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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
| 747
|
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
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise 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
748
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
| 748
|
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
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise 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
748
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
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
Product manual - IRB 8700
749
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
| 749
|
Note
Action
O-ring: 3HAC054692-002
![Image]
xx1200001070
Inspect the o-ring.
Replace if damaged!
4
Wipe clean o-ring and o-ring groove.
5
Refit the o-ring.
6
CAUTION
When fitting the motor cover, make sure
that none of the cables inside will be dam-
aged.
7
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
Note
Do not reuse the self-threading attachment
screws! Replace with standard attachment
screws. The threads will otherwise 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
748
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
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
Product manual - IRB 8700
749
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]
xx1500002322
Use caution and start 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
Use caution and start 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 the position where it is possible to
attach the plastic plug and attach the plug.
4
![Image]
xx1500002366
Jog axis-3 to the position where it is possible to
attach the plastic plug and attach the plug.
5
Robot position when attaching the screws in area 2
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
750
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
| 750
|
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
Product manual - IRB 8700
749
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]
xx1500002322
Use caution and start 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
Use caution and start 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 the position where it is possible to
attach the plastic plug and attach the plug.
4
![Image]
xx1500002366
Jog axis-3 to the position where it is possible to
attach the plastic plug and attach the plug.
5
Robot position when attaching the screws in area 2
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
750
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
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the axis-3 gearbox to parallel arm - screws in area 2
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2. See figure. Do not attach and secure
any screws in area 1 at this point!
1
Tightening torque: 300 Nm
![Image]
xx1500003115
Attach and secure the screws, in area 2.
2
Lower arm is hidden in this figure,
to get a better view.
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
Continues on next page
Product manual - IRB 8700
751
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
| 751
|
Note
Action
![Image]
xx1500002322
Use caution and start 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
Use caution and start 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 the position where it is possible to
attach the plastic plug and attach the plug.
4
![Image]
xx1500002366
Jog axis-3 to the position where it is possible to
attach the plastic plug and attach the plug.
5
Robot position when attaching the screws in area 2
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: -65°
•
Axis 3: 0°
•
Axis 4: 0°
•
Axis 5: 0°
•
Axis 6: No significance.
1
Continues on next page
750
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
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the axis-3 gearbox to parallel arm - screws in area 2
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2. See figure. Do not attach and secure
any screws in area 1 at this point!
1
Tightening torque: 300 Nm
![Image]
xx1500003115
Attach and secure the screws, in area 2.
2
Lower arm is hidden in this figure,
to get a better view.
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
Continues on next page
Product manual - IRB 8700
751
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Robot position when attaching the screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +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
Refitting the axis-3 gearbox to parallel arm - screws in area 1
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
1
Tightening torque: 300 Nm
![Image]
xx1500003114
Attach and secure the screws in area 1.
2
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
752
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
| 752
|
Note
Action
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
2
Refitting the axis-3 gearbox to parallel arm - screws in area 2
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 2. See figure. Do not attach and secure
any screws in area 1 at this point!
1
Tightening torque: 300 Nm
![Image]
xx1500003115
Attach and secure the screws, in area 2.
2
Lower arm is hidden in this figure,
to get a better view.
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
Continues on next page
Product manual - IRB 8700
751
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Robot position when attaching the screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +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
Refitting the axis-3 gearbox to parallel arm - screws in area 1
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
1
Tightening torque: 300 Nm
![Image]
xx1500003114
Attach and secure the screws in area 1.
2
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
752
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
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
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
Product manual - IRB 8700
753
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
| 753
|
Robot position when attaching the screws in area 1
Note
Action
Jog the robot to the specified position:
•
Axis 1: no significance as long as
the robot is fitted to the foundation.
•
Axis 2: +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
Refitting the axis-3 gearbox to parallel arm - screws in area 1
Note
Action
![Image]
1
2
3
1
2
3
xx1500002974
Find area 1.
1
Tightening torque: 300 Nm
![Image]
xx1500003114
Attach and secure the screws in area 1.
2
Lower arm is hidden in this figure,
to get a better view.
Continues on next page
752
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
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
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
Product manual - IRB 8700
753
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
4.8.5 Replacing the axis-4 primary gearbox
Location of the axis-4 primary gearbox
The axis-4 primary gearbox is located as shown in the figure.
![Image]
xx1500002071
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
754
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 754
|
Note
Action
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
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
Product manual - IRB 8700
753
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
4.8.5 Replacing the axis-4 primary gearbox
Location of the axis-4 primary gearbox
The axis-4 primary gearbox is located as shown in the figure.
![Image]
xx1500002071
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
754
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13056-2
Guide pin, M12x150
Always use guide pins in pairs.
3HAC13056-3
Guide pin, M12x200
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
3HAC046128-001
Lifting accessory, gearbox
Fully threaded
-
Screw M6x110
Dial gauge
-
Micrometer
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
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
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755
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 755
|
4.8.5 Replacing the axis-4 primary gearbox
Location of the axis-4 primary gearbox
The axis-4 primary gearbox is located as shown in the figure.
![Image]
xx1500002071
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
754
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13056-2
Guide pin, M12x150
Always use guide pins in pairs.
3HAC13056-3
Guide pin, M12x200
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
3HAC046128-001
Lifting accessory, gearbox
Fully threaded
-
Screw M6x110
Dial gauge
-
Micrometer
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
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 8700
755
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the axis-4 primary gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the most comfortable pos-
ition for removing the axis-4 primary gear-
box.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
See Draining the axis-4 primary gearbox
on page 159 .
Start draining the oil in the axis-4 primary
and secondary gearboxes.
4
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
756
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 756
|
Required tools and equipment
Note
Article number
Equipment, etc.
Used to push out the motor if neces-
sary.
Always use removal tools in pairs.
3HAC14631-1
Removal tool M12
Always use guide pins in pairs.
3HAC15521-2
Guide pin, M10x150
Always use guide pins in pairs.
3HAC13056-2
Guide pin, M12x150
Always use guide pins in pairs.
3HAC13056-3
Guide pin, M12x200
Lifting instruction 3HAC15640-2 en-
closed.
3HAC15534-1
Lifting accessory, motor
3HAC046128-001
Lifting accessory, gearbox
Fully threaded
-
Screw M6x110
Dial gauge
-
Micrometer
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
Loctite 243
3HAB7116-1
Locking liquid
Loctite 574
12340011-116
Flange sealant
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 8700
755
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the axis-4 primary gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the most comfortable pos-
ition for removing the axis-4 primary gear-
box.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
See Draining the axis-4 primary gearbox
on page 159 .
Start draining the oil in the axis-4 primary
and secondary gearboxes.
4
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
756
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
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757
3HAC052853-001 Revision: D
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4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 757
|
Note
Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the axis-4 primary gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Jog the robot to the most comfortable pos-
ition for removing the axis-4 primary gear-
box.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
See Draining the axis-4 primary gearbox
on page 159 .
Start draining the oil in the axis-4 primary
and secondary gearboxes.
4
Disconnecting the axis-4 motor cables
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
756
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
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757
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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 axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly, depending
on the position of axis-5!
1
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1600000064
Unscrew the attachment screws with
washers, that secure the motor.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
5
Continues on next page
758
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 758
|
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
757
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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 axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly, depending
on the position of axis-5!
1
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1600000064
Unscrew the attachment screws with
washers, that secure the motor.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
5
Continues on next page
758
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
7
Lifting accessory, motor
Attach the lifting accessories to the motor.
8
![Image]
xx1600000065
Use caution and remove the motor by lifting
it straight out.
Make sure the pinion is not damaged.
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
Continues on next page
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759
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 759
|
Note
Action
![Image]
xx1200001067
Remove the cable gland cover.
Inspect the gasket.
Note
Replace if damaged.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor will be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.
6
Removing the axis-4 motor
Note
Action
CAUTION
Use caution when releasing the brakes!
Axis-4 can move unexpectedly, depending
on the position of axis-5!
1
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP4:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1600000064
Unscrew the attachment screws with
washers, that secure the motor.
3
Guide pin, M10x150: 3HAC15521-2
Attach two guide pins in opposite holes.
4
Always use guide pins in pairs.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
5
Continues on next page
758
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
7
Lifting accessory, motor
Attach the lifting accessories to the motor.
8
![Image]
xx1600000065
Use caution and remove the motor by lifting
it straight out.
Make sure the pinion is not damaged.
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
Continues on next page
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759
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
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
Removing the gear Z3
Note
Action
xx1500002985
Make a note of the position of the revolu-
tion indicator on axis-4.
Tip
Use a marker pen to indicate the position
of axis-4, before the indicator is removed.
1
Continues on next page
760
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 760
|
Note
Action
Removal tool M12: 3HAC14631-1
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
6
Always use removal tools in pairs.
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
7
Lifting accessory, motor
Attach the lifting accessories to the motor.
8
![Image]
xx1600000065
Use caution and remove the motor by lifting
it straight out.
Make sure the pinion is not damaged.
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
Continues on next page
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759
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
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
Removing the gear Z3
Note
Action
xx1500002985
Make a note of the position of the revolu-
tion indicator on axis-4.
Tip
Use a marker pen to indicate the position
of axis-4, before the indicator is removed.
1
Continues on next page
760
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002986
Remove the revolution indicator for axis-4.
Note
Do not move axis-4 after the indicator has
been removed. The indicator has to be re-
fitted in the same position.
2
![Image]
xx1500002987
Remove the arm house cover.
3
Guide pins: 3HAC13056-3 M12x200 (2 pcs)
![Image]
xx1500002988
Unscrew two M12 screws in opposite holes
and replace them with guide pins.
Tip
Put some grease on the guide pins for a
better fitting.
4
(M12 and M16)
![Image]
xx1500002989
Unscrew the attachment screws holding
the gear.
5
Continues on next page
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761
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 761
|
Note
Action
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
Removing the gear Z3
Note
Action
xx1500002985
Make a note of the position of the revolu-
tion indicator on axis-4.
Tip
Use a marker pen to indicate the position
of axis-4, before the indicator is removed.
1
Continues on next page
760
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002986
Remove the revolution indicator for axis-4.
Note
Do not move axis-4 after the indicator has
been removed. The indicator has to be re-
fitted in the same position.
2
![Image]
xx1500002987
Remove the arm house cover.
3
Guide pins: 3HAC13056-3 M12x200 (2 pcs)
![Image]
xx1500002988
Unscrew two M12 screws in opposite holes
and replace them with guide pins.
Tip
Put some grease on the guide pins for a
better fitting.
4
(M12 and M16)
![Image]
xx1500002989
Unscrew the attachment screws holding
the gear.
5
Continues on next page
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761
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
6
![Image]
xx1500002990
Note
There is a set of shims behind the gear.
Use caution when the gear is removed not
to damage or drop the set of shims.
7
Use caution and remove the gear.
CAUTION
The gear weighs 11 kg.
All lifting accessories used must be sized
accordingly.
8
Use caution and lift the gear off.
9
![Image]
xx1500002991
Note
Do not remove the washers shown in the
figure. Underneath is a sealing which pre-
vents oil from leaking through the screw
holes that secure the axis-4 primary gear-
box from the other side.
10
Continues on next page
762
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 762
|
Note
Action
![Image]
xx1500002986
Remove the revolution indicator for axis-4.
Note
Do not move axis-4 after the indicator has
been removed. The indicator has to be re-
fitted in the same position.
2
![Image]
xx1500002987
Remove the arm house cover.
3
Guide pins: 3HAC13056-3 M12x200 (2 pcs)
![Image]
xx1500002988
Unscrew two M12 screws in opposite holes
and replace them with guide pins.
Tip
Put some grease on the guide pins for a
better fitting.
4
(M12 and M16)
![Image]
xx1500002989
Unscrew the attachment screws holding
the gear.
5
Continues on next page
Product manual - IRB 8700
761
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
6
![Image]
xx1500002990
Note
There is a set of shims behind the gear.
Use caution when the gear is removed not
to damage or drop the set of shims.
7
Use caution and remove the gear.
CAUTION
The gear weighs 11 kg.
All lifting accessories used must be sized
accordingly.
8
Use caution and lift the gear off.
9
![Image]
xx1500002991
Note
Do not remove the washers shown in the
figure. Underneath is a sealing which pre-
vents oil from leaking through the screw
holes that secure the axis-4 primary gear-
box from the other side.
10
Continues on next page
762
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Removing the motor flange
Note
Action
![Image]
xx1600000072
Cut the paint and Sikaflex with a knife in
the slot between motor flange and gearbox.
1
![Image]
xx1500002993
Remove two attachment screws in opposite
holes.
2
Guide pins: 3HAC13056-2 M12x150 mm
Attach guide pins in the holes.
Tip
Apply some grease on the guide pins for a
better fitting.
3
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002994
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
4
Continues on next page
Product manual - IRB 8700
763
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 763
|
Note
Action
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
6
![Image]
xx1500002990
Note
There is a set of shims behind the gear.
Use caution when the gear is removed not
to damage or drop the set of shims.
7
Use caution and remove the gear.
CAUTION
The gear weighs 11 kg.
All lifting accessories used must be sized
accordingly.
8
Use caution and lift the gear off.
9
![Image]
xx1500002991
Note
Do not remove the washers shown in the
figure. Underneath is a sealing which pre-
vents oil from leaking through the screw
holes that secure the axis-4 primary gear-
box from the other side.
10
Continues on next page
762
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Removing the motor flange
Note
Action
![Image]
xx1600000072
Cut the paint and Sikaflex with a knife in
the slot between motor flange and gearbox.
1
![Image]
xx1500002993
Remove two attachment screws in opposite
holes.
2
Guide pins: 3HAC13056-2 M12x150 mm
Attach guide pins in the holes.
Tip
Apply some grease on the guide pins for a
better fitting.
3
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002994
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
4
Continues on next page
Product manual - IRB 8700
763
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Note
There will be some oil spill when the motor
cover is removed. Put some paper (or
similar) to absorb the surplus oil.
5
![Image]
xx1500002995
Use caution and remove the motor flange
out from the guide pins.
6
Removing the axis-4 primary gearbox
Note
Action
M10x16 (3 pcs)
![Image]
xx1500002996
Unscrew the screws that hold the axis-3
bracket and let it hang free.
1
Lifting accessory axis-4 primary gearbox:
Attach the lifting accessories to the primary
gearbox.
2
If needed, use removal tools to press out
the gearbox.
3
![Image]
xx1500002997
Lift the gearbox off.
4
Continues on next page
764
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 764
|
Removing the motor flange
Note
Action
![Image]
xx1600000072
Cut the paint and Sikaflex with a knife in
the slot between motor flange and gearbox.
1
![Image]
xx1500002993
Remove two attachment screws in opposite
holes.
2
Guide pins: 3HAC13056-2 M12x150 mm
Attach guide pins in the holes.
Tip
Apply some grease on the guide pins for a
better fitting.
3
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002994
Remove the remaining attachment screws
and the six-hole washers (4 pcs).
4
Continues on next page
Product manual - IRB 8700
763
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Note
There will be some oil spill when the motor
cover is removed. Put some paper (or
similar) to absorb the surplus oil.
