the lost screw.
1
Continues on next page
Product manual - IRB 8700
659
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
| 659
|
Note
Action
Adjust if needed.
4
Lifting complete arm system onto base and axis-1 gearbox
Note
Action
CAUTION
The complete armsystem weighs 4,300 kg.
All lifting accessories used must be sized
accordingly.
1
Use caution and lift the complete arm sys-
tem up.
2
Clean contact surfaces between base in-
cluding gearbox, cross roller bearing and
frame.
DANGER
Let only one hand stay underneath the
hanging gearbox while cleaning.
3
Flange sealant: Loctite 574
![Image]
xx1600000045
Apply flange sealant (Loctite 574) on the
sealing surface for the cross roller bearing
on the base.
4
Guide pins: M16x200
Attach guide pins in opposite holes of the
cross roller bearing. One of the guide pins
shall be attached in the hole closest to the
small dowel pin.
5
Guide pins: M16x300
Attach two guide pins in opposite threaded
holes of the gearbox.
6
Continues on next page
658
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]
xx1600000043
Orient the small dowel pins in gearbox and
frame, and at the same time, match cross
roller bearing dowel pin to the hole in the
base, while lowering the complete arm
system carefully onto the long guide pins.
Note
It is possible to rotate the cross roller
bearing and the gearbox by hand, to match
the small dowel pins.
7
![Image]
xx1600000044
Slowly lower the complete arm system,
while checking the position of the small
dowel pins and the guide pins.
8
Securing the complete arm system to base and axis-1 gearbox
Note
Action
![Image]
xx1500002980
Note
Use caution when attaching the screws that
secure the gearbox.
If a screw is dropped, it will probably end
up in the recess underneath the gearbox
and be very difficult to reach. Using a
magnet will probably be the only way to get
hold of the lost screw.
1
Continues on next page
Product manual - IRB 8700
659
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Attachment screws: M16x110 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003119
With the complete arm system resting on
base and axis-1 gearbox, fit the attachment
screws that hold the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
Remove the guide pins and attach the re-
maining screws.
3
Tightening torque, step 1: 100 Nm
Secure the gearbox to the frame in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
4
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
Attachment screws: M16x70 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003120
Attach the screws that hold the cross roller
bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
5
Continues on next page
660
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
| 660
|
Note
Action
![Image]
xx1600000043
Orient the small dowel pins in gearbox and
frame, and at the same time, match cross
roller bearing dowel pin to the hole in the
base, while lowering the complete arm
system carefully onto the long guide pins.
Note
It is possible to rotate the cross roller
bearing and the gearbox by hand, to match
the small dowel pins.
7
![Image]
xx1600000044
Slowly lower the complete arm system,
while checking the position of the small
dowel pins and the guide pins.
8
Securing the complete arm system to base and axis-1 gearbox
Note
Action
![Image]
xx1500002980
Note
Use caution when attaching the screws that
secure the gearbox.
If a screw is dropped, it will probably end
up in the recess underneath the gearbox
and be very difficult to reach. Using a
magnet will probably be the only way to get
hold of the lost screw.
1
Continues on next page
Product manual - IRB 8700
659
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Attachment screws: M16x110 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003119
With the complete arm system resting on
base and axis-1 gearbox, fit the attachment
screws that hold the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
Remove the guide pins and attach the re-
maining screws.
3
Tightening torque, step 1: 100 Nm
Secure the gearbox to the frame in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
4
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
Attachment screws: M16x70 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003120
Attach the screws that hold the cross roller
bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
5
Continues on next page
660
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
Tightening torque, step 1: 100 Nm
Secure the cross roller bearing to the frame
in two steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
6
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
![Image]
xx1500003118
Refit the plastic plugs.
7
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
Continues on next page
Product manual - IRB 8700
661
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
| 661
|
Note
Action
Attachment screws: M16x110 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003119
With the complete arm system resting on
base and axis-1 gearbox, fit the attachment
screws that hold the gearbox to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
2
Remove the guide pins and attach the re-
maining screws.
3
Tightening torque, step 1: 100 Nm
Secure the gearbox to the frame in two
steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
4
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
Attachment screws: M16x70 12.9 Gleitmo
(18 pcs)
![Image]
xx1500003120
Attach the screws that hold the cross roller
bearing to the frame.
Tip
This procedure is best done with two per-
sons working together:
•
Person one: working under the base,
holding the torque wrench in place,
making sure the bit is correctly fitted.
•
Person two: working beside the ro-
bot, working with the torque wrench.
5
Continues on next page
660
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
Tightening torque, step 1: 100 Nm
Secure the cross roller bearing to the frame
in two steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
6
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
![Image]
xx1500003118
Refit the plastic plugs.
7
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
Continues on next page
Product manual - IRB 8700
661
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]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
662
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
| 662
|
Note
Action
Tightening torque, step 1: 100 Nm
Secure the cross roller bearing to the frame
in two steps;
•
Secure the 18 attachment screws
crosswise to 100 Nm.
•
Secure the screws crosswise to 300
Nm.
Tip
Use a torque converter between the screw
and the torque wrench, to facilitate the
tightening of the screws.
6
Tightening torque, step 2: 300 Nm
![Image]
xx1600000040
![Image]
xx1500003118
Refit the plastic plugs.
7
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
Continues on next page
Product manual - IRB 8700
661
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]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
662
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]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
663
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
| 663
|
Note
Action
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
662
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]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
663
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
664
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
| 664
|
Note
Action
![Image]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
663
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
664
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]
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
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
Continues on next page
Product manual - IRB 8700
665
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
| 665
|
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
664
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]
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
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
Continues on next page
Product manual - IRB 8700
665
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
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
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
Continues on next page
666
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
| 666
|
Note
Action
![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
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
Continues on next page
Product manual - IRB 8700
665
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
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
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
Continues on next page
666
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
Attaching lifting accessories, complete robot
Note
Action
CAUTION
The IRB 8700 robot weighs 4,750 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)
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 robot.
3
Adjust if needed.
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Removing the support legs
Note
Action
Unscrew the attachment screws that secure
the support legs to the robot base.
1
Use caution and lift the robot up from the
support legs.
2
Use caution and unscrew the attachment
screws that secure the support legs to the
foundation.
3
Remove the support legs.
4
Use caution and lower the robot onto the
foundation.
5
Continues on next page
Product manual - IRB 8700
667
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
| 667
|
Note
Action
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
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
Continues on next page
666
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
Attaching lifting accessories, complete robot
Note
Action
CAUTION
The IRB 8700 robot weighs 4,750 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)
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 robot.
3
Adjust if needed.
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Removing the support legs
Note
Action
Unscrew the attachment screws that secure
the support legs to the robot base.
1
Use caution and lift the robot up from the
support legs.
2
Use caution and unscrew the attachment
screws that secure the support legs to the
foundation.
3
Remove the support legs.
4
Use caution and lower the robot onto the
foundation.
5
Continues on next page
Product manual - IRB 8700
667
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Tightening torque:
Secure the robot to the foundation.
6
550 Nm (screws lubricated with Molykote
1000)
600-725 Nm, typical 650 Nm (screws none
or lightly lubricated)
Refitting 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
Attachment screws: M6x16 stainless steel
A2-70 (4 pcs)
Refit the connection plate in the base (if it
has been removed).
2
Tightening torque: 6 Nm
![Image]
xx1500003088
Use caution and run the cable harness
through the hole in the frame and out to
the base plate.
3
Continues on next page
668
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
| 668
|
Attaching lifting accessories, complete robot
Note
Action
CAUTION
The IRB 8700 robot weighs 4,750 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)
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 robot.
3
Adjust if needed.
4
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
5
Removing the support legs
Note
Action
Unscrew the attachment screws that secure
the support legs to the robot base.
1
Use caution and lift the robot up from the
support legs.
2
Use caution and unscrew the attachment
screws that secure the support legs to the
foundation.
3
Remove the support legs.
4
Use caution and lower the robot onto the
foundation.
5
Continues on next page
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667
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Tightening torque:
Secure the robot to the foundation.
6
550 Nm (screws lubricated with Molykote
1000)
600-725 Nm, typical 650 Nm (screws none
or lightly lubricated)
Refitting 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
Attachment screws: M6x16 stainless steel
A2-70 (4 pcs)
Refit the connection plate in the base (if it
has been removed).
