ABB IRB 360-1/800 Product Manual
  1. Manuals
  2. Brands
  3. ABB Manuals
  4. Robotics
  5. IRB 360-1/800
  6. Product manual

ABB IRB 360-1/800 Product Manual

Hide thumbs Also See for IRB 360-1/800:
Table of Contents

Advertisement

Quick Links

Download this manual
ROBOTICS
Product manual
IRB 360

Advertisement

Table of Contents
loading

Related Manuals for ABB IRB 360-1/800

Summary of Contents for ABB IRB 360-1/800

  • Page 1 ROBOTICS Product manual IRB 360...
  • Page 2 Trace back information: Workspace R18-2 version a18 Checked in 2018-11-20 Skribenta version 5.3.012...
  • Page 3 IRB 360 - 1/800 IRB 360 - 1/1130 IRB 360 - 1/1600 IRB 360 - 3/1130 IRB 360 - 6/1600 IRB 360 - 8/1130 IRC5 Document ID: 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 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.

  • Page 5: Table Of Contents

    Installation of vacuum system (option 218-9) ..........Electrical connections ..................2.6.1 Connecting the controller to the manipulator ..........2.6.2 Manipulator cables IRB 360 ............... Start of robot in cold environments ..............Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 6 4.3.13 Replacement of motor axis 4 ..............4.3.14 Replacement of labels ................4.3.15 Replacing of calibration marks ..............Vacuum system ....................4.4.1 Replacement of vacuum hoses ..............Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 7 Special tools ....................Lifting accessories and lifting instructions .............. Grease specification ..................Spare part lists Spare part lists and illustrations ................Circuit diagrams Circuit diagrams ....................Index Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Overview Of This Manual

    Prerequisites Maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the IRB 360. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
  • Page 10 Section Maintenance schedule: Interval for replacement of battery pack changed. This revision includes the following additions and/or changes: • Implementation of IRB360 1/1600. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 11 8,000 hours to 4,000 hours, see Maintenance schedule IRB 360 on page 100. • Added Safety risks during handling of batteries on page Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 12 Updated instructions for cleaning, see Cleaning activities on page 143. • Minor corrections This revision includes the following updates: • Minor corrections Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 13 Added section for inspection of labels in maintenance chapter. • Grease article number updated (is 3HAC042560-001, was 3HAC029132-001) Published in release R18.2. The following updates are done in this revision: • Reference updated. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 14: Product Documentation

    Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
  • Page 15 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 16: How To Read The Product Manual

    Likewise, certain work methods or general information that is valid for several robot models, can be illustrated with illustrations that show a different robot model than the one that is described in the current manual. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 17: Safety

    Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a complete system, nor does it cover all peripheral equipment that can influence the safety of the entire system.
  • Page 18 Unauthorized modifications of the originally delivered robot are prohibited. Without the consent of ABB, it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength of the robot could be affected.

  • Page 19: Protective Stop And Emergency Stop

    1.1.2 Protective stop and emergency stop 1.1.2 Protective stop and emergency stop Overview The protective stops and emergency stops are described in the product manual for the controller. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 20: Safety Actions

    1.2 Safety actions 1.2.1 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the manipulator or controller. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 21: Emergency Release Of The Robot Axes

    When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 22: Make Sure That The Main Power Has Been Switched Off

    To avoid these personal injuries, switch off the main power on the controller before proceeding work. Note Switch off all main power switches in a MultiMove system. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 23: Safety Risks

    Corrective maintenance must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 24 ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the robot.