5
![Image]
xx1500002995
Use caution and remove the motor flange
out from the guide pins.
6
Removing the axis-4 primary gearbox
Note
Action
M10x16 (3 pcs)
![Image]
xx1500002996
Unscrew the screws that hold the axis-3
bracket and let it hang free.
1
Lifting accessory axis-4 primary gearbox:
Attach the lifting accessories to the primary
gearbox.
2
If needed, use removal tools to press out
the gearbox.
3
![Image]
xx1500002997
Lift the gearbox off.
4
Continues on next page
764
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Refitting the axis-4 primary gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-4 primary gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces in the arm
house.
2
Wipe clean all contact surfaces on the axis-
4 primary gearbox.
3
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
4
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002998
![Image]
xx1500003000
Clean the o-rings and o-ring grooves on
the gearbox.
5
![Image]
xx1500002999
Inspect the o-rings.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
765
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 765
|
Note
Action
Note
There will be some oil spill when the motor
cover is removed. Put some paper (or
similar) to absorb the surplus oil.
5
![Image]
xx1500002995
Use caution and remove the motor flange
out from the guide pins.
6
Removing the axis-4 primary gearbox
Note
Action
M10x16 (3 pcs)
![Image]
xx1500002996
Unscrew the screws that hold the axis-3
bracket and let it hang free.
1
Lifting accessory axis-4 primary gearbox:
Attach the lifting accessories to the primary
gearbox.
2
If needed, use removal tools to press out
the gearbox.
3
![Image]
xx1500002997
Lift the gearbox off.
4
Continues on next page
764
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Refitting the axis-4 primary gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-4 primary gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces in the arm
house.
2
Wipe clean all contact surfaces on the axis-
4 primary gearbox.
3
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
4
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002998
![Image]
xx1500003000
Clean the o-rings and o-ring grooves on
the gearbox.
5
![Image]
xx1500002999
Inspect the o-rings.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
765
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Refitting the axis-4 primary gearbox
Note
Action
CAUTION
The axis-4 primary gearbox weighs 56 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessory:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Roundsling 2 m
![Image]
xx1500003000
Fit the o-rings in its grooves.
Tip
Put some grease on the o-ring for a better
fitting.
3
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
4
Loctite 574
![Image]
xx1600000073
Apply flange sealant.
5
![Image]
xx1500003072
Make sure that one of the M8 holes in the
gearbox, will be at twelve o'clock when
lifting the gearbox onto the guide pins.
6
Continues on next page
766
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 766
|
Refitting the axis-4 primary gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-4 primary gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces in the arm
house.
2
Wipe clean all contact surfaces on the axis-
4 primary gearbox.
3
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
4
Guide pins: 3HAC13056-3 M12x200 mm
![Image]
xx1500002998
![Image]
xx1500003000
Clean the o-rings and o-ring grooves on
the gearbox.
5
![Image]
xx1500002999
Inspect the o-rings.
Note
Replace if damaged.
6
Continues on next page
Product manual - IRB 8700
765
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Refitting the axis-4 primary gearbox
Note
Action
CAUTION
The axis-4 primary gearbox weighs 56 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessory:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Roundsling 2 m
![Image]
xx1500003000
Fit the o-rings in its grooves.
Tip
Put some grease on the o-ring for a better
fitting.
3
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
4
Loctite 574
![Image]
xx1600000073
Apply flange sealant.
5
![Image]
xx1500003072
Make sure that one of the M8 holes in the
gearbox, will be at twelve o'clock when
lifting the gearbox onto the guide pins.
6
Continues on next page
766
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003073
Use caution and lift the gearbox onto the
guide pins.
7
Slide the gearbox on the guide pins into
mounting position.
Note
Do not secure the gearbox at this point. It
will be secured together with the motor
flange, when the motor flange is refitted.
8
Remove the lifting accessories.
9
Refitting the motor flange
Note
Action
Clean the contact surfaces on gearbox and motor
flange.
1
![Image]
xx1500003074
Clean o-ring and o-ring groove on motor flange.
2
Inspect the o-ring.
Note
Replace if damaged.
3
Put some grease on the o-ring and fit it into its
groove.
4
Continues on next page
Product manual - IRB 8700
767
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 767
|
Refitting the axis-4 primary gearbox
Note
Action
CAUTION
The axis-4 primary gearbox weighs 56 kg.
All lifting accessories used must be sized
accordingly.
1
Lifting accessory:
Attach the lifting accessories to the gear-
box.
2
Roundsling 2 m: Roundsling 2 m
![Image]
xx1500003000
Fit the o-rings in its grooves.
Tip
Put some grease on the o-ring for a better
fitting.
3
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
4
Loctite 574
![Image]
xx1600000073
Apply flange sealant.
5
![Image]
xx1500003072
Make sure that one of the M8 holes in the
gearbox, will be at twelve o'clock when
lifting the gearbox onto the guide pins.
6
Continues on next page
766
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003073
Use caution and lift the gearbox onto the
guide pins.
7
Slide the gearbox on the guide pins into
mounting position.
Note
Do not secure the gearbox at this point. It
will be secured together with the motor
flange, when the motor flange is refitted.
8
Remove the lifting accessories.
9
Refitting the motor flange
Note
Action
Clean the contact surfaces on gearbox and motor
flange.
1
![Image]
xx1500003074
Clean o-ring and o-ring groove on motor flange.
2
Inspect the o-ring.
Note
Replace if damaged.
3
Put some grease on the o-ring and fit it into its
groove.
4
Continues on next page
Product manual - IRB 8700
767
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003075
Make sure the oil inspection glass is facing at six
o'clock before lifting the motor flange onto the
guide pins.
5
![Image]
xx1500002995
Lift the motor flange onto the guide pins.
6
Make sure the o-ring is in position and slide the
motor flange into position.
7
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox are
covered.
8
Attachment screws: M12x110 12.9
Gleitmo 603 (32 pcs)
![Image]
xx1500002994
Attach 30 of the 32 attachment screws with the
four six-hole washers.
9
Continues on next page
768
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 768
|
Note
Action
![Image]
xx1500003073
Use caution and lift the gearbox onto the
guide pins.
7
Slide the gearbox on the guide pins into
mounting position.
Note
Do not secure the gearbox at this point. It
will be secured together with the motor
flange, when the motor flange is refitted.
8
Remove the lifting accessories.
9
Refitting the motor flange
Note
Action
Clean the contact surfaces on gearbox and motor
flange.
1
![Image]
xx1500003074
Clean o-ring and o-ring groove on motor flange.
2
Inspect the o-ring.
Note
Replace if damaged.
3
Put some grease on the o-ring and fit it into its
groove.
4
Continues on next page
Product manual - IRB 8700
767
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003075
Make sure the oil inspection glass is facing at six
o'clock before lifting the motor flange onto the
guide pins.
5
![Image]
xx1500002995
Lift the motor flange onto the guide pins.
6
Make sure the o-ring is in position and slide the
motor flange into position.
7
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox are
covered.
8
Attachment screws: M12x110 12.9
Gleitmo 603 (32 pcs)
![Image]
xx1500002994
Attach 30 of the 32 attachment screws with the
four six-hole washers.
9
Continues on next page
768
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002993
Remove the guide pins and fit the remaining
screws.
10
![Image]
xx1600000072
Apply Sikaflex in the slot between motor flange
and gearbox.
11
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 120 Nm
Secure motor flange together with the axis-4
primary gearbox.
1
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
769
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 769
|
Note
Action
![Image]
xx1500003075
Make sure the oil inspection glass is facing at six
o'clock before lifting the motor flange onto the
guide pins.
5
![Image]
xx1500002995
Lift the motor flange onto the guide pins.
6
Make sure the o-ring is in position and slide the
motor flange into position.
7
![Image]
xx1600000068
Note
When the four six-hole washers are fitted, make
sure that the three holes in the gearbox are
covered.
8
Attachment screws: M12x110 12.9
Gleitmo 603 (32 pcs)
![Image]
xx1500002994
Attach 30 of the 32 attachment screws with the
four six-hole washers.
9
Continues on next page
768
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002993
Remove the guide pins and fit the remaining
screws.
10
![Image]
xx1600000072
Apply Sikaflex in the slot between motor flange
and gearbox.
11
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 120 Nm
Secure motor flange together with the axis-4
primary gearbox.
1
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
769
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
770
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 770
|
Note
Action
![Image]
xx1500002993
Remove the guide pins and fit the remaining
screws.
10
![Image]
xx1600000072
Apply Sikaflex in the slot between motor flange
and gearbox.
11
Securing the motor flange together with gearbox
Note
Action
Tightening torque: 120 Nm
Secure motor flange together with the axis-4
primary gearbox.
1
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
769
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
770
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
Refitting the gear Z3 - step 1
Note
Action
Wipe clean the contact surfaces.
1
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
2
Guide pins: 3HAC13056-3 M12x200
![Image]
xx1500003076
Continues on next page
Product manual - IRB 8700
771
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 771
|
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
770
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
Refitting the gear Z3 - step 1
Note
Action
Wipe clean the contact surfaces.
1
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
2
Guide pins: 3HAC13056-3 M12x200
![Image]
xx1500003076
Continues on next page
Product manual - IRB 8700
771
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003077
Put 6 mm of shims on the guide pins.
Note
The gear must never be attached with
minus play. Always start with 6 mm shims.
3
![Image]
xx1500003078
Put the axis-4 gear on the guide pins.
4
Attachment screws: M16x50 12.9 Gleitmo
603
Secure the gear and shims with three of
the nine M16x50 screws. Attach screws in
a triangle.
5
Tightening torque: 300 Nm
![Image]
xx1500003079
Remove the guide pins.
6
Continues on next page
772
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 772
|
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
Refitting the gear Z3 - step 1
Note
Action
Wipe clean the contact surfaces.
1
Guide pins: 3HAC13056-2 M12x150
Attach guide pins in opposite holes.
Tip
Put some grease on the guide pins for a
better fitting.
2
Guide pins: 3HAC13056-3 M12x200
![Image]
xx1500003076
Continues on next page
Product manual - IRB 8700
771
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500003077
Put 6 mm of shims on the guide pins.
Note
The gear must never be attached with
minus play. Always start with 6 mm shims.
3
![Image]
xx1500003078
Put the axis-4 gear on the guide pins.
4
Attachment screws: M16x50 12.9 Gleitmo
603
Secure the gear and shims with three of
the nine M16x50 screws. Attach screws in
a triangle.
5
Tightening torque: 300 Nm
![Image]
xx1500003079
Remove the guide pins.
6
Continues on next page
772
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Measuring the play
Note
Action
Dial gauge
Measure the play in three places, with a
dial gauge with magnetic base.
Note
It shall be 90° between the dial indicator
arm and the magnetic base, and 90°
between the arm to the dial indicator.
1
Disassemble the gear.
2
Use the instruction in this step and reduce
the number of shims:
3
Example: If the measured value is 0.14 mm
and 1.4 mm of shims are removed, it will
theoretically end up as zero. The value
must never be lower than the minimum gap
around a complete revolution or the gear.
Micrometer
Put shims according to the obtained
measurement and control with a micromet-
er that the value is correct.
4
Tightening torque: 300 Nm
Secure the gear with three of the M16x50
screws attached in a triangle.
5
Measure the play again. If the measured
result deviates too much, the gear must be
disassembled and the number of shims be
adjusted.
6
Refitting the axis-4 gear Z3 - Step 2
Note
Action
Attachment screws: M16x50 12.9 Gleitmo
603 (9 pcs)
When the play is measured and approved,
fit the remaining attachment screws.
1
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
![Image]
xx1500003080
Tightening torque: 300 Nm
Secure the M16 screws.
2
Tightening torque: 120 Nm
Secure the M12 screws.
3
Continues on next page
Product manual - IRB 8700
773
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 773
|
Note
Action
![Image]
xx1500003077
Put 6 mm of shims on the guide pins.
Note
The gear must never be attached with
minus play. Always start with 6 mm shims.
3
![Image]
xx1500003078
Put the axis-4 gear on the guide pins.
4
Attachment screws: M16x50 12.9 Gleitmo
603
Secure the gear and shims with three of
the nine M16x50 screws. Attach screws in
a triangle.
5
Tightening torque: 300 Nm
![Image]
xx1500003079
Remove the guide pins.
6
Continues on next page
772
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Measuring the play
Note
Action
Dial gauge
Measure the play in three places, with a
dial gauge with magnetic base.
Note
It shall be 90° between the dial indicator
arm and the magnetic base, and 90°
between the arm to the dial indicator.
1
Disassemble the gear.
2
Use the instruction in this step and reduce
the number of shims:
3
Example: If the measured value is 0.14 mm
and 1.4 mm of shims are removed, it will
theoretically end up as zero. The value
must never be lower than the minimum gap
around a complete revolution or the gear.
Micrometer
Put shims according to the obtained
measurement and control with a micromet-
er that the value is correct.
4
Tightening torque: 300 Nm
Secure the gear with three of the M16x50
screws attached in a triangle.
5
Measure the play again. If the measured
result deviates too much, the gear must be
disassembled and the number of shims be
adjusted.
6
Refitting the axis-4 gear Z3 - Step 2
Note
Action
Attachment screws: M16x50 12.9 Gleitmo
603 (9 pcs)
When the play is measured and approved,
fit the remaining attachment screws.
1
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
![Image]
xx1500003080
Tightening torque: 300 Nm
Secure the M16 screws.
2
Tightening torque: 120 Nm
Secure the M12 screws.
3
Continues on next page
Product manual - IRB 8700
773
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002992
Inspect the gasket on the arm house cover.
Note
Replace if damaged.
4
Loctite 574
Apply flange sealant (Loctite 574) on the
cover flange.
5
Attachment screws: M6x16 (22 pcs)
Attach the arm house cover and tighten all
screws alternately and repeat once.
6
Tightening torque: 10 Nm
![Image]
xx1500002987
Apply locking liquid (Loctite 243) on the
screws.
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
7
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
Continues on next page
774
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 774
|
Measuring the play
Note
Action
Dial gauge
Measure the play in three places, with a
dial gauge with magnetic base.
Note
It shall be 90° between the dial indicator
arm and the magnetic base, and 90°
between the arm to the dial indicator.
1
Disassemble the gear.
2
Use the instruction in this step and reduce
the number of shims:
3
Example: If the measured value is 0.14 mm
and 1.4 mm of shims are removed, it will
theoretically end up as zero. The value
must never be lower than the minimum gap
around a complete revolution or the gear.
Micrometer
Put shims according to the obtained
measurement and control with a micromet-
er that the value is correct.
4
Tightening torque: 300 Nm
Secure the gear with three of the M16x50
screws attached in a triangle.
5
Measure the play again. If the measured
result deviates too much, the gear must be
disassembled and the number of shims be
adjusted.
6
Refitting the axis-4 gear Z3 - Step 2
Note
Action
Attachment screws: M16x50 12.9 Gleitmo
603 (9 pcs)
When the play is measured and approved,
fit the remaining attachment screws.
1
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
![Image]
xx1500003080
Tightening torque: 300 Nm
Secure the M16 screws.