2
Tightening torque: 6 Nm
![Image]
xx1500003088
Use caution and run the cable harness
through the hole in the frame and out to
the base plate.
3
Continues on next page
668
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]
![Image]
![Image]
![Image]
A
B
C
F
E
D
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500003081
Cables down through hole in frame,
to base plate
A
Axis-2 motor cables
B
SMB/BU cables
C
Cables up through lower arm and
onwards
D
Axis-3 motor cables
E
Axis-1 motor cables
F
Make sure that the cables running from the
axis-1 bracket, runs untangled down
through the hole in the frame to the base
plate, to axis-1, axis-2 and axis-3 motors
as well as to the SMB/BU recess.
Adjust the cables if needed. The different
cables must not be twisted or tangled.
4
![Image]
A
B
xx1600000078
Bar code
A
Hole for pin 1
B
Before refitting the R1.MP-A and R1.MP-B
contacts make sure that the hole for pin 1,
as well as the bar code, will be on the left
side. See figure.
5
![Image]
xx1500003083
Refit the R1.MP-A and R1.MP-B contacts.
Note
Run the cables on top of each other,
through the base, without being twisted.
6
Screws M6x20 stainless steel (4 pcs)
Continues on next page
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669
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
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| 669
|
Note
Action
Tightening torque:
Secure the robot to the foundation.
6
550 Nm (screws lubricated with Molykote
1000)
600-725 Nm, typical 650 Nm (screws none
or lightly lubricated)
Refitting 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
Attachment screws: M6x16 stainless steel
A2-70 (4 pcs)
Refit the connection plate in the base (if it
has been removed).
2
Tightening torque: 6 Nm
![Image]
xx1500003088
Use caution and run the cable harness
through the hole in the frame and out to
the base plate.
3
Continues on next page
668
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]
![Image]
![Image]
![Image]
A
B
C
F
E
D
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500003081
Cables down through hole in frame,
to base plate
A
Axis-2 motor cables
B
SMB/BU cables
C
Cables up through lower arm and
onwards
D
Axis-3 motor cables
E
Axis-1 motor cables
F
Make sure that the cables running from the
axis-1 bracket, runs untangled down
through the hole in the frame to the base
plate, to axis-1, axis-2 and axis-3 motors
as well as to the SMB/BU recess.
Adjust the cables if needed. The different
cables must not be twisted or tangled.
4
![Image]
A
B
xx1600000078
Bar code
A
Hole for pin 1
B
Before refitting the R1.MP-A and R1.MP-B
contacts make sure that the hole for pin 1,
as well as the bar code, will be on the left
side. See figure.
5
![Image]
xx1500003083
Refit the R1.MP-A and R1.MP-B contacts.
Note
Run the cables on top of each other,
through the base, without being twisted.
6
Screws M6x20 stainless steel (4 pcs)
Continues on next page
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669
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Make sure the signal cable R1.SMB runs
under the oil hose and above the R1.MP
cables, through the base.
7
Sparkplug wrench
![Image]
xx1500003084
Refit the R1.SMB cable, with the large re-
cess pointing upwards to the right.
Tip
Use a Sparkplug wrench (or similar).
![Image]
![Image]
xx1200000888
8
Attachment screw: M6x16 stainless steel
A2-70
![Image]
xx1500003085
Refit the two earth cables.
9
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
670
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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
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| 670
|
Note
Action
![Image]
![Image]
![Image]
![Image]
A
B
C
F
E
D
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1500003081
Cables down through hole in frame,
to base plate
A
Axis-2 motor cables
B
SMB/BU cables
C
Cables up through lower arm and
onwards
D
Axis-3 motor cables
E
Axis-1 motor cables
F
Make sure that the cables running from the
axis-1 bracket, runs untangled down
through the hole in the frame to the base
plate, to axis-1, axis-2 and axis-3 motors
as well as to the SMB/BU recess.
Adjust the cables if needed. The different
cables must not be twisted or tangled.
4
![Image]
A
B
xx1600000078
Bar code
A
Hole for pin 1
B
Before refitting the R1.MP-A and R1.MP-B
contacts make sure that the hole for pin 1,
as well as the bar code, will be on the left
side. See figure.
5
![Image]
xx1500003083
Refit the R1.MP-A and R1.MP-B contacts.
Note
Run the cables on top of each other,
through the base, without being twisted.
6
Screws M6x20 stainless steel (4 pcs)
Continues on next page
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669
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
Note
Action
Make sure the signal cable R1.SMB runs
under the oil hose and above the R1.MP
cables, through the base.
7
Sparkplug wrench
![Image]
xx1500003084
Refit the R1.SMB cable, with the large re-
cess pointing upwards to the right.
Tip
Use a Sparkplug wrench (or similar).
![Image]
![Image]
xx1200000888
8
Attachment screw: M6x16 stainless steel
A2-70
![Image]
xx1500003085
Refit the two earth cables.
9
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
670
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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]
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
Product manual - IRB 8700
671
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
|
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| 671
|
Note
Action
Make sure the signal cable R1.SMB runs
under the oil hose and above the R1.MP
cables, through the base.
7
Sparkplug wrench
![Image]
xx1500003084
Refit the R1.SMB cable, with the large re-
cess pointing upwards to the right.
Tip
Use a Sparkplug wrench (or similar).
![Image]
![Image]
xx1200000888
8
Attachment screw: M6x16 stainless steel
A2-70
![Image]
xx1500003085
Refit the two earth cables.
9
Connecting the motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
670
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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]
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
Product manual - IRB 8700
671
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]
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
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
672
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
|
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| 672
|
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
Product manual - IRB 8700
671
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]
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
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
672
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
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
Product manual - IRB 8700
673
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
|
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| 673
|
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
Refitting the mechanical stop pin
Note
Action
![Image]
xx1500002093
Make sure that axis-1 is in the position
where it will be possible to replace the
mechanical stop pin.
If not, turn on the power, use caution and
jog axis-1 to that position.
1
Clean the stop pin, as well as the hole for
it.
2
Continues on next page
672
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
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
Product manual - IRB 8700
673
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]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
Note
Action
See Changing oil, axis-1 gearbox on
page 146 .
Refill oil in the gearbox.
1
![Image]
xx1500003082
Fasten the base cover.
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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
674
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
|
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| 674
|
Note
Action
Corrosion protection: Mercasol
![Image]
xx1500002094
Apply corrosion protection on the marked
area on the stop pin and on the matching
area in the hole.
3
CAUTION
The mechanical stop pin weighs 13 kg.
4
![Image]
xx1500002091
Put a piece of wood (or similar) underneath
the stop pin, to prevent it from falling down
uncontrolled when the set screw is refitted.
5
Locking liquid: Loctite 243
![Image]
xx1500002090
Apply locking liquid (Loctite 243) on the set
screw.
6
Continues on next page
Product manual - IRB 8700
673
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]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
Note
Action
See Changing oil, axis-1 gearbox on
page 146 .
Refill oil in the gearbox.
1
![Image]
xx1500003082
Fasten the base cover.
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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
674
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
4.8.3 Replacing the axis-2 gearbox
Location of the axis-2 gearbox
The axis-2 gearbox is located as shown in the figure.
![Image]
xx1500002069
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
Product manual - IRB 8700
675
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 675
|
Note
Action
![Image]
xx1500002092
Make sure that the set screw will find the
groove in the stop pin, before securing the
mechanical stop pin.
Tip
Use caution and move the stop pin a little
up and down while at the same time care-
fully fitting the set screw, making sure that
the screw will secure the stop pin in the
groove.
7
Tightening torque: 35 Nm
Secure the mechanical stop pin with the
set screw.
8
Concluding procedure
Note
Action
See Changing oil, axis-1 gearbox on
page 146 .
Refill oil in the gearbox.
1
![Image]
xx1500003082
Fasten the base cover.
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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
674
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
4.8.3 Replacing the axis-2 gearbox
Location of the axis-2 gearbox
The axis-2 gearbox is located as shown in the figure.
![Image]
xx1500002069
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
Product manual - IRB 8700
675
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Shell Alvania WR2 (or similar)
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
676
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 676
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4.8.3 Replacing the axis-2 gearbox
Location of the axis-2 gearbox
The axis-2 gearbox is located as shown in the figure.