  • Page 25: Moving Robots Are Potentially Lethal

    The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 26: First Test Run May Cause Injury Or Damage

    If maintenance or repair has been done, pay special attention to the function of the part that was serviced. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before the first test run. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 27: Work Inside The Working Range Of The Robot

    Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 28: Enabling Device And Hold-To-Run Functionality

    How to operate the hold-to-run function for IRC5 is described in Operating manual - IRC5 with FlexPendant. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 29: Risks Associated With Live Electric Parts

    The power supply for the motors (up to 800 VDC). • The user connections for tools or other parts of the installation (max. 230 VAC). Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 30 Tools, material handling devices, etc., may be live even if the robot system is in the OFF position. Power supply cables which are in motion during the working process may be damaged. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 31: The Unit Is Sensitive To Esd

    The mat must be grounded through a current-limit- ing resistor. Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 32: Hot Parts May Cause Burns

    Wait until the potentially hot component has cooled if it is to be removed or handled in any other way. Do not put anything on hot metal surfaces, e.g. paper or plastic. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 33: Safety Risks Related To Pneumatic/Hydraulic Systems

    Gravity may cause any parts or objects held by these systems to drop. Dump valves should be used in case of emergency. Shot bolts should be used to prevent tools, etc., from falling due to gravity. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 34: Brake Testing

    3 Inspect and verify that the axis maintains its position. If the robot does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 35: Safety Risks During Handling Of Batteries

    Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 36: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)

    Possible pressure build-up in gearbox Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 37 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 38: Safety Signals And Symbols

    ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 39 Symbol Designation Significance NOTE Describes important facts and conditions. Describes where to find additional information or how to do an operation in an easier way. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 40: Safety Symbols On Product Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 41 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 42 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 43 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 44 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 45 Shut off with handle Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 46 This page is intentionally left blank...

  • Page 47: Installation And Commissioning

    If the IRB 360 is connected to power, always make sure that the robot is connected to protective earth before starting any installation work. For more information see: • Product manual - IRC5 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 48: Structure Manipulator

    Upper arm axis 3 Axis-4 motor SMB unit Telescopic shaft axis 4 Parallel arm Movable plate Vacuum kit (optional) Medium house set (optional) Large house set (optional) Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 49: Unpacking

    The following table shows the weight of the robot model. Robot model Weight Standard 120 kg (264.5 pounds) Wash-Down (WD) 120 kg (264.5 pounds) Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 50 Max. load in operation ±550 N ±500 N -1500 ±460 N Torque Nm Max. load in operation ±380 Nm ±440 Nm ±180 Nm Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 51 Product specification - IRB 360. A robot frame is not included in the delivery. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 52 The following table shows the protection class of the robot. Equipment Protection class Standard (Std.) IP54 Wash-Down (WD) IP67 Wash-Down Stainless (WDS) IP69K Clean Room, Stainless Clean Room IP54 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 53: Transport

    The center of gravity for IRB 360 during transport is very high, 804-810 mm from the bottom. It might tilt and fall when carried on a forklift. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 54 2 Installation and commissioning 2.3.2 Transport Continued xx0700000434 Robot delivery box Securing point x3 Robot delivery note Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 55: Assembling The Robot Irb 360

    To facilitate cleaning, it is possible to use the spring units without the rubber bellows, if that is preferred due to hygienic or other reasons. xx0700000707 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 56: Working Range And Type Of Motion

    2.3.4 Working range and type of motion 2.3.4 Working range and type of motion Motion pattern xx0700000448 Axis 1 Axis 2 Axis 3 Axis 4 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 57 50 mm IRB 360 - 6/1600 305 mm 1600 mm 1200 mm 155 mm IRB 360 - 8/1130 250 mm 1130 mm 750 mm 100 mm Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 58: On-Site Installation

    Never walk under a suspended load! Lifting position xx0700000434 Robot package top Robot package securing point x3 Delivery note Recommended equipment Equipment Art.no. Note Fork lift Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 59 Note CAUTION The delivery package weighs 200 kg! All lifting ac- cessories used must be sized accordingly. Lift the robot package to the installation site. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 60: Lifting The Robot With Roundslings

    The lifting strap dimensions must comply with the applicable standards for lifting. Lifting position xx0700000433 L= 500 mm (20 inch) Recommended equipment Equipment Art.no. Note Roundslings Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 61 Lifting position on page CAUTION The IRB 360 weighs 120 kg (Std) and 145 kg (WDS). All lifting accessories used must be sized accordingly. xx0700000466 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 62: Amount Of Required Space