2
Tightening torque: 120 Nm
Secure the M12 screws.
3
Continues on next page
Product manual - IRB 8700
773
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1500002992
Inspect the gasket on the arm house cover.
Note
Replace if damaged.
4
Loctite 574
Apply flange sealant (Loctite 574) on the
cover flange.
5
Attachment screws: M6x16 (22 pcs)
Attach the arm house cover and tighten all
screws alternately and repeat once.
6
Tightening torque: 10 Nm
![Image]
xx1500002987
Apply locking liquid (Loctite 243) on the
screws.
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
7
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
Continues on next page
774
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
6
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Put the motor onto the guide pins.
2
Continues on next page
Product manual - IRB 8700
775
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 775
|
Note
Action
![Image]
xx1500002992
Inspect the gasket on the arm house cover.
Note
Replace if damaged.
4
Loctite 574
Apply flange sealant (Loctite 574) on the
cover flange.
5
Attachment screws: M6x16 (22 pcs)
Attach the arm house cover and tighten all
screws alternately and repeat once.
6
Tightening torque: 10 Nm
![Image]
xx1500002987
Apply locking liquid (Loctite 243) on the
screws.
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
7
Preparations before refitting the axis-4 motor
Note
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
1
Remove old paint residues and other contamina-
tion from the contact surfaces on both motor and
gearbox.
2
Wipe clean the contact surfaces from any remain-
ing contamination.
3
Also wipe clean the o-ring groove.
Continues on next page
774
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
6
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Put the motor onto the guide pins.
2
Continues on next page
Product manual - IRB 8700
775
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1600000066
Note
Make sure the cable exit hole are turned
the correct way.
3
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
4
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
5
To release the brakes, connect the 24 VDC
power supply .
6
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
7
![Image]
xx1600000065
Use caution and push the motor in position
while at the same time the motor pinion is
slightly rotated.
•
Make sure that the motor pinion is
properly mated to the gear of the
gearbox.
•
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
Remove the guide pins.
9
Continues on next page
776
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 776
|
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
![Image]
xx1200001135
If the motor is a new spare part, remove the cover.
6
Securing the axis-4 motor
Note
Action
Guide pin, M10x150: 3HAC15521-2
Apply two guide pins in opposite holes.
1
Always use guide pins in pairs.
Put the motor onto the guide pins.
2
Continues on next page
Product manual - IRB 8700
775
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
![Image]
xx1600000066
Note
Make sure the cable exit hole are turned
the correct way.
3
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
4
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
5
To release the brakes, connect the 24 VDC
power supply .
6
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
7
![Image]
xx1600000065
Use caution and push the motor in position
while at the same time the motor pinion is
slightly rotated.
•
Make sure that the motor pinion is
properly mated to the gear of the
gearbox.
•
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
Remove the guide pins.
9
Continues on next page
776
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Tightening torque: 50 Nm.
Secure the motor with its attachment
screws and washers.
10
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
11
Disconnect the 24 VDC power supply.
12
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
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777
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 777
|
Note
Action
![Image]
xx1600000066
Note
Make sure the cable exit hole are turned
the correct way.
3
CAUTION
The motor weighs 27 kg.
All lifting accessories used must be sized
accordingly.
4
Rotation tool: 3HAC7887-1
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
5
To release the brakes, connect the 24 VDC
power supply .
6
Connect to connector R2.MP2:
•
pin 2 = 24V
•
pin 5 = 0V
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
7
![Image]
xx1600000065
Use caution and push the motor in position
while at the same time the motor pinion is
slightly rotated.
•
Make sure that the motor pinion is
properly mated to the gear of the
gearbox.
•
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
Remove the guide pins.
9
Continues on next page
776
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Note
Action
Tightening torque: 50 Nm.
Secure the motor with its attachment
screws and washers.
10
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
11
Disconnect the 24 VDC power supply.
12
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
Product manual - IRB 8700
777
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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 are damaged.
7
Continues on next page
778
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 778
|
Note
Action
Tightening torque: 50 Nm.
Secure the motor with its attachment
screws and washers.
10
Screw dimension: M10x30 quality 12.9
Gleitmo (4 pcs)
![Image]
xx1600000064
See Performing a leak-down test on
page 190 .
Perform a leak-down test.
11
Disconnect the 24 VDC power supply.
12
Connecting the axis-4 motor cables
Note
Action
![Image]
xx1300000738
Push the motor cables through the cable
gland opening.
1
Continues on next page
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777
3HAC052853-001 Revision: D
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4 Repair
4.8.5 Replacing the axis-4 primary 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 are damaged.
7
Continues on next page
778
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
Concluding procedure
Note
Action
See Changing oil, axis-4 primary gearbox
on page 158 .
Refill oil in the axis-4 primary gearbox.
1
See Changing oil, axis-4 secondary gear-
box on page 164 .
Refill oil in the axis-4 secondary gearbox.
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
Product manual - IRB 8700
779
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 779
|
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 are damaged.
7
Continues on next page
778
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary 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
Concluding procedure
Note
Action
See Changing oil, axis-4 primary gearbox
on page 158 .
Refill oil in the axis-4 primary gearbox.
1
See Changing oil, axis-4 secondary gear-
box on page 164 .
Refill oil in the axis-4 secondary gearbox.
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
Product manual - IRB 8700
779
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
4.8.6 Replacing the axis-6 gearbox
Location of the axis-6 gearbox
The axis-6 gearbox is located as shown in the figure.
![Image]
xx1500002072
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
780
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
|
ABB_IRB8700_Product_Manual.pdf
|
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| 780
|
Note
Action
![Image]
xx1200001135
Refit the motor cover with its attachment
screws.
Note
Do not reuse the self-threading attachment
screws. Replace with standard attachment
screws or the threads will be damaged.
Note
Make sure the o-ring is undamaged and
properly fitted.
8
Make sure that the covers are tightly
sealed.
9
Concluding procedure
Note
Action
See Changing oil, axis-4 primary gearbox
on page 158 .
Refill oil in the axis-4 primary gearbox.
1
See Changing oil, axis-4 secondary gear-
box on page 164 .
Refill oil in the axis-4 secondary gearbox.
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
Product manual - IRB 8700
779
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
4.8.6 Replacing the axis-6 gearbox
Location of the axis-6 gearbox
The axis-6 gearbox is located as shown in the figure.
![Image]
xx1500002072
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
780
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
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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781
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
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| 781
|
4.8.6 Replacing the axis-6 gearbox
Location of the axis-6 gearbox
The axis-6 gearbox is located as shown in the figure.
![Image]
xx1500002072
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
3HAC043073-003
Reduction Gear RV-500N-236.36
Continues on next page
780
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
Product manual - IRB 8700
781
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
Jog the robot to a comfortable position for
removing the turning disc. This is espe-
cially important when removing the heavier
process turning disc.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Remove all tools and other equipment fitted
to the turning disc.
4
Removing the turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002318
Unscrew the 27 M12x40 screws and
washers that secure the turning disc.
2
![Image]
xx1500002319
Remove the turning disc.
3
Continues on next page
782
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 782
|
Required tools and equipment
Note
Article number
Equipment, etc.
Lifting capacity: 1,000 kg
-
Roundsling 1 m
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Required consumables
Note
Article number
Consumable
Castrol Molub. Alloy 777-1 NG:
To be used on hub splines to
prevent from fretting corrosion.
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 800 .
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
Note
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
Product manual - IRB 8700
781
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
Jog the robot to a comfortable position for
removing the turning disc. This is espe-
cially important when removing the heavier
process turning disc.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Remove all tools and other equipment fitted
to the turning disc.
4
Removing the turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002318
Unscrew the 27 M12x40 screws and
washers that secure the turning disc.
2
![Image]
xx1500002319
Remove the turning disc.
3
Continues on next page
782
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1600000074
When the gearbox is removed, make sure
not to loose the sealing ring. It must be fit-
ted on the gearbox when the turning disc
is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
4
Removing the process turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disc and to an overhead crane (or similar).
3
Stretch the roundsling to take the weight
of the process turning diss.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disc.
5
Remove the process turning disc.
6
Removing the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
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783
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 783
|
Note
Action
Jog the robot to a comfortable position for
removing the turning disc. This is espe-
cially important when removing the heavier
process turning disc.
2
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the robot
working area.
3
Remove all tools and other equipment fitted
to the turning disc.
4
Removing the turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
![Image]
xx1500002318
Unscrew the 27 M12x40 screws and
washers that secure the turning disc.
2
![Image]
xx1500002319
Remove the turning disc.
3
Continues on next page
782
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1600000074
When the gearbox is removed, make sure
not to loose the sealing ring. It must be fit-
ted on the gearbox when the turning disc
is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
4
Removing the process turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disc and to an overhead crane (or similar).
3
Stretch the roundsling to take the weight
of the process turning diss.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disc.
5
Remove the process turning disc.
6
Removing the axis-6 gearbox
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
783
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500002981
Remove the calibration pin holder, by un-
screwing the two M12x110 screws.
Note
Use caution not to damage the guiding
pins.
3
![Image]
xx1500002982
Unscrew the attachment screws that secure
the axis-6 gearbox.
4
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used.
5
If required, fit two attachment screws in
opposite holes and use them to press out
the gearbox.
6
Continues on next page
784
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 784
|
Note
Action
![Image]
xx1600000074
When the gearbox is removed, make sure
not to loose the sealing ring. It must be fit-
ted on the gearbox when the turning disc
is refitted.
Note
On a new gearbox, the sealing ring must
be removed from the old gearbox, and fitted
on the new one.
4
Removing the process turning disc
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
2
Roundsling 1 m: Lifting capacity: 1,000 kg
Attach a roundsling to the process turning
disc and to an overhead crane (or similar).
3
Stretch the roundsling to take the weight
of the process turning diss.
4
Unscrew the 22 attachment screws and
washers that secure the process turning
disc.
5
Remove the process turning disc.
6
Removing the axis-6 gearbox
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
783
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500002981
Remove the calibration pin holder, by un-
screwing the two M12x110 screws.
Note
Use caution not to damage the guiding
pins.
3
![Image]
xx1500002982
Unscrew the attachment screws that secure
the axis-6 gearbox.
4
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used.
5
If required, fit two attachment screws in
opposite holes and use them to press out
the gearbox.
6
Continues on next page
784
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1500002983
Use caution and remove the gearbox.
7
Refitting the gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces.
2
Refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used!
2
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
785
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 785
|
Note
Action
To release the brakes, connect the 24 VDC
power supply.
2
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
![Image]
xx1500002981
Remove the calibration pin holder, by un-
screwing the two M12x110 screws.
Note
Use caution not to damage the guiding
pins.
3
![Image]
xx1500002982
Unscrew the attachment screws that secure
the axis-6 gearbox.
4
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used.
5
If required, fit two attachment screws in
opposite holes and use them to press out
the gearbox.
6
Continues on next page
784
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1500002983
Use caution and remove the gearbox.
7
Refitting the gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces.
2
Refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used!
2
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
785
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1500002983
Use caution and refit the gearbox.
4
Attachment screws: M12x80 12.9 Gleitmo
(29 pcs)
Secure the gearbox with its attachment
screws and washers.
Note
Do not refit any of the M12x80 screws
where the pin holder will be refitted with
the M12x110 screws.
5
Tightening torque: 120 Nm
![Image]
xx1500002982
Attachment screws: M12x110 12.9 Gleitmo
(2 pcs)
Secure the pin holder with its attachment
screws and washers.
6
Tightening torque: 120 Nm
![Image]
xx1500002981
Continues on next page
786
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© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 786
|
Note
Action
![Image]
xx1500002983
Use caution and remove the gearbox.
7
Refitting the gearbox
Use these procedures to refit the gearbox.
Preparations before refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Wipe clean all contact surfaces.
2
Refitting the axis-6 gearbox
Note
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
CAUTION
Whenever parting/mating hub and gearbox,
the splines may be damaged if excessive
force is used!
2
To release the brakes, connect the 24 VDC
power supply.
3
Connect to connector R2.MP6:
•
pin 2 = 24V
•
pin 5 = 0V
Continues on next page
Product manual - IRB 8700
785
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Note
Action
![Image]
xx1500002983
Use caution and refit the gearbox.
4
Attachment screws: M12x80 12.9 Gleitmo
(29 pcs)
Secure the gearbox with its attachment
screws and washers.
Note
Do not refit any of the M12x80 screws
where the pin holder will be refitted with
the M12x110 screws.
5
Tightening torque: 120 Nm
![Image]
xx1500002982
Attachment screws: M12x110 12.9 Gleitmo
(2 pcs)
Secure the pin holder with its attachment
screws and washers.
6
Tightening torque: 120 Nm
![Image]
xx1500002981
Continues on next page
786
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Refitting the turning disc
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces and refit
the axis-6 gearbox.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted on the
gearbox.
2
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disc with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Continues on next page
Product manual - IRB 8700
787
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 787
|
Note
Action
![Image]
xx1500002983
Use caution and refit the gearbox.
4
Attachment screws: M12x80 12.9 Gleitmo
(29 pcs)
Secure the gearbox with its attachment
screws and washers.
Note
Do not refit any of the M12x80 screws
where the pin holder will be refitted with
the M12x110 screws.
5
Tightening torque: 120 Nm
![Image]
xx1500002982
Attachment screws: M12x110 12.9 Gleitmo
(2 pcs)
Secure the pin holder with its attachment
screws and washers.
6
Tightening torque: 120 Nm
![Image]
xx1500002981
Continues on next page
786
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Refitting the turning disc
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces and refit
the axis-6 gearbox.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted on the
gearbox.
2
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disc with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Continues on next page
Product manual - IRB 8700
787
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Refitting the process turning disc
Note
Action
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Attach the lifting accessories to the process
turning disc.
2
Wipe clean the contact surfaces.
3
Make sure the process turning disc is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disc with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
788
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 788
|
Refitting the turning disc
Note
Action
![Image]
xx1500002319
Wipe clean the contact surfaces and refit
the axis-6 gearbox.
1
![Image]
xx1500002984
Make sure the sealing ring is fitted on the
gearbox.
2
Attachment screws: M12x40 12.9 Gleitmo
603 (27 pcs)
Secure the turning disc with its attachment
screws and washers.
3
Tightening torque: 120 Nm
![Image]
xx1500002318
Continues on next page
Product manual - IRB 8700
787
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
Refitting the process turning disc
Note
Action
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Attach the lifting accessories to the process
turning disc.
2
Wipe clean the contact surfaces.
3
Make sure the process turning disc is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disc with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
788
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 799 .
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 8700
789
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 789
|
Refitting the process turning disc
Note
Action
CAUTION
The process turning disc weighs 50 kg. All
lifting accessories must be sized accord-
ingly.
1
Attach the lifting accessories to the process
turning disc.
2
Wipe clean the contact surfaces.
3
Make sure the process turning disc is refit-
ted in the correct position.
4
Attachment screws: M12x40 12.9 Gleitmo
603 (22 pcs)
Secure the process turning disc with its
attachment screws and washers.