![Image]
xx1500002069
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
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675
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Shell Alvania WR2 (or similar)
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
676
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in 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 axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in several positions, which are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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677
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 677
|
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Shell Alvania WR2 (or similar)
Grease
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
676
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in 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 axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in several positions, which are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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677
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Drain the oil.
3
The three areas of screws that secure axis-2 gearbox to lower arm
The axis-2 gearbox is attached to the lower arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
The order when removing the attachment screws: area 1, then area 2, and last
area 3.
The order when attaching the axis-2 gearbox to the lower arm is reversed: area 3,
then area 2, and last area 1.
Robot position when removing screws in area 1
With the robot in this position it is possible to reach the screws in area 1 of screws
that secure the axis-2 gearbox to the lower arm.
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: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 678
|
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 axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in several positions, which are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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677
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Drain the oil.
3
The three areas of screws that secure axis-2 gearbox to lower arm
The axis-2 gearbox is attached to the lower arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
The order when removing the attachment screws: area 1, then area 2, and last
area 3.
The order when attaching the axis-2 gearbox to the lower arm is reversed: area 3,
then area 2, and last area 1.
Robot position when removing screws in area 1
With the robot in this position it is possible to reach the screws in area 1 of screws
that secure the axis-2 gearbox to the lower arm.
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: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Removing the axis-2 gearbox from the lower arm, step 1 - screws in area 1
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time.
One side must always be attached when
the gearbox on the other side is removed.
If not, there is a potential risk that a severe
accident will happen.
1
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
Note
Do not remove screws in area 2 or area 3
at this point.
2
![Image]
xx1500003110
Remove the screws in area 1.
3
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
Continues on next page
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3HAC052853-001 Revision: D
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4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
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ABB_IRB8700_Product_Manual.pdf
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| 679
|
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Drain the oil.
3
The three areas of screws that secure axis-2 gearbox to lower arm
The axis-2 gearbox is attached to the lower arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
The order when removing the attachment screws: area 1, then area 2, and last
area 3.
The order when attaching the axis-2 gearbox to the lower arm is reversed: area 3,
then area 2, and last area 1.
Robot position when removing screws in area 1
With the robot in this position it is possible to reach the screws in area 1 of screws
that secure the axis-2 gearbox to the lower arm.
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: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
678
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Removing the axis-2 gearbox from the lower arm, step 1 - screws in area 1
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time.
One side must always be attached when
the gearbox on the other side is removed.
If not, there is a potential risk that a severe
accident will happen.
1
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
Note
Do not remove screws in area 2 or area 3
at this point.
2
![Image]
xx1500003110
Remove the screws in area 1.
3
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
Continues on next page
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679
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 680
|
Removing the axis-2 gearbox from the lower arm, step 1 - screws in area 1
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time.
One side must always be attached when
the gearbox on the other side is removed.
If not, there is a potential risk that a severe
accident will happen.
1
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
Note
Do not remove screws in area 2 or area 3
at this point.
2
![Image]
xx1500003110
Remove the screws in area 1.
3
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
Continues on next page
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679
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
680
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
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681
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 681
|
Note
Action
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
680
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
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681
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-2 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
682
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 682
|
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plugs. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
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681
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-2 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
682
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
683
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 683
|
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-2 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
682
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
683
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Disconnecting the axis-2 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
684
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 684
|
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
683
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Disconnecting the axis-2 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
684
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Product manual - IRB 8700
685
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 685
|
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
Disconnecting the axis-2 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
684
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Product manual - IRB 8700
685
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP2:
•
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: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs!
Continues on next page
686
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 686
|
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
Product manual - IRB 8700
685
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP2:
•
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: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs!
Continues on next page
686
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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 hub.
Let the motor rest on the guide pins.
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 and then lifting
it away and putting it somewhere clean and
safe.
11
Removing the hub
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
687
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 687
|
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP2:
•
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: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs!
Continues on next page
686
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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 hub.
Let the motor rest on the guide pins.
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 and then lifting
it away and putting it somewhere clean and
safe.
11
Removing the hub
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
687
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![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
![Image]
xx1500002326
Lift out the hub carefully.
5
Continues on next page
688
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 688
|
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
5
Removal tool M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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 hub.
Let the motor rest on the guide pins.
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 and then lifting
it away and putting it somewhere clean and
safe.
11
Removing the hub
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
687
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![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
![Image]
xx1500002326
Lift out the hub carefully.
5
Continues on next page
688
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Removing the motor flange
Note
Action
![Image]
xx1500002333
Remove two attachment screws in opposite
holes.
1
Guide pin, M16x400
Fit guide pins in the holes.
2
Always use guide pins in pairs.
![Image]
xx1500002315
Remove the remaining attachment screws
(22 pcs) and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
![Image]
xx1500002314
Use caution and move the motor flange out
over the guide pins.
5
Continues on next page
Product manual - IRB 8700
689
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 689
|
Note
Action
![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
![Image]
xx1500002326
Lift out the hub carefully.
5
Continues on next page
688
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Removing the motor flange
Note
Action
![Image]
xx1500002333
Remove two attachment screws in opposite
holes.
1
Guide pin, M16x400
Fit guide pins in the holes.
2
Always use guide pins in pairs.
![Image]
xx1500002315
Remove the remaining attachment screws
(22 pcs) and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
![Image]
xx1500002314
Use caution and move the motor flange out
over the guide pins.
5
Continues on next page
Product manual - IRB 8700
689
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002316
Make sure the o-rings are present.
6
Removing the axis-2 gearbox from the lower arm, step 2 - screws in area 2
Note
Action
Guide pin, M16x400
Attach two additional guide pins in opposite
hole, below the present ones.
1
Always use guide pins in pairs.
![Image]
xx1500002336
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
2
Continues on next page
690
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 690
|
Removing the motor flange
Note
Action
![Image]
xx1500002333
Remove two attachment screws in opposite
holes.
1
Guide pin, M16x400
Fit guide pins in the holes.
2
Always use guide pins in pairs.
![Image]
xx1500002315
Remove the remaining attachment screws
(22 pcs) and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
![Image]
xx1500002314
Use caution and move the motor flange out
over the guide pins.
5
Continues on next page
Product manual - IRB 8700
689
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002316
Make sure the o-rings are present.
6
Removing the axis-2 gearbox from the lower arm, step 2 - screws in area 2
Note
Action
Guide pin, M16x400
Attach two additional guide pins in opposite
hole, below the present ones.
1
Always use guide pins in pairs.
![Image]
xx1500002336
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
2
Continues on next page
690
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500003111
Remove the attachment screws in area 2.
3
Removing the axis-2 gearbox from the lower arm, step 3 - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500003112
Remove the attachment screws that secure
the gearbox to the lower arm in area 3.
2
Continues on next page
Product manual - IRB 8700
691
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 691
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Note
Action
![Image]
xx1500002316
Make sure the o-rings are present.
6
Removing the axis-2 gearbox from the lower arm, step 2 - screws in area 2
Note
Action
Guide pin, M16x400
Attach two additional guide pins in opposite
hole, below the present ones.
1
Always use guide pins in pairs.
![Image]
xx1500002336
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
2
Continues on next page
690
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500003111
Remove the attachment screws in area 2.
3
Removing the axis-2 gearbox from the lower arm, step 3 - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500003112
Remove the attachment screws that secure
the gearbox to the lower arm in area 3.
2
Continues on next page
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691
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Insert the guide pins in four of the screw
holes.
Fasten the set collars.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
them as removal tools.
4
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Continues on next page
692
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 692
|
Note
Action
![Image]
xx1500003111
Remove the attachment screws in area 2.
3
Removing the axis-2 gearbox from the lower arm, step 3 - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500003112
Remove the attachment screws that secure
the gearbox to the lower arm in area 3.
2
Continues on next page
Product manual - IRB 8700
691
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Insert the guide pins in four of the screw
holes.
Fasten the set collars.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
them as removal tools.
4
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Continues on next page
692
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
When the gearbox is removed, make sure
to keep the sealing ring. It must be fitted
when the gearbox is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Continues on next page
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693
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 693
|
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Insert the guide pins in four of the screw
holes.
Fasten the set collars.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
them as removal tools.