    389.5 28.50 R366 IRB 360 - 1/800 1160 R251 IRB 360 - 1/1600 1412 1112 R447 IRB 360 - 6/1600 1412.5 1107.5 478.9 148.3 R515 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 63: Orienting And Securing The Robot Frame

    Make sure that the robot frame is secured before mounting the robot. Illustration xx0700000469 Spirit level Chemical or mechanical expander bolts Shim Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 64 Shim drawing on page 64 Secure the robot frame to the floor. Use chemical or mechanical ex- pander bolts. Shim drawing Example of shim. xx0700000623 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 65: Orienting And Securing The Robot

    Spacer, metal Washer, EPDM-rubber compressed 50%. Required equipment Equipment, etc. Spare part no. Note Standard tools Standard toolkit on page 268 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 66 The three support points of the manipulator base box shall be mounted against three flat surfaces with a flatness within the specification. Use shims if necessary. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 67 M12x (50) The length of the screws depend on the design of the robot frame Bonded seal washer, rubber/metal, 3 pcs. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 68 Lifting the robot with roundslings on page 60 Note If use of ABB’s vacuum system is inten- ded, make sure there is a space left for the bracket (F). Fit and tighten the bolts and washers The screw joint must be able to withstand the in the base attachment holes.

  • Page 69: Manually Releasing The Brakes

    On the controller, set the key switch into manual position. xx0700000625 Check the motors off button, make sure that the button flashes. en0400000795 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 70 Press and hold the brake re- lease button (keep it pressed in). The brake will function again as soon as the button is released. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 71 - cable harness. Press and hold the brake release button (keep it pressed in). The brake will function again as soon as the button is released. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 72: Fitting Equipment On Robot

    All equipment and cables used on the robot, must be designed and fitted not to damage the robot and/or its parts. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 73 Free space, depth 6 mm R1/4” Ø14 H8 depth 4 mm Key grip = width 22 mm height 5.5 mm Ø25 h8 depth 6 mm Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 74 2.4.7 Fitting equipment on robot Continued 3D - IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000709 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 75 Never remove the swivel cup. The cup protects the bearings. Action Note Attach the tool to the mounting flange. Fitting R1/4” Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 76 If a high frequent use of linear tool move- ment is intended, use a tool with mounting flange. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 77 Attachment screws Attachments Note Suitable screws, lightly lubricated: M4 (Length depending on tool) Suitable washer. Tightening torque. See section Screw joints on page 162. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 78: Loads

    175 g - 350 g Calculate the extra load mass by subtracting the weight with 175 g. 350 g and above Not allowed. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 79 (35 g + 65 g = 100 g) gives the correct amount of 100 g located at the same position as TCP0. This point load needs to be added to the calculation of the users tool load and declared in used tooldata. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 80: Installation Of Options

    Safety risks during installation and service work on robots on page 23 Location xx0700000546 Warning lamp. Screw M8 of suitable length. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 81 Lead-through in cover plate for the optional safety lamp. Cover gasket 3HAC028972-001 4pcs Screw M6x20 FB7 connector for resolver signals for axis 7 (Option 864-1) Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 82 Locate the connectors R3.H1 - R3.H2 and connect the safety lamp harness to it. Mount the safety lamp. Placement is optional. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 83: Installation Of (Optional) Customer Connections Irb 360

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 84 Wire Spec. Connection point A Connection point B Note Desig- Term Type Desig- Term Type nation nation Power R1.CP R1.CP R1.CP Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 85 9 RD R1.CS 9 BN R1.CS 10.1 10 RD R1.CS 10.2 10 GY R1.CS 11.1 11 BK R1.CS 11.2 11 BU R1.CS Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 86 Fit the self-adhesive gasket on the customer cover plate. Install the customer cable harness. Use standard tools. Assemble the customer cover plate using the four Tightening torque 4 Nm attachment screws. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 87: Installation Of Vacuum System (Option 218-9)