5
Tightening torque: 120 Nm
Concluding procedure
Note
Action
Axis Calibration is described in Calibrating
with Axis Calibration method on page 799 .
Recalibrate the robot.
1
General calibration information is included
in section Calibration on page 789 .
DANGER
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in the section DANGER
- First test run may cause injury or damage!
on page 46 .
2
788
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
4 Repair
4.8.6 Replacing the axis-6 gearbox
Continued
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 799 .
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 8700
789
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration
The calibrated robot is positioned at calibration
position.
Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
![Image]
xx0400001197
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 8700 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
Continues on next page
790
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 790
|
5 Calibration
5.1 Introduction to calibration
5.1.1 Introduction and calibration terminology
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 799 .
Calibration terminology
Definition
Term
A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Calibration method
Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Synchronization position
Known position of the complete robot that is used
for calibration of the robot.
Calibration position
A generic term for all calibration methods that aim
to move the robot to calibration position.
Standard calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Fine calibration
A calibration routine that generates a new zero posi-
tion of the robot.
Reference calibration
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
A calibration routine to make a rough calibration of
each manipulator axis.
Update revolution counter
Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Synchronization mark
Product manual - IRB 8700
789
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.1 Introduction and calibration terminology
5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration
The calibrated robot is positioned at calibration
position.
Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
![Image]
xx0400001197
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 8700 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
Continues on next page
790
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 799 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, Absolute
Accuracy calibration is used as a TCP calibration. The CalibWare tool guides
through the calibration process and calculates new compensation parameters.
This is further detailed in the Application manual - CalibWare Field 5.0 .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 826 .
Product manual - IRB 8700
791
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 791
|
5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration
The calibrated robot is positioned at calibration
position.
Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
![Image]
xx0400001197
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 8700 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
Continues on next page
790
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 799 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, Absolute
Accuracy calibration is used as a TCP calibration. The CalibWare tool guides
through the calibration process and calculates new compensation parameters.
This is further detailed in the Application manual - CalibWare Field 5.0 .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 826 .
Product manual - IRB 8700
791
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
Continued
5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 795 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reach ability of a robot
is changed, it needs to be recalibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
792
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.3 When to calibrate
|
ABB_IRB8700_Product_Manual.pdf
|
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| 792
|
The following routines are available for the Axis Calibration method:
•
Fine calibration
•
Update revolution counters
•
Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 799 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, Absolute
Accuracy calibration is used as a TCP calibration. The CalibWare tool guides
through the calibration process and calculates new compensation parameters.
This is further detailed in the Application manual - CalibWare Field 5.0 .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 826 .
Product manual - IRB 8700
791
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.2 Calibration methods
Continued
5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 795 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reach ability of a robot
is changed, it needs to be recalibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
792
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.3 When to calibrate
5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 8700
Axis 2
![Image]
xx1500000946
Axis 1
![Image]
xx1500000945
Axis 4
![Image]
xx1500000948
Axis 3
![Image]
xx1500000947
Axis 6
![Image]
xx1500000950
Axis 5
![Image]
xx1500000949
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793
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© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
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ABB_IRB8700_Product_Manual.pdf
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| 793
|
5.1.3 When to calibrate
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration
methods supplied by ABB. Calibrate the robot carefully with standard calibration,
according to information in this manual.
If the robot has absolute accuracy calibration, it is also recommended, but not
always necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are
replaced on the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
Updating revolution counters on page 795 . This will occur when:
•
The battery is discharged
•
A resolver error occurs
•
The signal between a resolver and measurement board is interrupted
•
A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reach ability of a robot
is changed, it needs to be recalibrated for new resolver values.
If the robot has absolute accuracy calibration, it needs to be calibrated for new
absolute accuracy.
792
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.1.3 When to calibrate
5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 8700
Axis 2
![Image]
xx1500000946
Axis 1
![Image]
xx1500000945
Axis 4
![Image]
xx1500000948
Axis 3
![Image]
xx1500000947
Axis 6
![Image]
xx1500000950
Axis 5
![Image]
xx1500000949
Product manual - IRB 8700
793
3HAC052853-001 Revision: D
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5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
794
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5 Calibration
5.2.2 Calibration movement directions for all axes
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| 794
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5.2 Synchronization marks and axis movement directions
5.2.1 Synchronization marks and synchronization position for axes
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
Synchronization marks, IRB 8700
Axis 2
![Image]
xx1500000946
Axis 1
![Image]
xx1500000945
Axis 4
![Image]
xx1500000948
Axis 3
![Image]
xx1500000947
Axis 6
![Image]
xx1500000950
Axis 5
![Image]
xx1500000949
Product manual - IRB 8700
793
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.2.1 Synchronization marks and synchronization position for axes
5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
794
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.2.2 Calibration movement directions for all axes
5.3 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 793 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the FlexPendant on page 796 .
When all axes are positioned, update the
revolution counter.
3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 8700
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
Product manual - IRB 8700
795
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5 Calibration
5.3 Updating revolution counters
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ABB_IRB8700_Product_Manual.pdf
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| 795
|
5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
xx0200000089
794
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.2.2 Calibration movement directions for all axes
5.3 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 793 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the FlexPendant on page 796 .
When all axes are positioned, update the
revolution counter.
3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 8700
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
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795
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© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.3 Updating revolution counters
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
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| 796
|
5.3 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note
Action
Select axis-by-axis motion mode.
1
See Synchronization marks and synchron-
ization position for axes on page 793 .
Jog the manipulator to align the synchron-
ization marks.
2
Step 2 - Updating the revolution counter
with the FlexPendant on page 796 .
When all axes are positioned, update the
revolution counter.
3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Axis 6
Axis 4
Manipulator variant
Yes
Yes
IRB 8700
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Continues on next page
Product manual - IRB 8700
795
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© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.3 Updating revolution counters
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
Action
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
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| 797
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Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
All mechanical units connected to the system are shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
Action
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
Action
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 812 .
8
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5 Calibration
5.3 Updating revolution counters
Continued
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| 798
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Action
This step is valid for RobotWare 6.02 and later.
3
Calibration method used at factory for each axis is shown, as well as calibration
method used during last field calibration.
Tap Manual Method (Advanced) .
![Image]
xx1500000944
A screen is displayed, tap Rev. Counters .
![Image]
en0400000771
4
Continues on next page
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5 Calibration
5.3 Updating revolution counters
Continued
Action
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 812 .
8
798
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3HAC052853-001 Revision: D
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5 Calibration
5.3 Updating revolution counters
Continued
5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
•
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
•
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
•
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
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5 Calibration
5.4.1 Description of Axis Calibration
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| 799
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Action
Tap Update Revolution Counters... .
A dialog box is displayed, warning that updating the revolution counters may change
programmed robot positions:
•
Tap Yes to update the revolution counters.
•
Tap No to cancel updating the revolution counters.
Tapping Yes displays the axis selection window.
5
Select the axis to have its revolution counter updated by:
•
Ticking in the box to the left
•
Tapping Select all to update all axes.
Then tap Update .
6
A dialog box is displayed, warning that the updating operation cannot be undone:
•
Tap Update to proceed with updating the revolution counters.
•
Tap Cancel to cancel updating the revolution counters.
Tapping Update updates the selected revolution counters and removes the tick from
the list of axes.
7
CAUTION
If a revolution counter is incorrectly updated, it will cause incorrect manipulator posi-
tioning, which in turn may cause damage or injury!
Check the synchronization position very carefully after each update. See Checking
the synchronization position on page 812 .
8
798
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3HAC052853-001 Revision: D
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5 Calibration
5.3 Updating revolution counters
Continued
5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
•
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
•
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
•
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
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799
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5 Calibration
5.4.1 Description of Axis Calibration
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. The reference value is unique for the current setup of the robot and will
be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The axis chosen for calibration is automatically run by the calibration program to
its calibration position during the calibration procedure.
In order for the axis to be able to be moved to calibration position, or in order for
getting proper access to the calibration bushing, other axes might need to be
jogged to positions different from 0 degrees. Information about which axes are
allowed to be jogged will be given on the FlexPendant. These axes are marked
with Unrestricted in the FlexPendant window.
800
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5 Calibration
5.4.1 Description of Axis Calibration
Continued
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| 800
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5.4 Calibrating with Axis Calibration method
5.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one axis
at the time. The robot axes are both manually and automatically moved into position,
as instructed on the FlexPendant.
A fixed calibration pin/bushing is installed on each robot axis at delivery.
The Axis Calibration procedure described roughly:
•
A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
•
During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
•
The axis position is stored in RobotWare with an active choice from the
operator.
Continues on next page
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. The reference value is unique for the current setup of the robot and will
be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The axis chosen for calibration is automatically run by the calibration program to
its calibration position during the calibration procedure.
In order for the axis to be able to be moved to calibration position, or in order for
getting proper access to the calibration bushing, other axes might need to be
jogged to positions different from 0 degrees. Information about which axes are
allowed to be jogged will be given on the FlexPendant. These axes are marked
with Unrestricted in the FlexPendant window.
800
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
Continues on next page
Product manual - IRB 8700
801
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
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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
| 801
|
Routines in the calibration procedure
The following routines are available in the Axis Calibration procedure, given at the
beginning of the procedure on the FlexPendant.
Fine calibration routine
Choose this routine to calibrate the robot when there are no tools, process cabling
or equipment fitted to the robot.
Reference calibration routine
Choose this routine to create reference values and to calibrate the robot when the
robot is dressed with tools, process cabling or other equipment.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. The reference value is unique for the current setup of the robot and will
be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Update revolution counters
Choose this routine to make a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
Position of robot axes
The axis chosen for calibration is automatically run by the calibration program to
its calibration position during the calibration procedure.
In order for the axis to be able to be moved to calibration position, or in order for
getting proper access to the calibration bushing, other axes might need to be
jogged to positions different from 0 degrees. Information about which axes are
allowed to be jogged will be given on the FlexPendant. These axes are marked
with Unrestricted in the FlexPendant window.
800
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
Continues on next page
Product manual - IRB 8700
801
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
802
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 802
|
5.4.2 Calibration tools for Axis Calibration
Calibration tool set
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box,
Axis Calibration
Examining the calibration tool
Check prior to usage
Before using the calibration tool, make sure that the tube insert, the plastic
protection and the steel spring ring are present.
WARNING
If any part is missing or damaged, the tool must be replaced immediately.
![Image]
xx1500001914
Tube insert
A
Plastic protection
B
Steel spring ring
C
Periodic check of the calibration tool
If including the calibration tool in a local periodic check system, the following
measures should be checked.
•
Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on
calibration tool size).
•
Straightness within 0.005 mm.
Continues on next page
Product manual - IRB 8700
801
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
802
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
The figure shows how the robot is equipped with items for installation of calibration
tools for Axis Calibration (fixed calibration pins and/or bushings). The figure does
not show installed calibration tools.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000786
Continues on next page
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803
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 803
|
![Image]
xx1500000951
Outer diameter
A
Identifying the calibrating tools
It is possible to make the calibration tool identifiable with, for example, an RFID
chip. The procedure of how to install an RFID chip is described below.
Note
The tool identifier is NOT delivered from ABB, it is a customized solution.
Note
Action
It is possible to use any RFID solution, with the
correct dimensions. ABB has verifed function on
some suppliers fulfilling the requirements of NFC
compatible devices (13.56 Mhz) according to ISO
14443 or ISO 15693.
Note
The maximum dimensions on the RFID chip must
not exceed Ø7.9 mm x 8.0 mm, Ø5.9 mm x 8.0
mm or Ø3.9 mm x 8.0 mm (depending on calibra-
tion tool size).
1
There is a cavity on one end of the calibration tool
in which the RFID chip can be installed.
2
Install the RFID chip according to supplier instruc-
tions.
Install the chip in flush with the tool end.
802
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.2 Calibration tools for Axis Calibration
Continued
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
The figure shows how the robot is equipped with items for installation of calibration
tools for Axis Calibration (fixed calibration pins and/or bushings). The figure does
not show installed calibration tools.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000786
Continues on next page
Product manual - IRB 8700
803
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
![Image]
xx1500000787
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new, if needed.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
804
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 804
|
5.4.3 Installation locations for the calibration tools
Location of fixed calibration items
The figure shows how the robot is equipped with items for installation of calibration
tools for Axis Calibration (fixed calibration pins and/or bushings). The figure does
not show installed calibration tools.
A fixed calibration pin and a bushing for the movable calibration tool are located
on each axis as follows.
![Image]
xx1500000786
Continues on next page
Product manual - IRB 8700
803
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
![Image]
xx1500000787
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new, if needed.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
804
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
Continued
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 800 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
7
The robot performs a measurement sequence by rotating the axis back and
forth.
Continues on next page
Product manual - IRB 8700
805
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 805
|
![Image]
xx1500000787
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new, if needed.
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
804
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.3 Installation locations for the calibration tools
Continued
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 800 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
7
The robot performs a measurement sequence by rotating the axis back and
forth.
Continues on next page
Product manual - IRB 8700
805
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robots working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
Starting the calibration procedure
Use this procedure to call for the Axis Calibration method on the FlexPendant.
Note
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
806
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 806
|
5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note
Article number
Equipment, etc.
Delivered as a set of calibration tools.
3HAC055412-001
Calibration tool box, Axis
Calibration
Required consumables
Note
Article number
Consumable
-
Clean cloth
Spare parts
Note
Article number
Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing.
3HAC056806-001
Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1
Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 800 .
2
Choose which axis/axes to calibrate.
3
The robot moves to synchronization position.
4
Validate the synchronization marks.
5
The robot moves to preparation position.
6
Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
7
The robot performs a measurement sequence by rotating the axis back and
forth.
Continues on next page
Product manual - IRB 8700
805
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robots working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
Starting the calibration procedure
Use this procedure to call for the Axis Calibration method on the FlexPendant.
Note
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
806
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Note
Action
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
Calibration method used at factory for each axis
is shown, as well as calibration method used for
the robot during last field calibration.
3
Tap Run Calibration Method . The software will
automatically call for the procedure for the valid
calibration method.
![Image]
xx1500000944
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 805 .
Follow the instructions given on the FlexPendant.
4
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Continues on next page
Product manual - IRB 8700
807
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 807
|
8
Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9
The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
Note
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robots working area is empty,
as the robot can make unpredictable movements.
1
Use a clean cloth.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
2
Starting the calibration procedure
Use this procedure to call for the Axis Calibration method on the FlexPendant.
Note
Action
On the ABB menu, tap Calibration .
![Image]
xx1500000942
1
Continues on next page
806
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Note
Action
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
Calibration method used at factory for each axis
is shown, as well as calibration method used for
the robot during last field calibration.
3
Tap Run Calibration Method . The software will
automatically call for the procedure for the valid
calibration method.
![Image]
xx1500000944
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 805 .
Follow the instructions given on the FlexPendant.
4
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Continues on next page
Product manual - IRB 8700
807
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© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Action
Situation
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure on page 806 .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 794
Axis Calibration with SafeMove option
To be able to run Axis Calibration SafeMove needs to be unsynchronized. The Axis
Calibration routine recognizes if the robot is equipped with SafeMove and will force
SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine.