4
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Continues on next page
692
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
When the gearbox is removed, make sure
to keep the sealing ring. It must be fitted
when the gearbox is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Continues on next page
Product manual - IRB 8700
693
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lifting accessory.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
Connect another roundsling to the first one
with a shackle.
4
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Remove the set collars.
6
Lift the gearbox off.
7
Continues on next page
694
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 694
|
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
When the gearbox is removed, make sure
to keep the sealing ring. It must be fitted
when the gearbox is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Continues on next page
Product manual - IRB 8700
693
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lifting accessory.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
Connect another roundsling to the first one
with a shackle.
4
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Remove the set collars.
6
Lift the gearbox off.
7
Continues on next page
694
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Refitting the gearbox
Use these procedures to refit the axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time. One of
the gearboxes must stay fitted when the other one is replaced. The complete
arm system will loose its connection to the frame and thereby be a great security
risk.
Note
The attachment screws that secure the gearboxes, are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in two different positions described in the procedures.
Robot position
Note
Action
![Image]
xx1500002085
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Continues on next page
Product manual - IRB 8700
695
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 695
|
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
Attach a roundsling to the lifting accessory.
3
Roundsling 2 m: Lifting capacity: 2,000 kg
Connect another roundsling to the first one
with a shackle.
4
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Remove the set collars.
6
Lift the gearbox off.
7
Continues on next page
694
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Refitting the gearbox
Use these procedures to refit the axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time. One of
the gearboxes must stay fitted when the other one is replaced. The complete
arm system will loose its connection to the frame and thereby be a great security
risk.
Note
The attachment screws that secure the gearboxes, are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in two different positions described in the procedures.
Robot position
Note
Action
![Image]
xx1500002085
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Continues on next page
Product manual - IRB 8700
695
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the lower arm.
3
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Guide pin, M16x400 (2+2 pcs)
Fit guide pins as shown in the figure.
5
Always use guide pins in pairs.
![Image]
xx1500002343
Apply some grease on the guide pins for a
better fitting.
6
Continues on next page
696
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 696
|
Refitting the gearbox
Use these procedures to refit the axis-2 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time. One of
the gearboxes must stay fitted when the other one is replaced. The complete
arm system will loose its connection to the frame and thereby be a great security
risk.
Note
The attachment screws that secure the gearboxes, are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in two different positions described in the procedures.
Robot position
Note
Action
![Image]
xx1500002085
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Continues on next page
Product manual - IRB 8700
695
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the lower arm.
3
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Guide pin, M16x400 (2+2 pcs)
Fit guide pins as shown in the figure.
5
Always use guide pins in pairs.
![Image]
xx1500002343
Apply some grease on the guide pins for a
better fitting.
6
Continues on next page
696
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Lifting accessory, gearbox: 3HAC054404-
001
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessory.
3
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Connect another roundsling to the first one
with a shackle.
4
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Attaching the axis-2 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol (40 mm from the lower arm side)
on the contact surface.
1
Note
Area where to apply Mercasol, 40
mm wide, from the lower arm side.
Continues on next page
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697
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 697
|
Note
Action
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the lower arm.
3
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Guide pin, M16x400 (2+2 pcs)
Fit guide pins as shown in the figure.
5
Always use guide pins in pairs.
![Image]
xx1500002343
Apply some grease on the guide pins for a
better fitting.
6
Continues on next page
696
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Lifting accessory, gearbox: 3HAC054404-
001
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessory.
3
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Connect another roundsling to the first one
with a shackle.
4
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Attaching the axis-2 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol (40 mm from the lower arm side)
on the contact surface.
1
Note
Area where to apply Mercasol, 40
mm wide, from the lower arm side.
Continues on next page
Product manual - IRB 8700
697
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring
and attach it on the gearbox.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-2 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox shall be attached to the lower
arm.
4
Attachment screws: M16x130
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when the screws are at-
tached.
5
Continues on next page
698
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 698
|
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Lifting accessory, gearbox: 3HAC054404-
001
Attach the lifting accessory to the gearbox.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessory.
3
Shackle: SA-10-8-NA1
![Image]
xx1400000729
Connect another roundsling to the first one
with a shackle.
4
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
5
Attaching the axis-2 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol (40 mm from the lower arm side)
on the contact surface.
1
Note
Area where to apply Mercasol, 40
mm wide, from the lower arm side.
Continues on next page
Product manual - IRB 8700
697
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring
and attach it on the gearbox.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-2 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox shall be attached to the lower
arm.
4
Attachment screws: M16x130
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when the screws are at-
tached.
5
Continues on next page
698
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching the axis-2 gearbox to lower arm - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws match before lifting the
gearbox onto the guide pins.
If the hole pattern does not match, carefully turn
the small gear in the gearbox very slowly, in order
to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003113
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003112
Attach the screws with washers, in area 3.
Note
Do not torque the screws at this point.
4
Continues on next page
Product manual - IRB 8700
699
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 699
|
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring
and attach it on the gearbox.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-2 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox shall be attached to the lower
arm.
4
Attachment screws: M16x130
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when the screws are at-
tached.
5
Continues on next page
698
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching the axis-2 gearbox to lower arm - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws match before lifting the
gearbox onto the guide pins.
If the hole pattern does not match, carefully turn
the small gear in the gearbox very slowly, in order
to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003113
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003112
Attach the screws with washers, in area 3.
Note
Do not torque the screws at this point.
4
Continues on next page
Product manual - IRB 8700
699
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching the axis-2 gearbox to lower arm - screws in area 2
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
1
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
2
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003111
Attach the screws with washers, in area 2.
Note
Do not torque the screws at this point.
3
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
Continues on next page
700
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 700
|
Attaching the axis-2 gearbox to lower arm - screws in area 3
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws match before lifting the
gearbox onto the guide pins.
If the hole pattern does not match, carefully turn
the small gear in the gearbox very slowly, in order
to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003113
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003112
Attach the screws with washers, in area 3.
Note
Do not torque the screws at this point.
4
Continues on next page
Product manual - IRB 8700
699
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Attaching the axis-2 gearbox to lower arm - screws in area 2
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
1
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
2
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003111
Attach the screws with washers, in area 2.
Note
Do not torque the screws at this point.
3
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
Continues on next page
700
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings.
Note
Replace if damaged.
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
Make sure that the three holes in the gearbox are
covered when the four six-hole washers are fitted.
.
11
Continues on next page
Product manual - IRB 8700
701
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 701
|
Attaching the axis-2 gearbox to lower arm - screws in area 2
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 2.
1
Begin attaching the screws (M16x70) in the outer-
most holes of the outer ring of holes.
Tip
Make sure that the hole pattern match. If needed,
use extreme caution and turn the small gear in
the gearbox to find the hole pattern.
2
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003111
Attach the screws with washers, in area 2.
Note
Do not torque the screws at this point.
3
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
Continues on next page
700
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings.
Note
Replace if damaged.
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
Make sure that the three holes in the gearbox are
covered when the four six-hole washers are fitted.
.
11
Continues on next page
Product manual - IRB 8700
701
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Securing the axis-2 gearbox to lower arm - screws in areas 2 and 3
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002339
Secure the gearbox to the lower arm, with the at-
tachment screws now possible to reach.
1
Continues on next page
702
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 702
|
Note
Action
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings.
Note
Replace if damaged.
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
Make sure that the three holes in the gearbox are
covered when the four six-hole washers are fitted.
.
11
Continues on next page
Product manual - IRB 8700
701
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Securing the axis-2 gearbox to lower arm - screws in areas 2 and 3
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002339
Secure the gearbox to the lower arm, with the at-
tachment screws now possible to reach.
1
Continues on next page
702
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
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
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
Continues on next page
Product manual - IRB 8700
703
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 703
|
Note
Action
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Securing the axis-2 gearbox to lower arm - screws in areas 2 and 3
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002339
Secure the gearbox to the lower arm, with the at-
tachment screws now possible to reach.
1
Continues on next page
702
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
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
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
Continues on next page
Product manual - IRB 8700
703
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
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
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
Continues on next page
704
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 704
|
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
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
Continues on next page
Product manual - IRB 8700
703
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
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
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
Continues on next page
704
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
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
705
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 705
|
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
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
Continues on next page
704
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
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
705
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 axis-2 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
Attach the lifting accessory.