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 88 Exhaust air Vacuum In Compressed air in (max. 6 bar) Vacuum switch Air filter (compressed air side) Air filter (vacuum side) Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 89 Hexagon bolt with flange, M6 x 20 (A2 DIN6921) Gasket Action Note Follow the refitting instructions in section Replace- ment of ejector unit on page 225 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 90 360 on page 94 Use connection R1.CS on the front of the ejector unit, and the other end to the XP5 socket on the controller. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 91: Electrical Connections

    WARNING Before starting to connect any cable to the controller, make sure that the line voltage cable is disconnected. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 92 (male) and XS when it has sockets (female). Cable part numbers and length in section Manipulator cables IRB 360 on page Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 93 2 Installation and commissioning 2.6.1 Connecting the controller to the manipulator Continued Robot connections xx0700000565 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 94: Manipulator Cables Irb 360

    The cable needs to be cut off and prepared to fit the controller's connection points, as described in the product manual for the controller. Cable Art. no. Robot control cable 7 m 3HAC029903-002 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 95 3HAC14860-7 Customer control cable 7 m 3HAC14860-1 Customer control cable 15 m 3HAC14860-2 Customer control cable 22 m 3HAC14860-3 Customer control cable 30 m 3HAC14860-4 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 96: Start Of Robot In Cold Environments

    If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 97: Maintenance

    If the IRB 360 is connected to power, always make sure that the IRB 360 is connected to protective earth before starting any maintenance work. For more information see: • Product manual - IRC5 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 98: Maintenance Schedule

    The SIS used in M2004 is further described in the Operating manual - Service Information System. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 99: Regular Maintenance

    158 Controller: • Check that the sealing joints and cable glands are really airtight so that dust and dirt are not sucked into the cabinet. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 100: Maintenance Schedule Irb

    2 days/week or 18 months if the robot is powered off 16 h/day. The lifetime can be extended with a battery shutdown service routine. See Operating manual - IRC5 with FlexPendant for instructions. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 101 See section Cleaning activities on page 143. • Cleaning instructions for wash down version, see section Cleaning activities on page 143. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 102: Inspection Activities

    The wear on the bearings depends on the payload, cycle, environment, and lubrication. Telescopic shaft xx0700000556 Telescopic shaft (STD) Universal joint Set screw, dog point Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 103 • Replacement of universal joint on page 193 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 104: Telescopic Shaft, Wash Down, Axis

    The wear on the bearings depends on the payload, cycle, environment, and lubrication. Telescopic shaft xx0700000717 Required equipment and references References Replacement of telescopic shaft on page 190 Spare parts, telescopic shaft. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 105 • Replacement of universal joint on page 193 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 106: Telescopic Shaft, Stainless, Axis

    Safety risks during installation and service work on robots on page 23 Note The wear on the bearings depends on the payload, cycle, environment, and lubrication. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 107 Spare parts, telescopic shaft Standard tools Standard toolkit on page 268. References Spare parts, telescopic shaft Replacement of telescopic shaft on page 190 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 108 • Replacement of universal joint on page 193 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 109: Vacuum System (Optional)

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 110 Pneumatic valve unit Spare parts, ejector unit. References Replacement of ejector unit on page 225 Draining of water separation filter on page 223 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 111 Interval 4,000 h or 2 Years Action Note Replace pneumatic valves. The service life of the valves is 4x10 cycles. Described in section Replacement of ejector unit on page 225 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 112: Bar System

    3HAC2091-1. The bearing rings 3HAC028087-001 are white. The bearing rings 3HAC2091-1 are grey. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 113 Check the distance between the bearing holders. Distance between bearing holders on page 114. If needed, replace damaged parts as described in the repair chapter. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 114 The bearing ring is worn out and requires immediate replacement. Operating the robot beyond this value will cause permanent damage to the arm system components. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 115: Joint Balls

    Check surface of joint balls for cracks or burrs. If necessary replace the part as de- scribed in Replacement of joint balls on page 195 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 116: Upper Arms