Safety controller not synchronized - SafeMove message
Note
Action
SafeMove generates the message "Safety control-
ler not synchronized".
![Image]
xx1500002480
1
Confirm unsynchronized state by pressing Ac-
knowledge to continue Axis Calibration proced-
ure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
808
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 808
|
Note
Action
All mechanical units connected to the system are
shown with their calibration status.
2
Tap the mechanical unit in question.
![Image]
xx1500000943
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
Calibration method used at factory for each axis
is shown, as well as calibration method used for
the robot during last field calibration.
3
Tap Run Calibration Method . The software will
automatically call for the procedure for the valid
calibration method.
![Image]
xx1500000944
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 805 .
Follow the instructions given on the FlexPendant.
4
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action
Situation
Press and hold the three-position enabling
device and press Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Continues on next page
Product manual - IRB 8700
807
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Action
Situation
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure on page 806 .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 794
Axis Calibration with SafeMove option
To be able to run Axis Calibration SafeMove needs to be unsynchronized. The Axis
Calibration routine recognizes if the robot is equipped with SafeMove and will force
SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine.
Safety controller not synchronized - SafeMove message
Note
Action
SafeMove generates the message "Safety control-
ler not synchronized".
![Image]
xx1500002480
1
Confirm unsynchronized state by pressing Ac-
knowledge to continue Axis Calibration proced-
ure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
808
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Unsynchronized speed exceeded - SafeMove message while saving robot data
Note
Action
SafeMove generates the message "Unsynchron-
ized speed exceeded" while saving robot data.
![Image]
xx1500002481
1
Press Acknowledge to continue Axis Calibration
procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Unsynchronized time limit expired - SafeMove message anytime during Axis Calibration routine
Note
Action
SafeMove generates the message "Unsynchron-
ized time limit expired" (anytime).
![Image]
xx1500002482
1
Press OK to continue Axis Calibration procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
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809
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 809
|
Action
Situation
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure on page 806 .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 794
Axis Calibration with SafeMove option
To be able to run Axis Calibration SafeMove needs to be unsynchronized. The Axis
Calibration routine recognizes if the robot is equipped with SafeMove and will force
SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine.
Safety controller not synchronized - SafeMove message
Note
Action
SafeMove generates the message "Safety control-
ler not synchronized".
![Image]
xx1500002480
1
Confirm unsynchronized state by pressing Ac-
knowledge to continue Axis Calibration proced-
ure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
808
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Unsynchronized speed exceeded - SafeMove message while saving robot data
Note
Action
SafeMove generates the message "Unsynchron-
ized speed exceeded" while saving robot data.
![Image]
xx1500002481
1
Press Acknowledge to continue Axis Calibration
procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Unsynchronized time limit expired - SafeMove message anytime during Axis Calibration routine
Note
Action
SafeMove generates the message "Unsynchron-
ized time limit expired" (anytime).
![Image]
xx1500002482
1
Press OK to continue Axis Calibration procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
Product manual - IRB 8700
809
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
810
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 810
|
Unsynchronized speed exceeded - SafeMove message while saving robot data
Note
Action
SafeMove generates the message "Unsynchron-
ized speed exceeded" while saving robot data.
![Image]
xx1500002481
1
Press Acknowledge to continue Axis Calibration
procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Unsynchronized time limit expired - SafeMove message anytime during Axis Calibration routine
Note
Action
SafeMove generates the message "Unsynchron-
ized time limit expired" (anytime).
![Image]
xx1500002482
1
Press OK to continue Axis Calibration procedure.
2
Restart Axis Calibration procedure by pressing
Play .
3
Continues on next page
Product manual - IRB 8700
809
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
810
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
5.5 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page812 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 793 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
Remove any calibration equipment from the robot.
4
Product manual - IRB 8700
811
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.5 Verifying the calibration
|
ABB_IRB8700_Product_Manual.pdf
|
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| 811
|
After calibration
Note
Action
![Image]
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
2
Protection cover and plug set:
3HAC056806-001.
![Image]
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
3
Protection cover and plug set:
3HAC056806-001.
810
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
5.5 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page812 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 793 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
Remove any calibration equipment from the robot.
4
Product manual - IRB 8700
811
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.5 Verifying the calibration
5.6 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 793 and Updating revolution
counters on page 795 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 793 and
Updating revolution counters on page795 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
812
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.6 Checking the synchronization position
|
ABB_IRB8700_Product_Manual.pdf
|
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| 812
|
5.5 Verifying the calibration
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Verifying the calibration
Use this procedure to verify the calibration result.
Note
Action
See Checking the synchron-
ization position on page812 .
Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
1
This is detailed in section
Synchronization marks and
synchronization position for
axes on page 793 .
Adjust the synchronization marks when the calibration is
done, if necessary.
2
Write down the values on a new label and stick it on top
of the calibration label.
3
The label is located on the lower arm.
Remove any calibration equipment from the robot.
4
Product manual - IRB 8700
811
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.5 Verifying the calibration
5.6 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 793 and Updating revolution
counters on page 795 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 793 and
Updating revolution counters on page795 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
812
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.6 Checking the synchronization position
6 Decommissioning
6.1 Environmental information
Hazardous material
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly to prevent health or environmental hazards.
Example application
Material
Serial measurement board
Batteries, NiCad or Lithium
Cables, motors
Copper
Base, lower arm, upper arm
Cast iron/nodular iron
Gears, screws, base frame, and so on.
Steel
Brakes, motors
Neodymium
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gearboxes
Oil, grease
Covers, synchronization brackets
Aluminium
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 8700
813
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.1 Environmental information
|
ABB_IRB8700_Product_Manual.pdf
|
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| 813
|
5.6 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
•
Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note
Action
On ABB menu tap Program editor .
1
Create a new program.
2
Use MoveAbsJ in the Motion&Proc menu.
3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.
5
See Synchronization marks and
synchronization position for axes on
page 793 and Updating revolution
counters on page 795 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note
Action
On the ABB menu, tap Jogging .
1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 793 and
Updating revolution counters on page795 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
812
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
5 Calibration
5.6 Checking the synchronization position
6 Decommissioning
6.1 Environmental information
Hazardous material
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly to prevent health or environmental hazards.
Example application
Material
Serial measurement board
Batteries, NiCad or Lithium
Cables, motors
Copper
Base, lower arm, upper arm
Cast iron/nodular iron
Gears, screws, base frame, and so on.
Steel
Brakes, motors
Neodymium
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gearboxes
Oil, grease
Covers, synchronization brackets
Aluminium
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 8700
813
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.1 Environmental information
6.2 Scrapping of robot
Important when scrapping the robot
DANGER
When a robot is disassembled while being scrapped, it is very important to
remember the following before disassembling starts, in order to prevent injuries:
•
Always remove all batteries from the robot. If a battery is exposed to heat,
for example from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
814
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.2 Scrapping of robot
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 814
|
6 Decommissioning
6.1 Environmental information
Hazardous material
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly to prevent health or environmental hazards.
Example application
Material
Serial measurement board
Batteries, NiCad or Lithium
Cables, motors
Copper
Base, lower arm, upper arm
Cast iron/nodular iron
Gears, screws, base frame, and so on.
Steel
Brakes, motors
Neodymium
Cables, connectors, drive belts, and so on.
Plastic/rubber
Gearboxes
Oil, grease
Covers, synchronization brackets
Aluminium
Oil and grease
Where possible, arrange for oil and grease to be recycled. Dispose of via an
authorized person/contractor in accordance with local regulations. Do not dispose
of oil and grease near lakes, ponds, ditches, down drains, or onto soil. Incineration
must be carried out under controlled conditions in accordance with local regulations.
Also note that:
•
Spills can form a film on water surfaces causing damage to organisms.
Oxygen transfer could also be impaired.
•
Spillage can penetrate the soil causing ground water contamination.
Product manual - IRB 8700
813
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.1 Environmental information
6.2 Scrapping of robot
Important when scrapping the robot
DANGER
When a robot is disassembled while being scrapped, it is very important to
remember the following before disassembling starts, in order to prevent injuries:
•
Always remove all batteries from the robot. If a battery is exposed to heat,
for example from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
814
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.2 Scrapping of robot
6.3 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to disassemble it. The coil springs inside the balancing device exert a
potentially lethal force unless disassembled properly.
The device must be disassembled by a decommissioning company.
Required equipment
Note
Article num-
ber
Equipment
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
These procedures include references
to the tools required.
Other tools and procedures may be
required. See references to these
procedures in the step-by-step in-
structions below.
DANGER
Do not, under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing devices on page 555 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 8700
815
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
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| 815
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6.2 Scrapping of robot
Important when scrapping the robot
DANGER
When a robot is disassembled while being scrapped, it is very important to
remember the following before disassembling starts, in order to prevent injuries:
•
Always remove all batteries from the robot. If a battery is exposed to heat,
for example from a blow torch, it will explode.
•
Always remove all oil/grease in gearboxes. If exposed to heat, for example
from a blow torch, the oil/grease will catch fire.
•
When motors are removed from the robot, the robot will collapse if it is not
properly supported before the motor is removed.
814
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.2 Scrapping of robot
6.3 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to disassemble it. The coil springs inside the balancing device exert a
potentially lethal force unless disassembled properly.
The device must be disassembled by a decommissioning company.
Required equipment
Note
Article num-
ber
Equipment
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
These procedures include references
to the tools required.
Other tools and procedures may be
required. See references to these
procedures in the step-by-step in-
structions below.
DANGER
Do not, under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing devices on page 555 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 8700
815
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
safe distance and somewhat from above.
2
DANGER
The hole must be cut as specified in the
figure. Pieces of the spring can be thrown
out from the cylinder at high speed if the
hole is cut larger than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
Use a cutting torch with a long shaft.
5
Double-check the number of coils cut and
make sure all the tension in the springs is
removed.
6
816
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
Continued
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|
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| 816
|
6.3 Decommissioning of balancing device
General
There is much energy stored in the balancing device. Therefore a special procedure
is required to disassemble it. The coil springs inside the balancing device exert a
potentially lethal force unless disassembled properly.
The device must be disassembled by a decommissioning company.
Required equipment
Note
Article num-
ber
Equipment
Content is defined in section Standard
toolkit on page 825 .
-
Standard toolkit
Must protect against spatter of sparks
and flames.
-
Protective clothing that also covers
face and hands
For opening housing and cutting coils.
The long shaft is a safety requirement.
-
Cutting torch with a long shaft
These procedures include references
to the tools required.
Other tools and procedures may be
required. See references to these
procedures in the step-by-step in-
structions below.
DANGER
Do not, under any circumstances, deal with the balancing device in any other
way than that detailed in the product documentation! For example, attempting
to open the balancing device is potentially lethal!
Action on field, decommissioning
The procedure below details the actions to perform on field, when the balancing
device is to be decommissioned.
Note
Action
Detailed in section Replacing the balan-
cing devices on page 555 .
Remove the balancing device from the robot.
1
Make sure the decommissioning com-
pany is well informed about the stored
energy built up by high tensioned com-
pression springs and that the device
contains some grease.
Send the device to a decommissioning
company.
2
The following procedure contains useful
information about decommissioning.
Continues on next page
Product manual - IRB 8700
815
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
safe distance and somewhat from above.
2
DANGER
The hole must be cut as specified in the
figure. Pieces of the spring can be thrown
out from the cylinder at high speed if the
hole is cut larger than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
Use a cutting torch with a long shaft.
5
Double-check the number of coils cut and
make sure all the tension in the springs is
removed.
6
816
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
Continued
7 Reference information
7.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 8700
817
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.1 Introduction
|
ABB_IRB8700_Product_Manual.pdf
|
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| 817
|
Decommissioning at decommissioning company, balancing device
The instruction below details how to decommission the balancing device. Contact
ABB Robotics for further consultation.
Note
Action
DANGER
There is stored energy built up by high
tensioned compression springs inside the
balancing device! When a coil is cut the
released tension creates a spatter of
sparks and flames.
The working area must be free of flam-
mable materials. Position the balancing
device so that the spatter will be directed
away from personnel.
1
Clamp the device at the working location.
Place the device at ground level so that
the hole and spring coils are cut from a
safe distance and somewhat from above.
2
DANGER
The hole must be cut as specified in the
figure. Pieces of the spring can be thrown
out from the cylinder at high speed if the
hole is cut larger than specified!
3
Use a cutting torch with a long shaft.
Cut a hole in the housing as shown in the
figure.
4
Use a cutting torch with a long shaft.
5
Double-check the number of coils cut and
make sure all the tension in the springs is
removed.
6
816
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
6 Decommissioning
6.3 Decommissioning of balancing device
Continued
7 Reference information
7.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 8700
817
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.1 Introduction
7.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850
Robots for industrial environments - Safety requirements -Part
1 Robot
EN ISO 10218-1
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
EN ISO 9787
Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 9283
Classification of air cleanliness
EN ISO 14644-1 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1
EMC, Generic emission
EN IEC 61000-6-4
(option 129-1)
EMC, Generic immunity
EN IEC 61000-6-2
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1
Degrees of protection provided by enclosures (IP code)
IEC 60529
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574
Continues on next page
818
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
|
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|
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| 818
|
7 Reference information
7.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
Product manual - IRB 8700
817
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.1 Introduction
7.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850
Robots for industrial environments - Safety requirements -Part
1 Robot
EN ISO 10218-1
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
EN ISO 9787
Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 9283
Classification of air cleanliness
EN ISO 14644-1 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1
EMC, Generic emission
EN IEC 61000-6-4
(option 129-1)
EMC, Generic immunity
EN IEC 61000-6-2
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1
Degrees of protection provided by enclosures (IP code)
IEC 60529
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574
Continues on next page
818
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
Other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product manual - IRB 8700
819
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 819
|
7.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850
Robots for industrial environments - Safety requirements -Part
1 Robot
EN ISO 10218-1
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
EN ISO 9787
Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 9283
Classification of air cleanliness
EN ISO 14644-1 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1
EMC, Generic emission
EN IEC 61000-6-4
(option 129-1)
EMC, Generic immunity
EN IEC 61000-6-2
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1
Degrees of protection provided by enclosures (IP code)
IEC 60529
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574
Continues on next page
818
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
Other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product manual - IRB 8700
819
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
Continued
7.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
820
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.3 Unit conversion
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 820
|
Other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product manual - IRB 8700
819
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.2 Applicable standards
Continued
7.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
820
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.3 Unit conversion
7.4 Screw joints
General
This section describes how to tighten the various types of screw joints on the IRB
8700.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. Screws treated with Gleitmo may be reused 3-4 times before the coating
disappears. After this the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Screws lubricated in other ways
Screws lubricated with Molycote 1000 should only be used when specified in the
repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Article number
Lubricant
11712016-618
Molycote 1000 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
Continues on next page
Product manual - IRB 8700
821
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.4 Screw joints
|
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|
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| 821
|
7.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Units
Quantity
39.37 in
3.28 ft.
1 m
Length
2.21 lb.