3
![Image]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
706
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 706
|
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
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
705
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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 axis-2 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
Attach the lifting accessory.
3
![Image]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
706
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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 pinion and
hub, the splines may be damaged if excess-
ive force is used.
9
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.
10
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
11
Remove the guide pins and replace with
the remaining attachment screws.
12
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
13
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001117
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
Continues on next page
Product manual - IRB 8700
707
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 707
|
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 axis-2 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
Attach the lifting accessory.
3
![Image]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
Continues on next page
706
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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 pinion and
hub, the splines may be damaged if excess-
ive force is used.
9
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.
10
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
11
Remove the guide pins and replace with
the remaining attachment screws.
12
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
13
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001117
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
Continues on next page
Product manual - IRB 8700
707
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Connecting the axis-2 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
708
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 708
|
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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 pinion and
hub, the splines may be damaged if excess-
ive force is used.
9
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.
10
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
11
Remove the guide pins and replace with
the remaining attachment screws.
12
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
13
Tightening torque: 50 Nm.
Use a bits extender in order to reach the
screws.
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1200001117
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
1
Continues on next page
Product manual - IRB 8700
707
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Connecting the axis-2 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
708
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
not to damage the cables inside the motor.
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
Make sure that the covers are tightly
sealed.
9
Continues on next page
Product manual - IRB 8700
709
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 709
|
Connecting the axis-2 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged.
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
708
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
not to damage the cables inside the motor.
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
Make sure that the covers are tightly
sealed.
9
Continues on next page
Product manual - IRB 8700
709
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Removing lock screws
Note
Action
Turn on the power.
1
Continues on next page
710
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 710
|
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Note
Replace if damaged.
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
not to damage the cables inside the motor.
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
Make sure that the covers are tightly
sealed.
9
Continues on next page
Product manual - IRB 8700
709
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
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
Removing lock screws
Note
Action
Turn on the power.
1
Continues on next page
710
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002322
Begin unscrewing the axis-2 lock screw, while at
the same time very slowly jogging axis-2, until it
is possible to unscrew the lock screw completely.
2
![Image]
xx1500002321
Begin unscrewing the axis-3 lock screw, while at
the same time very slowly jogging axis-3, until it
is possible to unscrew the lock screw completely.
3
![Image]
xx1500002335
Jog axis-2 to be able to attach the plastic plug.
4
![Image]
xx1500002366
Jog axis-3 to be able to attach the plastic plug.
5
Refitting the axis-2 gearbox to the lower arm - screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis 2: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
Product manual - IRB 8700
711
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 711
|
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
Removing lock screws
Note
Action
Turn on the power.
1
Continues on next page
710
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
xx1500002322
Begin unscrewing the axis-2 lock screw, while at
the same time very slowly jogging axis-2, until it
is possible to unscrew the lock screw completely.
2
![Image]
xx1500002321
Begin unscrewing the axis-3 lock screw, while at
the same time very slowly jogging axis-3, until it
is possible to unscrew the lock screw completely.
3
![Image]
xx1500002335
Jog axis-2 to be able to attach the plastic plug.
4
![Image]
xx1500002366
Jog axis-3 to be able to attach the plastic plug.
5
Refitting the axis-2 gearbox to the lower arm - screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis 2: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
Product manual - IRB 8700
711
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
2
Attachment screws: M16x70
Secure the screws in area 1.
Tip
Mark the screw with a marker pen after each
torque. This is to make sure that all screws have
been torqued.
3
Tightening torque: 300 Nm
![Image]
xx1500003110
Examine that all screws have been torqued.
4
Concluding procedure
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
1
See Changing oil in axis-2 and axis-3
gearbox on page 152 .
Refill the gearbox with oil.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate 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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
712
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 712
|
Note
Action
![Image]
xx1500002322
Begin unscrewing the axis-2 lock screw, while at
the same time very slowly jogging axis-2, until it
is possible to unscrew the lock screw completely.
2
![Image]
xx1500002321
Begin unscrewing the axis-3 lock screw, while at
the same time very slowly jogging axis-3, until it
is possible to unscrew the lock screw completely.
3
![Image]
xx1500002335
Jog axis-2 to be able to attach the plastic plug.
4
![Image]
xx1500002366
Jog axis-3 to be able to attach the plastic plug.
5
Refitting the axis-2 gearbox to the lower arm - screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: No significance (as long as the ro-
bot is secured to the foundation)
•
Axis 2: 0°
•
Axis 3: +66°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
Product manual - IRB 8700
711
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
2
Attachment screws: M16x70
Secure the screws in area 1.
Tip
Mark the screw with a marker pen after each
torque. This is to make sure that all screws have
been torqued.
3
Tightening torque: 300 Nm
![Image]
xx1500003110
Examine that all screws have been torqued.
4
Concluding procedure
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
1
See Changing oil in axis-2 and axis-3
gearbox on page 152 .
Refill the gearbox with oil.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate 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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
712
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
4.8.4 Replacing the axis-3 gearbox
Location of the axis-3 gearbox
The axis-3 gearbox is located as shown in the figure.
![Image]
xx1500002070
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
Product manual - IRB 8700
713
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 713
|
Note
Action
![Image]
![Image]
1
2
3
1
2
3
xx1500002975
Find area 1.
2
Attachment screws: M16x70
Secure the screws in area 1.
Tip
Mark the screw with a marker pen after each
torque. This is to make sure that all screws have
been torqued.
3
Tightening torque: 300 Nm
![Image]
xx1500003110
Examine that all screws have been torqued.
4
Concluding procedure
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-down test (if not already
done).
1
See Changing oil in axis-2 and axis-3
gearbox on page 152 .
Refill the gearbox with oil.
2
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate 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 detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
4
712
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-2 gearbox
Continued
4.8.4 Replacing the axis-3 gearbox
Location of the axis-3 gearbox
The axis-3 gearbox is located as shown in the figure.
![Image]
xx1500002070
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
Product manual - IRB 8700
713
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Grease
3110 Waxcoat
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
714
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 714
|
4.8.4 Replacing the axis-3 gearbox
Location of the axis-3 gearbox
The axis-3 gearbox is located as shown in the figure.
![Image]
xx1500002070
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
3HAC048392-003
Reduction gear RV 900N incl in-
put gear
Continues on next page
Product manual - IRB 8700
713
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Grease
3110 Waxcoat
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
714
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in 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 axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in more than one position. These positions are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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715
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 715
|
Required tools and equipment
Note
Article number
Equipment, etc.
Used to release the motor brakes.
-
24 VDC power supply
Used to secure lower arm and parallel
arm.
-
Lock screw, M20x150
Fully threaded
-
Screw M6x110
Fully threaded
-
Screw M16x80
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
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
Used to lift the axis-2 or axis-3 gearbox.
3HAC054404-001
Lifting accessory, gearbox
Always use guide pins in pairs.
Used to slide the axis-2 or axis-3 gear-
box in/out.
3HAC059801-001
Mounting set gear (axis 2 and
3)
-
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 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. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Molykote 1000
Grease
3110 Waxcoat
Mercasol
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Continues on next page
714
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in 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 axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in more than one position. These positions are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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715
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Begin draining the oil.
3
The three areas of screws that secure axis-3 gearbox to parallel arm
The axis-3 gearbox is attached to the parallel arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
1
2
3
1
2
3
xx1500002974
The order when removing the attachment screws that secure the axis-3 gearbox
to the parallel arm are removed is: area 1, area 2, and then area 3.
The order when attaching the axis-3 gearbox to the parallel arm is reversed: area
3, area 2, and then area 1.
Robot position when removing axis-3 from parallel arm - screws in area 1
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws that secure the axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is secured to the founda-
tion.
•
Axis 2: +48°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 716
|
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 axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in more than one position. These positions are described in the procedures.
Preparations
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
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715
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Begin draining the oil.
3
The three areas of screws that secure axis-3 gearbox to parallel arm
The axis-3 gearbox is attached to the parallel arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
1
2
3
1
2
3
xx1500002974
The order when removing the attachment screws that secure the axis-3 gearbox
to the parallel arm are removed is: area 1, area 2, and then area 3.
The order when attaching the axis-3 gearbox to the parallel arm is reversed: area
3, area 2, and then area 1.