    Safety risks during installation and service work on robots on page 23 Check upper arm xx0700000501 Upper arm tube Joint balls Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 117 180 Check surface of joint balls for cracks or burrs. If necessary replace the part as described in Replacement of joint balls on page 195 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 118: Hoses

    Safety risks during installation and service work on robots on page 23 Check hoses xx0700000499 Air filter inlet. Ejector unit Air filter inlet vacuum. Swivel cup Hose clamp Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 119 Check the entire hose and make sure there are no If necessary, exchange the part folds or surface damage. as described in Replacement of vacuum hoses on page 220 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 120: Spring Units

    IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000497 Hook Spring Rubber bellow Greasing points Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 121 174 If necessary (if the spring units make a grinding Shown in figure as (G) sound) apply grease to all wear surfaces. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 122: Movable Plate

    Required equipment and references Required equipment Spare part no. Note Movable plate Spare parts, movable plate. Standard tools Standard toolkit on page 268. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 123 Check axis 4 so that the rotation is If necessary replace the movable plate as de- smooth. scribed in Replacement of movable plate on page 186 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 124: Inspecting Information Labels

    Before dismantling see product manual Label, FlexPicker Axis marking Required equipment Equipment Spare part number Note Labels Spare part lists on page 277. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 125 Check all labels. See the figure in Location of information labels on page 124. Replace any missing or damaged labels. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 126: Replacement/Changing Activities

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 127 3 Maintenance 3.4.1 Changing the battery in the measuring system Continued Location SMB DSQC 633A xx0700000506 SMB battery Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 128 Standard toolkit on page 268 Battery retainer (strap) References Updating revolution counters on page 248 Replacement of base cover gasket on page 167 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 129 Described in section Replacement of base M6 screws. cover gasket on page 167. Update the revolution counters. Described in section Updating revolution counters on page 248. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 130: Changing The Telescopic Shaft Including Universal Joints

    The wear on the bearings depends on the payload, cycle, environment, and lubrication. Telescopic shaft xx0700000556 Telescopic shaft (STD) Universal joint Set screw, dog point Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 131 190. After a collision and/or if arms have fallen off After a collision and/or if arms have fallen off on page 103. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 132: Lubrication Activities

    Before starting any inspection, maintenance, or changing activities of lubrication, always contact the local ABB Service organization for more information. For ABB personnel: Always check ABB Library for the latest revision of the manual Technical reference manual - Lubrication in gearboxes, in order to always get the latest information of updates about lubrication in gearboxes.
  • Page 133 3 Maintenance 3.5.1 Type of lubrication in gearboxes Continued xx1300000178 Axis-1 gearbox Axis-2 gearbox Axis-3 gearbox Axis-4 gearbox Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 134: Gearboxes, Axes 1- 4

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 135 Spare parts, gear units axis 1- 3 Spare parts, gear units axis 4 Spare parts, gear unit axis 4 Locking liquid Loctite 243 Sikaflex 521FC 3HAC031493-001 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 136 Types and volumes of oil are specified in the Technical refer- plug holes, with spe- ence manual - Lubrication in gearboxes - 3HAC042927-001. cified volume. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 137 M6x20 (A) holding the 3 pcs flange (B) and the 3 pcs upper arm sealing rings. xx0700000509 A Screw M6x20 B Flange Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 138 Note Remove the cables to the brake release, described in section Replacement of brake release button on page 232. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 139 - Lubrication in gearboxes - 3HAC042927-001. specified volume, check oil level by re- moving the oil level plug (B). xx0700000729 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 140 Note Make sure that all old sikaflex is removed xx1100000543 Apply a 5mm string of sikaflex on the sealing upper surface. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 141 After tightening, check that the sikaflex fill the entyre gap according to figure pos. B, remove superfluous or fill up if needed. xx1100000540 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 142 190 Refit base cover. CAUTION The base cover has sharp edges, use protective gloves. Described in section Replacement of base cover gasket on page 167 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 143: Cleaning Activities