1 kg
Weight
0.035 ounces
1 g
Weight
14.5 psi
100 kPa
1 bar
Pressure
0.225 lbf
1 N
Force
0.738 lbf-ft
1 Nm
Moment
0.264 US gal
1 L
Volume
820
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.3 Unit conversion
7.4 Screw joints
General
This section describes how to tighten the various types of screw joints on the IRB
8700.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. Screws treated with Gleitmo may be reused 3-4 times before the coating
disappears. After this the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Screws lubricated in other ways
Screws lubricated with Molycote 1000 should only be used when specified in the
repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Article number
Lubricant
11712016-618
Molycote 1000 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
Continues on next page
Product manual - IRB 8700
821
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.4 Screw joints
•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws. Any special torque
specified in the repair, maintenance or installation procedure overrides the standard
torque!
Oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws. Any special torque specified in the
repair, maintenance or installation procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
1150
960
680
M24
Lubricated screws (Molycote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws. Any special torque specified in the repair, maintenance or installation
procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
35
28
M8
70
55
M10
120
96
M12
280
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Continues on next page
822
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.4 Screw joints
Continued
|
ABB_IRB8700_Product_Manual.pdf
|
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| 822
|
7.4 Screw joints
General
This section describes how to tighten the various types of screw joints on the IRB
8700.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the
screw joint. Screws treated with Gleitmo may be reused 3-4 times before the coating
disappears. After this the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber
type should be used.
Screws lubricated in other ways
Screws lubricated with Molycote 1000 should only be used when specified in the
repair, maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1
Apply lubricant to the screw thread.
2
Apply lubricant between the plain washer and screw head.
3
Screw dimensions of M8 or larger must be tightened with a torque wrench.
Screw dimensions of M6 or smaller may be tightened without a torque wrench
if this is done by trained and qualified personnel.
Article number
Lubricant
11712016-618
Molycote 1000 (molybdenum disulphide grease)
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
Continues on next page
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7 Reference information
7.4 Screw joints
•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws. Any special torque
specified in the repair, maintenance or installation procedure overrides the standard
torque!
Oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws. Any special torque specified in the
repair, maintenance or installation procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
1150
960
680
M24
Lubricated screws (Molycote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws. Any special torque specified in the repair, maintenance or installation
procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
35
28
M8
70
55
M10
120
96
M12
280
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Continues on next page
822
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7 Reference information
7.4 Screw joints
Continued
Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass . Any
special torque specified in the repair, maintenance or installation procedure
overrides the standard torque!
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
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7 Reference information
7.4 Screw joints
Continued
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| 823
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•
Always tighten the joint by hand, and never use pneumatic tools.
•
Use the correct tightening technique , that is do not jerk. Tighten the screw
in a slow, flowing motion.
•
Maximum allowed total deviation from the specified value is 10% !
Oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws. Any special torque
specified in the repair, maintenance or installation procedure overrides the standard
torque!
Oil-lubricated screws with allen head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with allen head screws. Any special torque specified in the
repair, maintenance or installation procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, oil-lubric-
ated
Tightening torque (Nm)
Class 10.9, oil-lubric-
ated
Tightening torque (Nm)
Class 8.8, oil-lubricated
Dimension
-
-
6
M5
-
-
10
M6
40
34
24
M8
80
67
47
M10
140
115
82
M12
340
290
200
M16
670
560
400
M20
1150
960
680
M24
Lubricated screws (Molycote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws. Any special torque specified in the repair, maintenance or installation
procedure overrides the standard torque!
Tightening torque (Nm)
Class 12.9, lubricated i
Tightening torque (Nm)
Class 10.9, lubricated i
Dimension
35
28
M8
70
55
M10
120
96
M12
280
235
M16
550
460
M20
950
790
M24
i
Lubricated with Molycote 1000, Gleitmo 603 or equivalent
Continues on next page
822
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3HAC052853-001 Revision: D
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7 Reference information
7.4 Screw joints
Continued
Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass . Any
special torque specified in the repair, maintenance or installation procedure
overrides the standard torque!
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
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823
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7 Reference information
7.4 Screw joints
Continued
7.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The robot weighs 4,750 kg.
All lifting accessories used must be sized accord-
ingly!
824
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7 Reference information
7.5 Weight specifications
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| 824
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Water and air connectors
The following table specifies the recommended standard tightening torque for
water and air connectors when one or both connectors are made of brass . Any
special torque specified in the repair, maintenance or installation procedure
overrides the standard torque!
Tightening torque Nm -
Max.
Tightening torque Nm -
Min.
Tightening torque Nm -
Nominal
Dimension
15
8
12
1/8
20
10
15
1/4
25
15
20
3/8
50
30
40
1/2
90
55
70
3/4
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823
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© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.4 Screw joints
Continued
7.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The robot weighs 4,750 kg.
All lifting accessories used must be sized accord-
ingly!
824
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7 Reference information
7.5 Weight specifications
7.6 Standard toolkit
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Comment
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 2.5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hexagon-headed screw M16x90
1
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Plastic mallet
1
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7 Reference information
7.6 Standard toolkit
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ABB_IRB8700_Product_Manual.pdf
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| 825
|
7.5 Weight specifications
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory when handling
components with a weight exceeding 22 kg. A wide range of lifting accessories
and devices are available for each manipulator model.
Example
Following is an example of a weight specification in a procedure:
Note
Action
CAUTION
The robot weighs 4,750 kg.
All lifting accessories used must be sized accord-
ingly!
824
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3HAC052853-001 Revision: D
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7 Reference information
7.5 Weight specifications
7.6 Standard toolkit
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Comment
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 2.5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hexagon-headed screw M16x90
1
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Plastic mallet
1
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7 Reference information
7.6 Standard toolkit
7.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard toolkit on page 825 , and of special tools, listed directly in the instructions
and also gathered in this section.
Special tools
Note
The list of special tools in this revision is not updated. A complete and updated
list will be presented in the next revision.
Continues on next page
826
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7 Reference information
7.7 Special tools
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| 826
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7.6 Standard toolkit
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Contents, standard toolkit
Comment
Tool
Qty
Ring-open-end spanner 8-19 mm
1
Socket head cap 2.5-17 mm
1
Torx socket no: 20-60
1
Box spanner set
1
Torque wrench 10-100 Nm
1
Torque wrench 75-400 Nm
1
Ratchet head for torque wrench 1/2
1
Hexagon-headed screw M10x100
2
Hexagon-headed screw M16x90
1
Hex bit socket head cap no. 14 socket 40 mm L=100 mm
1
To be shortened to 12 mm
Hex bit socket head cap no. 14 socket 40 mm L=20 mm
1
Hex bit socket head cap no. 6 socket 40 mm L=145 mm
1
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm
1
Plastic mallet
1
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825
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.6 Standard toolkit
7.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard toolkit on page 825 , and of special tools, listed directly in the instructions
and also gathered in this section.
Special tools
Note
The list of special tools in this revision is not updated. A complete and updated
list will be presented in the next revision.
Continues on next page
826
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7 Reference information
7.7 Special tools
Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
Guide pins
2
2
Guide pin, M10x150
3HAC15521-2
x
x
2
2
2
2
x
x
Guide pin, M12x150
3HAC13056-2
x
x
x
x
x
Guide pin, M12x200
3HAC13056-3
x
x
x
Guide pin, M16x150
3HAC13120-2
x
x
x
Guide pin, M16x200
3HAC13120-3
Lifting accessories
x
x
x
x
x
x
![Image]
xx1200001241
Lifting accessory (chain)
3HAC15556-1
x
x
Lifting accessory, motor
3HAC14459-1
x
x
x
Lifting accessory, motor
3HAC15534-1
x
Lifting accessory, gearbox
3HAC054404-001
x
Lifting accessory, gearbox
3HAC046128-001
2
2
2
2
2
![Image]
xx1200001242
Lifting eye
M12
3HAC16131-1
x
2
![Image]
xx1200001242
Lifting eye
M16
3HAC14457-4
x
x
x
x
x
![Image]
xx1200001243
Lifting shackle
SA-10-8-NA1
-
x
x
x
x
x
Fender washer
-
Outer diameter: minimum 26 mm,
hole diameter: 13 mm, thickness:
3 mm.
Continues on next page
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827
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7 Reference information
7.7 Special tools
|
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| 827
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7.7 Special tools
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard toolkit on page 825 , and of special tools, listed directly in the instructions
and also gathered in this section.
Special tools
Note
The list of special tools in this revision is not updated. A complete and updated
list will be presented in the next revision.
Continues on next page
826
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7 Reference information
7.7 Special tools
Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
Guide pins
2
2
Guide pin, M10x150
3HAC15521-2
x
x
2
2
2
2
x
x
Guide pin, M12x150
3HAC13056-2
x
x
x
x
x
Guide pin, M12x200
3HAC13056-3
x
x
x
Guide pin, M16x150
3HAC13120-2
x
x
x
Guide pin, M16x200
3HAC13120-3
Lifting accessories
x
x
x
x
x
x
![Image]
xx1200001241
Lifting accessory (chain)
3HAC15556-1
x
x
Lifting accessory, motor
3HAC14459-1
x
x
x
Lifting accessory, motor
3HAC15534-1
x
Lifting accessory, gearbox
3HAC054404-001
x
Lifting accessory, gearbox
3HAC046128-001
2
2
2
2
2
![Image]
xx1200001242
Lifting eye
M12
3HAC16131-1
x
2
![Image]
xx1200001242
Lifting eye
M16
3HAC14457-4
x
x
x
x
x
![Image]
xx1200001243
Lifting shackle
SA-10-8-NA1
-
x
x
x
x
x
Fender washer
-
Outer diameter: minimum 26 mm,
hole diameter: 13 mm, thickness:
3 mm.
Continues on next page
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827
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7 Reference information
7.7 Special tools
Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
x
x
x
Roundsling 1.5 m
-
Lifting capacity: 2,000 kg
x
x
x
x
x
x
x
x
x
x
Roundsling 1 m
-
Lifting capacity: 1,000 kg
Press, puller and unloading tools
x
x
x
x
Hydraulic cylinder
3HAC11731-1
x
x
x
x
Hydraulic pump 80 MPa
3HAC13086-1
x
x
x
x
Threaded bar, M16x340
3HAC9909-15
Removal tools
Removal tool M10
-
x
x
Removal tool M12
3HAC14631-1
x
x
x
x
x
Removal tool M14
3HAC047108-001
Other tools
x
x
x
x
x
x
x
x
x
x
x
x
x
24 VDC power supply
-
x
x
x
Long Allen Key Socket IN19L
6-140
-
x
x
x
x
x
Bits extender
3HAC12342-1
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Calibration Pendulum toolkit
3HAC15716-1
x
x
x
x
x
x
x
x
x
x
Leak-down tester
3HAC0207-1
x
x
x
x
Lock screw, M20x150
-
x
x
x
x
x
x
Oil collecting vessel
-
x
x
x
x
x
x
Oil dispenser
-
x
x
x
x
x
Pallet
x
x
x
x
x
x
x
x
x
x
x
x
Rotation tool
3HAC7887-1
Continues on next page
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7 Reference information
7.7 Special tools
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| 828
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Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
Guide pins
2
2
Guide pin, M10x150
3HAC15521-2
x
x
2
2
2
2
x
x
Guide pin, M12x150
3HAC13056-2
x
x
x
x
x
Guide pin, M12x200
3HAC13056-3
x
x
x
Guide pin, M16x150
3HAC13120-2
x
x
x
Guide pin, M16x200
3HAC13120-3
Lifting accessories
x
x
x
x
x
x
![Image]
xx1200001241
Lifting accessory (chain)
3HAC15556-1
x
x
Lifting accessory, motor
3HAC14459-1
x
x
x
Lifting accessory, motor
3HAC15534-1
x
Lifting accessory, gearbox
3HAC054404-001
x
Lifting accessory, gearbox
3HAC046128-001
2
2
2
2
2
![Image]
xx1200001242
Lifting eye
M12
3HAC16131-1
x
2
![Image]
xx1200001242
Lifting eye
M16
3HAC14457-4
x
x
x
x
x
![Image]
xx1200001243
Lifting shackle
SA-10-8-NA1
-
x
x
x
x
x
Fender washer
-
Outer diameter: minimum 26 mm,
hole diameter: 13 mm, thickness:
3 mm.
Continues on next page
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827
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7 Reference information
7.7 Special tools
Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
x
x
x
Roundsling 1.5 m
-
Lifting capacity: 2,000 kg
x
x
x
x
x
x
x
x
x
x
Roundsling 1 m
-
Lifting capacity: 1,000 kg
Press, puller and unloading tools
x
x
x
x
Hydraulic cylinder
3HAC11731-1
x
x
x
x
Hydraulic pump 80 MPa
3HAC13086-1
x
x
x
x
Threaded bar, M16x340
3HAC9909-15
Removal tools
Removal tool M10
-
x
x
Removal tool M12
3HAC14631-1
x
x
x
x
x
Removal tool M14
3HAC047108-001
Other tools
x
x
x
x
x
x
x
x
x
x
x
x
x
24 VDC power supply
-
x
x
x
Long Allen Key Socket IN19L
6-140
-
x
x
x
x
x
Bits extender
3HAC12342-1
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Calibration Pendulum toolkit
3HAC15716-1
x
x
x
x
x
x
x
x
x
x
Leak-down tester
3HAC0207-1
x
x
x
x
Lock screw, M20x150
-
x
x
x
x
x
x
Oil collecting vessel
-
x
x
x
x
x
x
Oil dispenser
-
x
x
x
x
x
Pallet
x
x
x
x
x
x
x
x
x
x
x
x
Rotation tool
3HAC7887-1
Continues on next page
828
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© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.7 Special tools
7.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
This implies that the instructions delivered with the lifting accessories should be
stored for later reference.
Product manual - IRB 8700
829
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.8 Lifting accessories and lifting instructions
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Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
x
x
x
Roundsling 1.5 m
-
Lifting capacity: 2,000 kg
x
x
x
x
x
x
x
x
x
x
Roundsling 1 m
-
Lifting capacity: 1,000 kg
Press, puller and unloading tools
x
x
x
x
Hydraulic cylinder
3HAC11731-1
x
x
x
x
Hydraulic pump 80 MPa
3HAC13086-1
x
x
x
x
Threaded bar, M16x340
3HAC9909-15
Removal tools
Removal tool M10
-
x
x
Removal tool M12
3HAC14631-1
x
x
x
x
x
Removal tool M14
3HAC047108-001
Other tools
x
x
x
x
x
x
x
x
x
x
x
x
x
24 VDC power supply
-
x
x
x
Long Allen Key Socket IN19L
6-140
-
x
x
x
x
x
Bits extender
3HAC12342-1
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Calibration Pendulum toolkit
3HAC15716-1
x
x
x
x
x
x
x
x
x
x
Leak-down tester
3HAC0207-1
x
x
x
x
Lock screw, M20x150
-
x
x
x
x
x
x
Oil collecting vessel
-
x
x
x
x
x
x
Oil dispenser
-
x
x
x
x
x
Pallet
x
x
x
x
x
x
x
x
x
x
x
x
Rotation tool
3HAC7887-1
Continues on next page
828
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.7 Special tools
7.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
This implies that the instructions delivered with the lifting accessories should be
stored for later reference.