Robot position when removing axis-3 from parallel arm - screws in area 1
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws that secure the axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is secured to the founda-
tion.
•
Axis 2: +48°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Removing the axis-3 gearbox from parallel arm, step 1 - screws in area 1
DANGER
When removing the axis-3 gearbox, let the axis-2 gearbox stay fitted! Only remove
the screws that either secure the axis-2 gearbox to the lower arm, or the screws
that secure the axis-3 gearbox to the parallel arm, depending on which gearbox
shall be removed.
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in the first area. Only
remove the screws in this area, at this point.
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time. One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe accident will
happen.
1
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
2
Continues on next page
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717
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 717
|
Note
Action
Remove any tool or other equipment fitted
on the turning disc.
2
See Draining the axis-2 and axis-3 gear-
boxes on page 153 .
Begin draining the oil.
3
The three areas of screws that secure axis-3 gearbox to parallel arm
The axis-3 gearbox is attached to the parallel arm with attachment screws arranged
in three areas. Use this figure to understand the position of the three areas, when
performing this procedure.
![Image]
1
2
3
1
2
3
xx1500002974
The order when removing the attachment screws that secure the axis-3 gearbox
to the parallel arm are removed is: area 1, area 2, and then area 3.
The order when attaching the axis-3 gearbox to the parallel arm is reversed: area
3, area 2, and then area 1.
Robot position when removing axis-3 from parallel arm - screws in area 1
With the robot in this position it is possible to reach the screws in the first of the
three areas of screws that secure the axis-3 gearbox to the parallel arm.
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is secured to the founda-
tion.
•
Axis 2: +48°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
716
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Removing the axis-3 gearbox from parallel arm, step 1 - screws in area 1
DANGER
When removing the axis-3 gearbox, let the axis-2 gearbox stay fitted! Only remove
the screws that either secure the axis-2 gearbox to the lower arm, or the screws
that secure the axis-3 gearbox to the parallel arm, depending on which gearbox
shall be removed.
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in the first area. Only
remove the screws in this area, at this point.
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time. One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe accident will
happen.
1
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
2
Continues on next page
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717
3HAC052853-001 Revision: D
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4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500003114
Remove the screws in area 1.
3
Lower arm is hidden in this figure, to get a
better view.
Robot position when removing axis-3 from parallel arm - screws in area 2
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the axis-3 gearbox from parallel arm, step 2 - screws in area 2
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 2.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time! One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe will accident
happen.
1
Continues on next page
718
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 718
|
Removing the axis-3 gearbox from parallel arm, step 1 - screws in area 1
DANGER
When removing the axis-3 gearbox, let the axis-2 gearbox stay fitted! Only remove
the screws that either secure the axis-2 gearbox to the lower arm, or the screws
that secure the axis-3 gearbox to the parallel arm, depending on which gearbox
shall be removed.
Note
The 45 attachment screws are arranged in three areas with 15 screws in each
area. All attachment screws can not be reached with the robot in the same
position. This procedure describes how to reach the screws in the first area. Only
remove the screws in this area, at this point.
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 1.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time. One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe accident will
happen.
1
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
2
Continues on next page
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717
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500003114
Remove the screws in area 1.
3
Lower arm is hidden in this figure, to get a
better view.
Robot position when removing axis-3 from parallel arm - screws in area 2
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the axis-3 gearbox from parallel arm, step 2 - screws in area 2
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 2.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time! One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe will accident
happen.
1
Continues on next page
718
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2.
2
![Image]
xx1500003115
Remove the screws in area 2.
3
Lower arm is hidden in this figure, to get a
better view.
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
Continues on next page
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719
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 719
|
Note
Action
![Image]
xx1500003114
Remove the screws in area 1.
3
Lower arm is hidden in this figure, to get a
better view.
Robot position when removing axis-3 from parallel arm - screws in area 2
Note
Action
Turn on the power and jog the robot to the
specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Removing the axis-3 gearbox from parallel arm, step 2 - screws in area 2
Use this procedure to remove the screws that secure the axis-3 gearbox to the
parallel arm, in area 2.
Note
Action
DANGER
Never remove the screws on both axis-2
and axis-3 at the same time! One side must
always be attached when the gearbox on
the other side is removed. If not, there is a
potential risk that a severe will accident
happen.
1
Continues on next page
718
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2.
2
![Image]
xx1500003115
Remove the screws in area 2.
3
Lower arm is hidden in this figure, to get a
better view.
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
Continues on next page
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719
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
720
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 720
|
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2.
2
![Image]
xx1500003115
Remove the screws in area 2.
3
Lower arm is hidden in this figure, to get a
better view.
Preparations before jogging the robot into calibration position
Note
Action
Turn the power to the robot on.
1
![Image]
xx1500002334
Jog axis-2 to within the area shown in the
figure.
2
Continues on next page
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719
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
720
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
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721
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 721
|
Note
Action
![Image]
xx1500002320
Remove the plastic plugs covering axis-2
lock screw hole.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
3
![Image]
xx1500002335
![Image]
xx1500002367
Jog axis-3 to the area shown in the figure.
4
Continues on next page
720
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
Product manual - IRB 8700
721
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-3 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
722
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 722
|
Note
Action
![Image]
xx1500002365
Remove the axis-3 plastic plug.
Note
Keep the plastic plug. It shall be refitted
after the work is done.
5
![Image]
xx1500002366
Attaching lock screws to axis-2 and axis-3
Note
Action
![Image]
xx1500002310
Jog the robot to calibration position.
1
Lock screw, M20x150
![Image]
xx1500002322
Secure the axis-2 with a lock screw.
2
Continues on next page
Product manual - IRB 8700
721
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-3 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
722
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
723
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 723
|
Note
Action
24 VDC power supply
Release the brakes on axis-2 using the
brake release button, and let the axis rest
on the lock screw.
3
Lock screw, M20x150
![Image]
xx1500002321
Secure axis-3 with a lock screw.
4
24 VDC power supply
Release the brakes on axis-3 using the
brake release button, and let the axis rest
on the lock screw.
5
With the robot in this position it will be
possible to reach the remaining attachment
screws that secure the axis-3 gearbox to
the parallel arm.
6
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
7
Continues on next page
722
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
723
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
Disconnecting the axis-3 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
724
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 724
|
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
723
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
Disconnecting the axis-3 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
724
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
Product manual - IRB 8700
725
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 725
|
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
Disconnecting the axis-3 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
724
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
Product manual - IRB 8700
725
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000069
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
726
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 726
|
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
Product manual - IRB 8700
725
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000069
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
726
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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 M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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]
xx1600000070
Lift the motor out on the guide pins, in or-
der to get the pinion away from the hub.
Let the motor rest on the guide pins.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1600000071
Remove the motor by sliding it out on the
guide pins and then lifting it away.
11
Continues on next page
Product manual - IRB 8700
727
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 727
|
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 motor
Note
Action
DANGER
When releasing the holding brakes of the
motor, the lower arm and/or parallel arm
will be movable and may fall down! Before
continuing, the lower arm and parallel arm
must be secured!
1
24 VDC power supply
In order to release the brakes, connect the
24 VDC power supply.
2
Connect connector R2.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Bits extender: 3HAC12342-1
![Image]
xx1600000069
Remove the attachment screws that secure
the motor.
Tip
Use a bits extender in order to reach the
screws.
3
Guide pin, M10x150: 3HAC15512-1
Fit guide pins in opposite holes.
4
Always use guide pins in pairs.
Continues on next page
726
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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 M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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]
xx1600000070
Lift the motor out on the guide pins, in or-
der to get the pinion away from the hub.
Let the motor rest on the guide pins.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1600000071
Remove the motor by sliding it out on the
guide pins and then lifting it away.
11
Continues on next page
Product manual - IRB 8700
727
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
728
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 728
|
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used.
5
Removal tool M14: 3HAC047108-001
If required, press the motor out of position
by using the removal tools 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]
xx1600000070
Lift the motor out on the guide pins, in or-
der to get the pinion away from the hub.
Let the motor rest on the guide pins.
9
Disconnect the 24 VDC power supply.
10
![Image]
xx1600000071
Remove the motor by sliding it out on the
guide pins and then lifting it away.
11
Continues on next page
Product manual - IRB 8700
727
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
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
728
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Removing the motor flange
Note
Action
![Image]
xx1500002358
Remove two attachment screws in opposite
holes.