    It is highly recommended that the water and steam contains rust preventive, without cleaning detergents. iii See recommended water temperature and pressure. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 144 Base cover gasket Brake release button Transmission cover gasket Axis 4 sealing ring Movable plate Upper arm sealing rings Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 145 Maximum water pressure at the nozzle: 2,500 kN/m2 (25 bar) • Fan jet nozzle should be used, min. 45° spread • Minimum distance from nozzle to encapsulation: 0.4 meters • Maximum water temperature: 80°C Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 146: Standard Cleaning

    Use a vaccum cleaner to remove loose particles. Use a dry or moistened cloth to wipe off the dirt and dust. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 147 To simplify cleaning, it is possible to use the spring units without the rubber bellows. xx0700000707 To remove the rubber bellows, see section Replacement of parallel arms on page 174. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 148: Wash Down Cleaning

    Rinse thoroughly with water. After cleaning bearing races, swivel cup sealing and sealing ring (V-ring), lubricate them with provision classified grease. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 149 If the labels on the robot are Described in section Replacement of labels on damaged in the cleaning proced- page 214 ure, apply new labels. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 150: Wash Down Stainless Cleaning

    • Water temperature: 10 - 40°C desired effect. • Time approx. 20 min. Rinse thoroughly with water. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 151 If the labels on the robot are Described in section Replacement of labels on damaged in the cleaning proced- page 214 ure, apply new labels. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 152: Clean Room Cleaning

    Use a vacuum cleaner to re- move loose particles. Use a cloth with cleaning deter- gent or Isopropyl alcohol to wipe off the dirt and dust. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 153: Measuring Activities

    Apply torque 1 Nm, i.e. 10N on a distance of 100 mm from center of rotation. xx1700000046 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 154 Apply torque 1 Nm in the other direction, i.e. 10 N on a distance of 100 mm from center of rotation. xx1700000049 Decrease force to 0N. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 155 1 and 2 di- vided by 2πr. Note r is the distance from center of rotation to where the measurement is done. xx1700000051 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 156 This page is intentionally left blank...

  • Page 157: Repair

    Each procedure contains all the information required to perform the activity, for example spare parts numbers, required special tools, and materials. WARNING Repair activities not described in this chapter must only be carried out by ABB. Otherwise damage to the mechanics and electronics may occur. Required equipment The details of the equipment required to perform a specific repair activity are listed in the respective procedures.

  • Page 158: General Procedures

    Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 159 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 160: Mounting Instructions For Seals

    Never hammer directly on the seal as this may result in leakage. Make sure no grease left on the robot surface. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 161 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.

  • Page 162: Screw Joints

    Note A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 163 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 164 4 Repair 4.2.3 Screw joints Continued Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 165: Cut The Paint Or Surface On The Robot Before Replacing Parts

    Use ethanol on a lint free cloth. so that it is free from oil and grease. Place the tooling pin in hot water. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 166 Clean Room. Note After all repair work, wipe the robot free from particles with spirit on a lint free cloth. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 167: Complete Robot

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 168 Always cut the paint with a knife and grind the paint edge when disassembling parts. See Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 169 Use tightening torque 4 Nm for both rounds. Check that the washers are not damaged. Replace if needed. Note Always tighten the base cover screws in two rounds. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 170: Replacement Of Serial Measurement Board

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 171 Do not replace the battery contact! Equipment Spare part no. Note Standard tools Standard toolkit on page 268 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 172 Refit the bracket using the three(3) flange screws. Tightening torque 4 Nm Refit the base cover. Described in section Replacement of base cover gasket on page 167 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 173 4 Repair 4.3.2 Replacement of serial measurement board Continued Action Note Update the revolution counters Described in section Updating re- volution counters on page 248 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 174: Replacement Of Parallel Arms