Product manual - IRB 8700
829
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.8 Lifting accessories and lifting instructions
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| 830
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7.8 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
This implies that the instructions delivered with the lifting accessories should be
stored for later reference.
Product manual - IRB 8700
829
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
7 Reference information
7.8 Lifting accessories and lifting instructions
This page is intentionally left blank
8 Spare parts
8.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document on the documentation DVD.
Product manual - IRB 8700
831
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
8 Spare parts
8.1 Spare part lists and illustrations
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8 Spare parts
8.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document on the documentation DVD.
Product manual - IRB 8700
831
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
8 Spare parts
8.1 Spare part lists and illustrations
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ABB_IRB8700_Product_Manual.pdf
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| 832
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8 Spare parts
8.1 Spare part lists and illustrations
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document on the documentation DVD.
Product manual - IRB 8700
831
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
8 Spare parts
8.1 Spare part lists and illustrations
This page is intentionally left blank
9 Circuit diagrams
9.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but delivered as separate
documents on the documentation DVD. See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC049406-003
Circuit diagram - IRC5 Compact
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-004
Circuit diagram - Euromap
3HAC057185-001
Circuit diagram - Spot welding cabinet
Robots
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC8935-1
Circuit diagram - IRB 6400RF
3HAC13347-1
Circuit diagram - IRB 6600 type A
3HAC025744-001
3HAC13347-1
Circuit diagram - IRB 6600 type B
3HAC025744-001
3HAC025090-001
Circuit diagram - IRB 6620
Continues on next page
Product manual - IRB 8700
833
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© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
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This page is intentionally left blank
9 Circuit diagrams
9.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but delivered as separate
documents on the documentation DVD. See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC049406-003
Circuit diagram - IRC5 Compact
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-004
Circuit diagram - Euromap
3HAC057185-001
Circuit diagram - Spot welding cabinet
Robots
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC8935-1
Circuit diagram - IRB 6400RF
3HAC13347-1
Circuit diagram - IRB 6600 type A
3HAC025744-001
3HAC13347-1
Circuit diagram - IRB 6600 type B
3HAC025744-001
3HAC025090-001
Circuit diagram - IRB 6620
Continues on next page
Product manual - IRB 8700
833
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
Article numbers for circuit diagrams
Product
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
834
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
Continued
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| 834
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9 Circuit diagrams
9.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but delivered as separate
documents on the documentation DVD. See the article numbers in the tables below.
Controllers
Article numbers for circuit diagrams
Product
3HAC024480-011
Circuit diagram - IRC5
3HAC049406-003
Circuit diagram - IRC5 Compact
3HAC026871-020
Circuit diagram - IRC5 Panel Mounted Con-
troller
3HAC024120-004
Circuit diagram - Euromap
3HAC057185-001
Circuit diagram - Spot welding cabinet
Robots
Article numbers for circuit diagrams
Product
3HAC031408-003
Circuit diagram - IRB 120
3HAC6816-3
Circuit diagram - IRB 140 type C
3HAC025611-001
Circuit diagram - IRB 260
3HAC028647-009
Circuit diagram - IRB 360
3HAC036446-005
Circuit diagram - IRB 460
3HAC025691-001
Circuit diagram - IRB 660
3HAC025691-001
Circuit diagram - IRB 760
3HAC046307-003
Circuit diagram - IRB 1200
3HAC2800-3
Circuit diagram - IRB 1410
3HAC021351-003
Circuit diagram - IRB 1600/1660
3HAC039498-007
Circuit diagram - IRB 1520
3HAC6670-3
Circuit diagram - IRB 2400
3HAC029570-007
Circuit diagram - IRB 2600
3HAC9821-1
Circuit diagram - IRB 4400/4450S
3HAC029038-003
Circuit diagram - IRB 4600
3HAC8935-1
Circuit diagram - IRB 6400RF
3HAC13347-1
Circuit diagram - IRB 6600 type A
3HAC025744-001
3HAC13347-1
Circuit diagram - IRB 6600 type B
3HAC025744-001
3HAC025090-001
Circuit diagram - IRB 6620
Continues on next page
Product manual - IRB 8700
833
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
Article numbers for circuit diagrams
Product
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
834
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3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
Continued
Index
A
Absolute Accuracy, calibration, 791
additional mechanical stop location, 139
aluminum
disposal, 813
ambient humidity
operation, 58
storage, 58
ambient temperature
operation, 58
storage, 58
assembly instructions, 55
axis-6 gearbox
replacing, 780
axis-6 motor
replacing, 617
axis-5 motor
replacing, 603
axis-4 motor
replacing, 592
axis-2 and axis-3 motors
replacing, 578
axis-1 gearbox
replacing, 637
axis-1 motor
replacing, 567
Axis Calibration, 799
calibration tool
article number, 801, 805
examining, 801
installation position, 803
overview of method, 799
procedure on FlexPendant, 805
protective cover and protection plug, 803, 805
B
balancing device
replacing, 549
risk, 22
balancing devices
replacing, 555
base plate
guide pins, 77
securing, 77
batteries
disposal, 813
handling, 51
brake release, 85
brakes
testing function, 32
buttons for brake release, 85
C
cabinet lock, 20
cabling between robot and controller, 102
calibrating
robot, 799
roughly, 795
calibrating robot, 799
calibration
Absolute Accuracy type, 790
rough, 795
standard type, 790
verification, 811
when to calibrate, 792
calibration, Absolute Accuracy, 791
calibration manuals, 791
calibration marks, 793
calibration position
jogging to, 812
scales, 793
calibration scales, 793
CalibWare, 790
carbon dioxide extinguisher, 30
cast iron
disposal, 813
cleaning, 185
climbing on robot, 21
connecting the robot and controller, cabling, 102
connection
external safety devices, 17
copper
disposal, 813
counter weight
replacing, 520
D
damage to additional mechanical stop, 139
damage to mechanical stop, 137
danger levels, 37
direction of axes, 794
E
enabling device, 34
environmental information, 813
ESD
damage elimination, 49
sensitive equipment, 49
wrist strap connection point, 49
expected life, 109
F
fence dimensions, 29
fire extinguishing, 30
FlexPendant
jogging to calibration position, 812
MoveAbsJ instruction, 812
updating revolution counters, 796
foundation
requirements, 58
securing robot, 88
G
gearboxes
location of, 145
grease
disposal, 813
guide pins, base plate, 77
H
hanging
installed hanging, 21
hazardous material, 813
height
installed at a height, 21
hold-to-run, 34
hot components
risk, 21
hub
replacing, 631
humidity
Product manual - IRB 8700
835
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
|
ABB_IRB8700_Product_Manual.pdf
|
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| 835
|
Article numbers for circuit diagrams
Product
3HAC025090-001
Circuit diagram - IRB 6620 / IRB 6620LX
3HAC025744-001
Circuit diagram - IRB 6640
3HAC13347-1
Circuit diagram - IRB 6650S
3HAC025744-001
3HAC025744-001
Circuit diagram - IRB 6660
3HAC029940-001
3HAC043446-005
Circuit diagram - IRB 6700
3HAC13347-1
Circuit diagram - IRB 7600
3HAC025744-001
3HAC050778-003
Circuit diagram - IRB 14000
3HAC056159-002
Circuit diagram - IRB 910SC
834
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
9 Circuit diagrams
9.1 Circuit diagrams
Continued
Index
A
Absolute Accuracy, calibration, 791
additional mechanical stop location, 139
aluminum
disposal, 813
ambient humidity
operation, 58
storage, 58
ambient temperature
operation, 58
storage, 58
assembly instructions, 55
axis-6 gearbox
replacing, 780
axis-6 motor
replacing, 617
axis-5 motor
replacing, 603
axis-4 motor
replacing, 592
axis-2 and axis-3 motors
replacing, 578
axis-1 gearbox
replacing, 637
axis-1 motor
replacing, 567
Axis Calibration, 799
calibration tool
article number, 801, 805
examining, 801
installation position, 803
overview of method, 799
procedure on FlexPendant, 805
protective cover and protection plug, 803, 805
B
balancing device
replacing, 549
risk, 22
balancing devices
replacing, 555
base plate
guide pins, 77
securing, 77
batteries
disposal, 813
handling, 51
brake release, 85
brakes
testing function, 32
buttons for brake release, 85
C
cabinet lock, 20
cabling between robot and controller, 102
calibrating
robot, 799
roughly, 795
calibrating robot, 799
calibration
Absolute Accuracy type, 790
rough, 795
standard type, 790
verification, 811
when to calibrate, 792
calibration, Absolute Accuracy, 791
calibration manuals, 791
calibration marks, 793
calibration position
jogging to, 812
scales, 793
calibration scales, 793
CalibWare, 790
carbon dioxide extinguisher, 30
cast iron
disposal, 813
cleaning, 185
climbing on robot, 21
connecting the robot and controller, cabling, 102
connection
external safety devices, 17
copper
disposal, 813
counter weight
replacing, 520
D
damage to additional mechanical stop, 139
damage to mechanical stop, 137
danger levels, 37
direction of axes, 794
E
enabling device, 34
environmental information, 813
ESD
damage elimination, 49
sensitive equipment, 49
wrist strap connection point, 49
expected life, 109
F
fence dimensions, 29
fire extinguishing, 30
FlexPendant
jogging to calibration position, 812
MoveAbsJ instruction, 812
updating revolution counters, 796
foundation
requirements, 58
securing robot, 88
G
gearboxes
location of, 145
grease
disposal, 813
guide pins, base plate, 77
H
hanging
installed hanging, 21
hazardous material, 813
height
installed at a height, 21
hold-to-run, 34
hot components
risk, 21
hub
replacing, 631
humidity
Product manual - IRB 8700
835
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
operation, 58
storage, 58
I
information labels location, 133
inspecting
additional mechanical stop, 139
information labels, 133
mechanical stop, 137
installation
mechanical stop axis 1, 99
instructions for assembly, 55
intervals for maintenance, 107
L
labels
robot, 39
leak-down test, 190
lifting
complete arm system, 195
upper arm, 196
wrist, 200
lifting accessory, 824
Lithium
disposal, 813
loads on foundation, 57
lubrication
amount in gearboxes, 145
type of lubrication, 145
M
main power
switching off, 48
main switch
controller cabinet, 48
control module, 48
drive module, 48
maintenance intervals, 107
maintenance schedule, 107
manually releasing brakes, 85
mechanical stop
axis 1, 99
mechanical stop location, 137
mechanichal stop pin
replacing, 526
MoveAbsJ instruction, 812
N
negative directions, axes, 794
neodymium
disposal, 813
NiCad
disposal, 813
nodular iron
disposal, 813
O
oil
amount in gearboxes, 145
disposal, 813
type of oil, 145
oil change
safety risks, 52
operating conditions, 58
P
parallel rod
replacing, 532
pedestal
installed on pedestal, 21
plastic
disposal, 813
positive directions, axes, 794
product standards, 818
protection classes, 59
protection type, 59
protective equipment, 20
protective wear, 20
R
refitting
cable harness, 219
removing
cable harness, 203
replacing
axis-6 gearbox, 780
axis-6 motor, 617
axis-6 unit, 327
axis-5 motor, 603
axis-4 motor, 592
axis-2 and axis-3 motors, 578
axis-1 gearbox, 637
axis-1 motor, 567
balancing device, 549
balancing devices, 555
brake release unit, 246
counter weight, 520
hub, 631
lower arm, 353
mechanichal stop pin, 526
parallel rod, 532
SMB, 240
turning disc, 346, 350
upper arm, 251
wrist, 309
xx, 432
requirements on foundation, 58
responsibility and validity, 17
restricting
working range axis 1, 99
revolution counters
storing on FlexPendant, 796
updating, 795
risk of tipping, 63
robot
labels, 39
protection class, 59
protection types, 59
securing to foundation, 88
symbols, 39
rubber
disposal, 813
S
safety
brake testing, 32
ESD, 49
fence dimensions, 29
fire extinguishing, 30
introduction, 15
moving robots, 45
reduced speed function, 33
release robot arm, 31
robot, 17
836
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
|
ABB_IRB8700_Product_Manual.pdf
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| 836
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Index
A
Absolute Accuracy, calibration, 791
additional mechanical stop location, 139
aluminum
disposal, 813
ambient humidity
operation, 58
storage, 58
ambient temperature
operation, 58
storage, 58
assembly instructions, 55
axis-6 gearbox
replacing, 780
axis-6 motor
replacing, 617
axis-5 motor
replacing, 603
axis-4 motor
replacing, 592
axis-2 and axis-3 motors
replacing, 578
axis-1 gearbox
replacing, 637
axis-1 motor
replacing, 567
Axis Calibration, 799
calibration tool
article number, 801, 805
examining, 801
installation position, 803
overview of method, 799
procedure on FlexPendant, 805
protective cover and protection plug, 803, 805
B
balancing device
replacing, 549
risk, 22
balancing devices
replacing, 555
base plate
guide pins, 77
securing, 77
batteries
disposal, 813
handling, 51
brake release, 85
brakes
testing function, 32
buttons for brake release, 85
C
cabinet lock, 20
cabling between robot and controller, 102
calibrating
robot, 799
roughly, 795
calibrating robot, 799
calibration
Absolute Accuracy type, 790
rough, 795
standard type, 790
verification, 811
when to calibrate, 792
calibration, Absolute Accuracy, 791
calibration manuals, 791
calibration marks, 793
calibration position
jogging to, 812
scales, 793
calibration scales, 793
CalibWare, 790
carbon dioxide extinguisher, 30
cast iron
disposal, 813
cleaning, 185
climbing on robot, 21
connecting the robot and controller, cabling, 102
connection
external safety devices, 17
copper
disposal, 813
counter weight
replacing, 520
D
damage to additional mechanical stop, 139
damage to mechanical stop, 137
danger levels, 37
direction of axes, 794
E
enabling device, 34
environmental information, 813
ESD
damage elimination, 49
sensitive equipment, 49
wrist strap connection point, 49
expected life, 109
F
fence dimensions, 29
fire extinguishing, 30
FlexPendant
jogging to calibration position, 812
MoveAbsJ instruction, 812
updating revolution counters, 796
foundation
requirements, 58
securing robot, 88
G
gearboxes
location of, 145
grease
disposal, 813
guide pins, base plate, 77
H
hanging
installed hanging, 21
hazardous material, 813
height
installed at a height, 21
hold-to-run, 34
hot components
risk, 21
hub
replacing, 631
humidity
Product manual - IRB 8700
835
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
operation, 58
storage, 58
I
information labels location, 133
inspecting
additional mechanical stop, 139
information labels, 133
mechanical stop, 137
installation
mechanical stop axis 1, 99
instructions for assembly, 55
intervals for maintenance, 107
L
labels
robot, 39
leak-down test, 190
lifting
complete arm system, 195
upper arm, 196
wrist, 200
lifting accessory, 824
Lithium
disposal, 813
loads on foundation, 57
lubrication
amount in gearboxes, 145
type of lubrication, 145
M
main power
switching off, 48
main switch
controller cabinet, 48
control module, 48
drive module, 48
maintenance intervals, 107
maintenance schedule, 107
manually releasing brakes, 85
mechanical stop
axis 1, 99
mechanical stop location, 137
mechanichal stop pin
replacing, 526
MoveAbsJ instruction, 812
N
negative directions, axes, 794
neodymium
disposal, 813
NiCad
disposal, 813
nodular iron
disposal, 813
O
oil
amount in gearboxes, 145
disposal, 813
type of oil, 145
oil change
safety risks, 52
operating conditions, 58
P
parallel rod
replacing, 532
pedestal
installed on pedestal, 21
plastic
disposal, 813
positive directions, axes, 794
product standards, 818
protection classes, 59
protection type, 59
protective equipment, 20
protective wear, 20
R
refitting
cable harness, 219
removing
cable harness, 203
replacing
axis-6 gearbox, 780
axis-6 motor, 617
axis-6 unit, 327
axis-5 motor, 603
axis-4 motor, 592
axis-2 and axis-3 motors, 578
axis-1 gearbox, 637
axis-1 motor, 567
balancing device, 549
balancing devices, 555
brake release unit, 246
counter weight, 520
hub, 631
lower arm, 353
mechanichal stop pin, 526
parallel rod, 532
SMB, 240
turning disc, 346, 350
upper arm, 251
wrist, 309
xx, 432
requirements on foundation, 58
responsibility and validity, 17
restricting
working range axis 1, 99
revolution counters
storing on FlexPendant, 796
updating, 795
risk of tipping, 63
robot
labels, 39
protection class, 59
protection types, 59
securing to foundation, 88
symbols, 39
rubber
disposal, 813
S
safety
brake testing, 32
ESD, 49
fence dimensions, 29
fire extinguishing, 30
introduction, 15
moving robots, 45