1
Mounting set gear (axis 2 and 3),
3HAC059801-001
Fit guide pins in the holes.
2
![Image]
xx1500002359
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
Continues on next page
Product manual - IRB 8700
729
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 729
|
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
728
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Removing the motor flange
Note
Action
![Image]
xx1500002358
Remove two attachment screws in opposite
holes.
1
Mounting set gear (axis 2 and 3),
3HAC059801-001
Fit guide pins in the holes.
2
![Image]
xx1500002359
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
Continues on next page
Product manual - IRB 8700
729
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002360
Use caution and move the motor flange out
over the guide pins.
5
![Image]
xx1500002317
Make sure the o-rings are present.
6
Removing the axis-3 gearbox from parallel arm, step 3 - screws area 3
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Attach two additional guide pins in opposite
holes, below the present ones.
1
Continues on next page
730
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 730
|
Note
Action
![Image]
xx1500002326
Lift out the hub carefully.
5
Removing the motor flange
Note
Action
![Image]
xx1500002358
Remove two attachment screws in opposite
holes.
1
Mounting set gear (axis 2 and 3),
3HAC059801-001
Fit guide pins in the holes.
2
![Image]
xx1500002359
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
3
Note
There will be some oil spill when the motor
flange is removed. Put some paper (or
similar) to absorb the surplus oil.
4
Continues on next page
Product manual - IRB 8700
729
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002360
Use caution and move the motor flange out
over the guide pins.
5
![Image]
xx1500002317
Make sure the o-rings are present.
6
Removing the axis-3 gearbox from parallel arm, step 3 - screws area 3
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Attach two additional guide pins in opposite
holes, below the present ones.
1
Continues on next page
730
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
2
![Image]
xx1500003116
Remove the attachment screws in area 3.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
as removal tools for the gearbox.
4
Continues on next page
Product manual - IRB 8700
731
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 731
|
Note
Action
![Image]
xx1500002360
Use caution and move the motor flange out
over the guide pins.
5
![Image]
xx1500002317
Make sure the o-rings are present.
6
Removing the axis-3 gearbox from parallel arm, step 3 - screws area 3
Note
Action
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1600001553
Attach two additional guide pins in opposite
holes, below the present ones.
1
Continues on next page
730
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
2
![Image]
xx1500003116
Remove the attachment screws in area 3.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
as removal tools for the gearbox.
4
Continues on next page
Product manual - IRB 8700
731
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
Make sure to keep the sealing ring, when
the gearbox is removed. It must be fitted
on the gearbox when refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Continues on next page
732
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 732
|
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
2
![Image]
xx1500003116
Remove the attachment screws in area 3.
3
![Image]
xx1500002337
Attach three screws in a triangle and use
as removal tools for the gearbox.
4
Continues on next page
Product manual - IRB 8700
731
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
Make sure to keep the sealing ring, when
the gearbox is removed. It must be fitted
on the gearbox when refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Continues on next page
732
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessories axes-2 and axis-3
gearboxes:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Lift the gearbox off.
5
Refitting the gearbox
Use these procedures to refit the axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time! One of
the gearboxes must stay fitted when the other is replaced. If not, the complete
armsystem will not have any secure connection to the frame and thereby be a
great security risk. A serious accident will most probably happen.
Note
The attachment screws that secure the gearboxes to the lower arm or to the
parallel arm, are arranged in three areas, with 15 screws in each area. It will not
be possible to reach all screws with the robot in only one position. Removal and
refitting must be performed with the robot in more than one position. These
positions are described in the procedures.
Continues on next page
Product manual - IRB 8700
733
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 733
|
Note
Action
![Image]
xx1500002338
Slide the gearbox out on the four guide
pins, just enough to be able to attach the
lifting accessories.
5
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories.
6
![Image]
xx1600000067
Make sure to keep the sealing ring, when
the gearbox is removed. It must be fitted
on the gearbox when refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
7
Continues on next page
732
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessories axes-2 and axis-3
gearboxes:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Lift the gearbox off.
5
Refitting the gearbox
Use these procedures to refit the axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time! One of
the gearboxes must stay fitted when the other is replaced. If not, the complete
armsystem will not have any secure connection to the frame and thereby be a
great security risk. A serious accident will most probably happen.
Note
The attachment screws that secure the gearboxes to the lower arm or to the
parallel arm, are arranged in three areas, with 15 screws in each area. It will not
be possible to reach all screws with the robot in only one position. Removal and
refitting must be performed with the robot in more than one position. These
positions are described in the procedures.
Continues on next page
Product manual - IRB 8700
733
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Robot position
Note
Action
Note
![Image]
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the parallel arm. The area where the gear-
box will enter.
3
Continues on next page
734
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 734
|
Attaching lifting accessories and removal of gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessories axes-2 and axis-3
gearboxes:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Lift the gearbox off.
5
Refitting the gearbox
Use these procedures to refit the axis-3 gearbox.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time! One of
the gearboxes must stay fitted when the other is replaced. If not, the complete
armsystem will not have any secure connection to the frame and thereby be a
great security risk. A serious accident will most probably happen.
Note
The attachment screws that secure the gearboxes to the lower arm or to the
parallel arm, are arranged in three areas, with 15 screws in each area. It will not
be possible to reach all screws with the robot in only one position. Removal and
refitting must be performed with the robot in more than one position. These
positions are described in the procedures.
Continues on next page
Product manual - IRB 8700
733
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Robot position
Note
Action
Note
![Image]
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the parallel arm. The area where the gear-
box will enter.
3
Continues on next page
734
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1500002361
Fit guide pins as shown in the figure.
5
Apply some grease on the guide pins for a
better fitting.
6
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
735
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 735
|
Robot position
Note
Action
Note
![Image]
Make sure that the position of the robot has
not been changed. Correct position is cal-
ibration position.
1
Preparations before refitting the gearbox
Note
Action
![Image]
xx1500002342
Use caution and lift the gearbox up and let
it rest on its side.
CAUTION
Make sure the gearbox is resting in a stable
position.
1
Clean the contact surfaces between gear-
box and frame.
2
Grease
![Image]
xx1500002340
Apply some grease on the thin chamfer on
the parallel arm. The area where the gear-
box will enter.
3
Continues on next page
734
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1500002361
Fit guide pins as shown in the figure.
5
Apply some grease on the guide pins for a
better fitting.
6
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
735
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Attaching the axis-3 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol, 40 mm from the parallel arm side,
on the contact surface.
1
Area where to apply Mercasol, 40
mm wide from the parallel arm
side.
Continues on next page
736
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 736
|
Note
Action
Grease
![Image]
xx1500002341
Apply some grease on the thin chamfer on
the gearbox.
4
Mounting set gear (axis 2 and 3),
3HAC059801-001
![Image]
xx1500002361
Fit guide pins as shown in the figure.
5
Apply some grease on the guide pins for a
better fitting.
6
Attaching lifting accessories to the gearbox
Note
Action
CAUTION
The gearbox weighs 160 kg.
All lifting accessories used must be sized
accordingly!
1
Continues on next page
Product manual - IRB 8700
735
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Attaching the axis-3 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol, 40 mm from the parallel arm side,
on the contact surface.
1
Area where to apply Mercasol, 40
mm wide from the parallel arm
side.
Continues on next page
736
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox up onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-3 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox will be attached to the parallel
arm.
4
Attachment screws: M16x130 12.9
Gleitmo
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when screws are attached.
5
Continues on next page
Product manual - IRB 8700
737
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 737
|
Note
Action
Lifting accessory, gearbox: 3HAC054404-
001
![Image]
xx1600001554
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Lifting capacity: 2,000 kg
(2 pcs)
Attach a roundsling to the lifting accessor-
ies.
3
Attach the roundslings to an overhead
crane (or similar) and raise to take the
weight of the gearbox.
4
Attaching the axis-3 gearbox to frame, step 1
Note
Action
Mercasol
![Image]
xx1500002349
Apply Mercasol, 40 mm from the parallel arm side,
on the contact surface.
1
Area where to apply Mercasol, 40
mm wide from the parallel arm
side.
Continues on next page
736
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox up onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-3 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox will be attached to the parallel
arm.
4
Attachment screws: M16x130 12.9
Gleitmo
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when screws are attached.