reduced speed function, 33
release robot arm, 31
robot, 17
836
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
service, 17
signal lamp, 36
signals, 37
signals in manual, 37
symbols, 37
symbols on robot, 39
test run, 46
working range, 35
wrist strap, 49
safety equipment
mechanical stop, 99
signal lamp, 143
safety risk
electric parts, 27
hot parts, 23
hydraulic system, 25
installation, 20
oil change, 52
operational disturbance, 26
pneumatic system, 25
service work, 20
tools, 24
voltage, 27
work pieces, 24
safety signals
in manual, 37
safety standards, 818
safety zones, 21
scales on robot, 793
schedule of maintenance, 107
securing
base plate, 77
securing the robot to foundation, attachment screws, 89
signal lamp, 36
signals
safety, 37
stability, 63
standards, 818
ANSI, 819
CAN, 819
EN, 818
EN IEC, 818
EN ISO, 818
steel
disposal, 813
storage conditions, 58
symbols
safety, 37
synchronization position, 795
sync marks, 793
T
temperatures
operation, 58
storage, 58
testing
brakes, 32
three-position enabling device, 34
torques on foundation, 57
U
updating revolution counters, 795
V
validity and responsibility, 17
verifying calibration, 811
W
weight, 57
axis-1 motor, 573, 652, 657–658, 665
base plate, 76, 80
robot, 71, 82, 197, 201, 257, 260, 272, 275–276, 280–
281, 303, 316, 319, 356, 361, 366, 377, 380, 382,
385, 387, 389, 392, 394, 398–399, 418, 424, 429,
435, 440, 445, 457, 460, 462, 465, 467, 469, 472,
474, 476, 482, 486, 490–491, 512, 517, 521, 524,
527, 530, 538, 542, 559, 561, 640, 642, 645, 667,
673, 824
working range
restricting axis 1, 99
X
xx
replacing, 432
Z
zero position
checking, 812
Product manual - IRB 8700
837
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
|
ABB_IRB8700_Product_Manual.pdf
|
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| 837
|
operation, 58
storage, 58
I
information labels location, 133
inspecting
additional mechanical stop, 139
information labels, 133
mechanical stop, 137
installation
mechanical stop axis 1, 99
instructions for assembly, 55
intervals for maintenance, 107
L
labels
robot, 39
leak-down test, 190
lifting
complete arm system, 195
upper arm, 196
wrist, 200
lifting accessory, 824
Lithium
disposal, 813
loads on foundation, 57
lubrication
amount in gearboxes, 145
type of lubrication, 145
M
main power
switching off, 48
main switch
controller cabinet, 48
control module, 48
drive module, 48
maintenance intervals, 107
maintenance schedule, 107
manually releasing brakes, 85
mechanical stop
axis 1, 99
mechanical stop location, 137
mechanichal stop pin
replacing, 526
MoveAbsJ instruction, 812
N
negative directions, axes, 794
neodymium
disposal, 813
NiCad
disposal, 813
nodular iron
disposal, 813
O
oil
amount in gearboxes, 145
disposal, 813
type of oil, 145
oil change
safety risks, 52
operating conditions, 58
P
parallel rod
replacing, 532
pedestal
installed on pedestal, 21
plastic
disposal, 813
positive directions, axes, 794
product standards, 818
protection classes, 59
protection type, 59
protective equipment, 20
protective wear, 20
R
refitting
cable harness, 219
removing
cable harness, 203
replacing
axis-6 gearbox, 780
axis-6 motor, 617
axis-6 unit, 327
axis-5 motor, 603
axis-4 motor, 592
axis-2 and axis-3 motors, 578
axis-1 gearbox, 637
axis-1 motor, 567
balancing device, 549
balancing devices, 555
brake release unit, 246
counter weight, 520
hub, 631
lower arm, 353
mechanichal stop pin, 526
parallel rod, 532
SMB, 240
turning disc, 346, 350
upper arm, 251
wrist, 309
xx, 432
requirements on foundation, 58
responsibility and validity, 17
restricting
working range axis 1, 99
revolution counters
storing on FlexPendant, 796
updating, 795
risk of tipping, 63
robot
labels, 39
protection class, 59
protection types, 59
securing to foundation, 88
symbols, 39
rubber
disposal, 813
S
safety
brake testing, 32
ESD, 49
fence dimensions, 29
fire extinguishing, 30
introduction, 15
moving robots, 45
reduced speed function, 33
release robot arm, 31
robot, 17
836
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
service, 17
signal lamp, 36
signals, 37
signals in manual, 37
symbols, 37
symbols on robot, 39
test run, 46
working range, 35
wrist strap, 49
safety equipment
mechanical stop, 99
signal lamp, 143
safety risk
electric parts, 27
hot parts, 23
hydraulic system, 25
installation, 20
oil change, 52
operational disturbance, 26
pneumatic system, 25
service work, 20
tools, 24
voltage, 27
work pieces, 24
safety signals
in manual, 37
safety standards, 818
safety zones, 21
scales on robot, 793
schedule of maintenance, 107
securing
base plate, 77
securing the robot to foundation, attachment screws, 89
signal lamp, 36
signals
safety, 37
stability, 63
standards, 818
ANSI, 819
CAN, 819
EN, 818
EN IEC, 818
EN ISO, 818
steel
disposal, 813
storage conditions, 58
symbols
safety, 37
synchronization position, 795
sync marks, 793
T
temperatures
operation, 58
storage, 58
testing
brakes, 32
three-position enabling device, 34
torques on foundation, 57
U
updating revolution counters, 795
V
validity and responsibility, 17
verifying calibration, 811
W
weight, 57
axis-1 motor, 573, 652, 657–658, 665
base plate, 76, 80
robot, 71, 82, 197, 201, 257, 260, 272, 275–276, 280–
281, 303, 316, 319, 356, 361, 366, 377, 380, 382,
385, 387, 389, 392, 394, 398–399, 418, 424, 429,
435, 440, 445, 457, 460, 462, 465, 467, 469, 472,
474, 476, 482, 486, 490–491, 512, 517, 521, 524,
527, 530, 538, 542, 559, 561, 640, 642, 645, 667,
673, 824
working range
restricting axis 1, 99
X
xx
replacing, 432
Z
zero position
checking, 812
Product manual - IRB 8700
837
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
|
ABB_IRB8700_Product_Manual.pdf
|
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| 838
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service, 17
signal lamp, 36
signals, 37
signals in manual, 37
symbols, 37
symbols on robot, 39
test run, 46
working range, 35
wrist strap, 49
safety equipment
mechanical stop, 99
signal lamp, 143
safety risk
electric parts, 27
hot parts, 23
hydraulic system, 25
installation, 20
oil change, 52
operational disturbance, 26
pneumatic system, 25
service work, 20
tools, 24
voltage, 27
work pieces, 24
safety signals
in manual, 37
safety standards, 818
safety zones, 21
scales on robot, 793
schedule of maintenance, 107
securing
base plate, 77
securing the robot to foundation, attachment screws, 89
signal lamp, 36
signals
safety, 37
stability, 63
standards, 818
ANSI, 819
CAN, 819
EN, 818
EN IEC, 818
EN ISO, 818
steel
disposal, 813
storage conditions, 58
symbols
safety, 37
synchronization position, 795
sync marks, 793
T
temperatures
operation, 58
storage, 58
testing
brakes, 32
three-position enabling device, 34
torques on foundation, 57
U
updating revolution counters, 795
V
validity and responsibility, 17
verifying calibration, 811
W
weight, 57
axis-1 motor, 573, 652, 657–658, 665
base plate, 76, 80
robot, 71, 82, 197, 201, 257, 260, 272, 275–276, 280–
281, 303, 316, 319, 356, 361, 366, 377, 380, 382,
385, 387, 389, 392, 394, 398–399, 418, 424, 429,
435, 440, 445, 457, 460, 462, 465, 467, 469, 472,
474, 476, 482, 486, 490–491, 512, 517, 521, 524,
527, 530, 538, 542, 559, 561, 640, 642, 645, 667,
673, 824
working range
restricting axis 1, 99
X
xx
replacing, 432
Z
zero position
checking, 812
Product manual - IRB 8700
837
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Index
|
ABB_IRB8700_Product_Manual.pdf
|
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| 839
|
Contact us
ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics
Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics
3HAC052853-001, Rev D, en
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 840
|
Contact us
ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics
Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics
3HAC052853-001, Rev D, en
|
ABB_IRC5_Operating_Troubleshooting_Manual
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https://library.e.abb.com/public/e6617595547fc6c2c1257cc5004451bd/Operating%20manual_Trouble%20shooting_3HAC020738-001_revK_en.pdf
| 1
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ABB Robotics
Operating manual
Trouble shooting, IRC5
![Image]
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ABB_IRC5_Operating_Troubleshooting_Manual
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ABB Robotics
Operating manual
Trouble shooting, IRC5
![Image]
© Copyright 2005-2010 ABB. All rights reserved.
Operating manual - Trouble shooting, IRC5
Robot Controller
IRC5
M2004
Document ID: 3HAC020738-001
Revision: K
|
ABB_IRC5_Operating_Troubleshooting_Manual
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© Copyright 2005-2010 ABB. All rights reserved.
Operating manual - Trouble shooting, IRC5
Robot Controller
IRC5
M2004
Document ID: 3HAC020738-001
Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2005-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
|
ABB_IRC5_Operating_Troubleshooting_Manual
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| 4
|
© Copyright 2005-2010 ABB. All rights reserved.
Operating manual - Trouble shooting, IRC5
Robot Controller
IRC5
M2004
Document ID: 3HAC020738-001
Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2005-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
3
3HAC020738-001 Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
Overview of this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Safety
7
1.1 Safety signals in the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Safety symbols on the manipulator labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Safety during trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Applicable safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Safe Trouble Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5.1 DANGER - Robot without axes' holding brakes are potentially lethal! . . . . . . . . . . . . . . . . . . . . 16
1.5.2 DANGER - Live voltage inside Drive Module!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.5.3 WARNING - The unit is sensitive to ESD! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5.4 CAUTION - Hot parts may cause burns!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Trouble shooting Overview
23
2.1 Documentation and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.4 Tips and Tricks while trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.1 Trouble shooting strategies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.2 Work systematically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4.3 Keeping track of history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.5 Filing an error report. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3 Troubleshooting by fault symptoms
33
3.1 Start-up failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2 Controller not responding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3 Low Controller performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.4 All LEDs are OFF at Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.5 No voltage in service outlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.6 Problem starting the FlexPendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.7 Problem connecting FlexPendant to the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.8 Erratic event messages on FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.9 Problem jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.10 Reflashing firmware failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.11 Inconsistent path accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.12 Oil and grease stains on motors and gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.13 Mechanical noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.14 Manipulator crashes on power down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.15 Problem releasing Robot brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.16 Intermittent errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4 Trouble shooting by Unit
55
4.1 Trouble shooting the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2 Trouble shooting communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.3 Trouble shooting fieldbuses and I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.4 Trouble shooting power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4.1 Trouble shooting DSQC 604 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4.2 Trouble shooting DSQC 661 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.4.3 Trouble shooting DSQC 662 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
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© Copyright 2005-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2005-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
3
3HAC020738-001 Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
Overview of this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Safety
7
1.1 Safety signals in the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Safety symbols on the manipulator labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Safety during trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Applicable safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Safe Trouble Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5.1 DANGER - Robot without axes' holding brakes are potentially lethal! . . . . . . . . . . . . . . . . . . . . 16
1.5.2 DANGER - Live voltage inside Drive Module!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.5.3 WARNING - The unit is sensitive to ESD! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5.4 CAUTION - Hot parts may cause burns!. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Trouble shooting Overview
23
2.1 Documentation and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.4 Tips and Tricks while trouble shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.1 Trouble shooting strategies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.2 Work systematically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4.3 Keeping track of history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.5 Filing an error report. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3 Troubleshooting by fault symptoms
33
3.1 Start-up failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2 Controller not responding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3 Low Controller performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.4 All LEDs are OFF at Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.5 No voltage in service outlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.6 Problem starting the FlexPendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.7 Problem connecting FlexPendant to the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.8 Erratic event messages on FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.9 Problem jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.10 Reflashing firmware failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.11 Inconsistent path accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.12 Oil and grease stains on motors and gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.13 Mechanical noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.14 Manipulator crashes on power down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.15 Problem releasing Robot brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.16 Intermittent errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4 Trouble shooting by Unit
55
4.1 Trouble shooting the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2 Trouble shooting communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.3 Trouble shooting fieldbuses and I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.4 Trouble shooting power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4.1 Trouble shooting DSQC 604 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4.2 Trouble shooting DSQC 661 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.4.3 Trouble shooting DSQC 662 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Table of Contents
4
3HAC020738-001 Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
5 Descriptions and background information
69
5.1 Indications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.1 LEDs in the Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.2 LEDs in the Drive Module for Drive System 04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1.3 LEDs in the Drive Module for Drive System 09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
6 Trouble shooting by Event log
83
Index
465
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Table of Contents
4
3HAC020738-001 Revision: K
© Copyright 2005-2010 ABB. All rights reserved.
5 Descriptions and background information
69
5.1 Indications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.1 LEDs in the Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.2 LEDs in the Drive Module for Drive System 04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1.3 LEDs in the Drive Module for Drive System 09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
6 Trouble shooting by Event log
83
Index
465
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