5
Continues on next page
Product manual - IRB 8700
737
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Attaching the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws, will match.
If the hole pattern is not matching, use extreme
caution and turn the small gear in the gearbox
very slowly, in order to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003117
When the hole pattern for the attachment screws
that secure the gearbox to the parallel arm, is
found, begin attaching screws in area 3, in the
outermost holes, of the outer ring of holes.
This is done to make sure the hole pattern will be
matching in the three areas of screws. If needed,
use extreme caution and turn the small gear in
the gearbox very slowly, to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003116
Attach the remaining attachment screws with
washers, in area 3.
Note
Do not torque the screws at this point!
4
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
738
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 738
|
Note
Action
Mercasol
![Image]
xx1500002350
Apply Mercasol on the surface of the sealing ring.
Note
Make sure that the sealing ring is attached cor-
rectly on the gearbox.
2
![Image]
xx1500002338
Lift the gearbox up onto the guide pins.
3
![Image]
xx1500002347
Note
The axis-3 gearbox shall, on the side shown in
the figure, be attached to the frame. The other
side of the gearbox will be attached to the parallel
arm.
4
Attachment screws: M16x130 12.9
Gleitmo
![Image]
xx1500002368
Attach (but do not torque) three M16x130 screws
with six-hole washers underneath, in a triangle
and use them alternately to press the gearbox into
position.
Note
The six-hole washers are needed for protection
of the gearbox surface, when screws are attached.
5
Continues on next page
Product manual - IRB 8700
737
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Attaching the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws, will match.
If the hole pattern is not matching, use extreme
caution and turn the small gear in the gearbox
very slowly, in order to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003117
When the hole pattern for the attachment screws
that secure the gearbox to the parallel arm, is
found, begin attaching screws in area 3, in the
outermost holes, of the outer ring of holes.
This is done to make sure the hole pattern will be
matching in the three areas of screws. If needed,
use extreme caution and turn the small gear in
the gearbox very slowly, to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003116
Attach the remaining attachment screws with
washers, in area 3.
Note
Do not torque the screws at this point!
4
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
738
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings. Replace if damaged!
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock. See figure.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Continues on next page
Product manual - IRB 8700
739
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 739
|
Attaching the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
![Image]
xx1500002344
Make sure that the hole pattern of the three areas
of attachment screws, will match.
If the hole pattern is not matching, use extreme
caution and turn the small gear in the gearbox
very slowly, in order to find the hole pattern.
![Image]
xx1500002345
2
![Image]
xx1500003117
When the hole pattern for the attachment screws
that secure the gearbox to the parallel arm, is
found, begin attaching screws in area 3, in the
outermost holes, of the outer ring of holes.
This is done to make sure the hole pattern will be
matching in the three areas of screws. If needed,
use extreme caution and turn the small gear in
the gearbox very slowly, to find the hole pattern.
3
Attachment screws: M16x70 12.9
Gleitmo
![Image]
xx1500003116
Attach the remaining attachment screws with
washers, in area 3.
Note
Do not torque the screws at this point!
4
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
738
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings. Replace if damaged!
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock. See figure.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Continues on next page
Product manual - IRB 8700
739
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox will be
covered. See figure!
11
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Attaching the axis-3 gearbox to frame, step 2
Use this procedure to secure the axis-3 gearbox, together with the motor flange,
to the frame.
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Continues on next page
740
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 740
|
Refitting the motor flange
Note
Action
![Image]
xx1500002347
Remove the three M16x130 screws and six-hole
washers, previously attached in a triangle.
1
Clean the contact surfaces on gearbox and motor
flange.
2
![Image]
xx1500002353
Clean o-rings and o-ring groove on gearbox.
3
Inspect the o-rings. Replace if damaged!
4
Grease
Apply some grease on the o-rings.
5
Attach the smaller o-ring in the gearbox groove.
6
Attach the larger o-ring on the motor flange.
7
![Image]
xx1500002354
Before lifting the motor flange onto the guide pins,
make sure the oil inspection glass is facing at six
o'clock. See figure.
8
![Image]
xx1500002314
Lift the motor flange onto the guide pins.
9
Continues on next page
Product manual - IRB 8700
739
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox will be
covered. See figure!
11
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Attaching the axis-3 gearbox to frame, step 2
Use this procedure to secure the axis-3 gearbox, together with the motor flange,
to the frame.
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Continues on next page
740
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Securing the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
Tightening torque: 300 Nm
Secure the already attached screws, in area 3.
2
Tip
To make sure that all screws in this area are
torqued, use a marker pen and mark each screw
after it has been torqued.
3
Examine that all screws in this area now has been
torqued.
4
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
Continues on next page
Product manual - IRB 8700
741
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 741
|
Note
Action
Make sure the o-rings are in position and slide
the motor flange into position.
10
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox will be
covered. See figure!
11
Attachment screws: M16x130 12.9
Gleitmo 603
![Image]
xx1500002355
Attach 20 of the 24 attachment screws with the
four six-hole washers.
12
![Image]
xx1500002356
Remove the guide pins and attach the remaining
screws.
13
Attaching the axis-3 gearbox to frame, step 2
Use this procedure to secure the axis-3 gearbox, together with the motor flange,
to the frame.
Note
Action
Tightening torque: 300 Nm
![Image]
xx1500002373
Secure motor flange together with the gearbox,
to the frame.
1
Continues on next page
740
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Securing the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
Tightening torque: 300 Nm
Secure the already attached screws, in area 3.
2
Tip
To make sure that all screws in this area are
torqued, use a marker pen and mark each screw
after it has been torqued.
3
Examine that all screws in this area now has been
torqued.
4
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
Continues on next page
Product manual - IRB 8700
741
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
742
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 742
|
Securing the axis-3 gearbox to parallel arm - screws in area 3
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 3.
1
Tightening torque: 300 Nm
Secure the already attached screws, in area 3.
2
Tip
To make sure that all screws in this area are
torqued, use a marker pen and mark each screw
after it has been torqued.
3
Examine that all screws in this area now has been
torqued.
4
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
Continues on next page
Product manual - IRB 8700
741
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
742
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
743
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 743
|
Note
Action
![Image]
xx1500002082
Examine the pinion and the splines in the
hub for damages.
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 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
Continues on next page
742
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
743
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
744
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 744
|
Note
Action
![Image]
xx1500002326
Refit the hub.
3
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
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
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.
Continues on next page
Product manual - IRB 8700
743
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
744
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-3 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]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
745
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 745
|
Note
Action
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
Flange sealant: Loctite 574
![Image]
xx1500002357
Apply flange sealant on the motor flange.
6
Continues on next page
744
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-3 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]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
745
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
9
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.
See figure!
10
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
11
Remove the guide pins and replace with
the remaining attachment screws.
12
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
13
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Use a bits extender in order to reach the
screws.
Tightening torque: 50 Nm.
![Image]
xx1200001117
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
Continues on next page
746
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 746
|
Note
Action
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
7
Securing the axis-3 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]
xx1200001120
Note
Make sure the cable exit hole is turned the
correct way.
4
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
Remove the lifting accessory and allow the
motor to rest on the guide pins.
6
Rotation tool: 3HAC7887-1
Apply 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.MP3:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
745
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Note
Action
CAUTION
Whenever parting/mating motor pinion and
hub, the splines may be damaged if excess-
ive force is used!
9
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.
See figure!
10
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Fit two of the attachment screws.
11
Remove the guide pins and replace with
the remaining attachment screws.
12
Bits extender: 3HAC12342-1
Secure the motor with its attachment
screws and washers.
13
Screw dimension: M10x40 quality 12.9
Gleitmo (4 pcs)
Use a bits extender in order to reach the
screws.
Tightening torque: 50 Nm.
![Image]
xx1200001117
Performing a leak-down test
Note
Action
See Performing a leak-down test on
page 190 .
Perform a leak-dowm test.
1
Continues on next page
746
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Connecting the axis-3 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables in through the cable
gland opening.
1
![Image]
xx1200001067
Refit the cable gland cover.
Note
Replace the gasket if damaged!
2
![Image]
xx1200001066
Connect the motor cables.
Connect in accordance with the markings
on the connectors.
3
Continues on next page
Product manual - IRB 8700
747
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
|
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