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 175 IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000488 Upper arm Parallel arm Spring unit Bearing ring Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 176 Parallel arms See Product manual, spare parts - IRB 360. References Spring units on page 120 Special tools on page 269 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 177 CAUTION Never use unnecessary force when removing the springs. Only work on one side or the spring will be overstressed. xx0700000525 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 178 Action Note Fit the springs on the parallel arms. By hand. Apply grease according to section Spring units on page 120 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 179 Note Always mount the movable plate with the axis 4 calibration mark in direction axis 1. Recalibrate the robot. Calibration information on page 237. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 180: Replacement Of Upper Arm

    VK- cover 6x hex socket head cap screw M6 x 40 (12.9 gleitmo) and 6x plain washer 6.4x12x1.6 steel A2-F Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 181 6x plain washer 6.4x12x1.6 Steel A2-F Remove the upper arm. Note Always check the condi- tion of the sealing ring and the flange gasket Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 182 Fit a new VK-cover. By hand. Refit the parallel arm. Described in section Replacement of parallel arms on page 174. Recalibrate the robot. Calibration information on page 237. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 183: Replacement Of Bearing Rings

    Always cut the paint with a knife and grind the paint edge when disassembling parts. See Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 184 Never use unnecessary force when refitting the springs. Only work on one side or the spring will be overstressed. Action Note Place a new bearing ring into the joint socket. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 185 174 Run the robot for six (6) hours for the bearing rings to wear in. Wipe clean the joint balls and the bearing rings. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 186: Replacement Of Movable Plate

    IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000532 Universal joint Set screw, dog point Sealing ring (V-ring) Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 187 Always cut the paint with a knife and grind the paint edge when disassembling parts. See Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 188 IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000629 Axis 4 calibration mark IRB 360 - 8/1130, IRB 360 - 6/1600 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 189 174 Refit the air / vacuum hoses to the swivel cup on Described in section Replacement the movable plate. of vacuum hoses on page 220. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 190: Replacement Of Telescopic Shaft

    Telescopic shaft Set screw Required equipment and references Equipment Spare part no. Note Standard tools Standard toolkit on page 268 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 191 Remove the upper set screw. xx0700000612 Use a 90° angled bit holder. Remove the telescopic shaft. Refitting Action Note Refit the telescopic shaft. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 192 Replacement of movable plate on use locking liquid (Loc- page 186. tite 243). Refit the parallel arms. Described in section Replacement of parallel arms on page 174. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 193: Replacement Of Universal Joint

    Standard tools Standard toolkit on page 268. Locking liquid Loctite 243 Universal joint See Product manual, spare parts - IRB 360. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 194 9.5 Nm. Tightening torque for set screw 3HAC12846-4 (M16x6 A4): • 8.5 Nm. Refit the telescopic shaft. See section Replacement of telescopic shaft on page 190. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 195: Replacement Of Joint Balls

    Standard toolkit on page 268 Joint ball See Product manual, spare parts - IRB 360. Pliers for parallel arms 3HAC6194-1 Locking liquid Loctite 243 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 196 A heat gun must be used if the movable plate is stainless, for other materials it is optional. Do not aim the heat on plastic parts. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 197 174. Run the robot for six (6) hours for the bearing rings to wear in. Wipe clean the joint balls and the bearing rings. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 198: Replacement Of Gearbox Unit 1- 3

    Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot. Described in section Calibration method on page 238. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 199 See Product manual, spare parts - IRB 360. References Gearboxes, axes 1- 4 on page 134 Circuit diagram 3HAC028647-009 Calibration method on page 238 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 200 Gearbox unit weight 16 Kg. Connect the motor connectors, R3.FB1-3 and Described in circuit diagram, see R3.MP1-3. Circuit diagrams on page 279. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 201 134, Method 2. Refit the arm system. Described in section Gearboxes, axes 1- 4 on page 134, Method 2. Recalibrate the robot. Calibration information on page 237. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 202: Replacement Of Gearbox Unit 4

    Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot. Described in section Calibration method on page 238. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 203 - IRB 360. Locking liquid Loctite 243 References Replacement of telescopic shaft on page 190 Replacement of base cover gasket on page 167 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 204 Use standard tools. Described in section Replacement of base cover gasket on page 167 Calibrate the robot. Described in section Calibration information on page 237. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 205: Replacement Of Motor Axis 1-3

    Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot. Described in section Calibration method on page 238. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 206 Washer 6,4x12x1,6 steel A2F Nitrile rubber O-ring 67,5x3,0 Oil plug Oil plug (upper oil level hole) Oil plug Gear Z1/1-3, 16 cog Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 207 Oil will be running out of the motor attachment hole when removing the motor! The oil can be hot. Take any necessary measures to collect the oil. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 208 Fit a new O-ring (E) onto Shown in figure Location on page 206. the motor flange, lubricate the o-ring with grease FM222. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 209 Refit the gearbox unit 1-3 Described in section Replacement of gearbox unit 1- 3 on page 198. Recalibrate the robot. Calibration information on page 237. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 210: Replacement Of Motor Axis 4

    Risks associated with live electric parts on page 29 • Safety risks during installation and service work on robots on page 23 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 211 Gearbox axis 4 Rotational ac motor O-ring, nitrile rubber Hex socket head cap screw M6x25 8.8 Washer 6,4x12x1,6 A2F Oil plug Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 212 Fit the motor, making sure the motor pinion is properly mated to the gear wheel, do not use force or the motor pinion may get damaged. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 213 Replacement of gearbox unit 4 on page 202. with motor. Refit the base cov- Described in section Replacement of base cover gasket on page 167. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 214: Replacement Of Labels

    This section describes replacement and positioning of labels on the IRB 360. Label positioning Axis 2 Axis 1 Axis 3 SECTION A-A xx0700000691 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 215 Transport protection label Required equipment and references Equipment Spare part no. Note Label-set See Product manual, spare parts - IRB 360. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 216 4 Repair 4.3.14 Replacement of labels Continued Assemble Action Note Make sure the surface is clean. Assemble the labels according to the illustrations. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 217: Replacing Of Calibration Marks

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 218 Spare part no. Note Standard tools Standard toolkit on page 268. Calibration mark See Product manual, spare parts - IRB 360. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 219 Remove the two M5 nuts. Use standard tools. Remove the calibration mark. Refitting Action Note Refit a new calibration mark. Refit the two M5 nuts. Tightening torque 4Nm. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 220: Vacuum System

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 221: Product Manual - Irb

    Pull the hose out from the swivel. Pull the hose out from the air filter. Refitting Action Note Fit a new hose on the swivel. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 222 Fit a new hose on the swivel. Fix the hose, do not tighten, against the three clamps on the parallel arm. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 223: Draining Of Water Separation Filter

    Cut the paint or surface on the robot before replacing parts on page 165. Location xx0700000544 Air filter (comp) Air filter (Vac) Water separation bottom nipple Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 224 4 Repair 4.4.2 Draining of water separation filter Continued Removal water Action Drain the water separation filter, opening the bottom nipple (C). Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 225: Replacement Of Ejector Unit

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 226 Always cut the paint with a knife and grind the paint edge when disassembling parts. See Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 227 Remove all the nuts for the air nozzles, pressure guard cap and the pressure guard nut. Remove the ejector unit inwards direction. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 228 Reconnect the air supply, vacuum hoses and signal cable from the ejector unit. Refit the base cover. Replacement of base cover gas- ket on page 167 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 229: Cable Harness

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 230 R3.FB4 X1(SMB) X2(SMB) - R3.FB1-4 Required equipment and references Equipment Spare part no. Note Standard tools Standard toolkit on page 268. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 231 279. Strap all cable connections to there connector brackets. Refit the base cover. Described in section Replacement of base cover gasket on page 167. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 232: Replacement Of Brake Release Button

    Always read the specific instructions for Clean Room robots before doing any repair work, see Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 233 Always cut the paint with a knife and grind the paint edge when disassembling parts. See Cut the paint or surface on the robot before replacing parts on page 165. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 234 Remove the contact from the push button, pushing in the locking device. Use a screw driver to push in the locking device. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 235 Refit the cables to the contact before this step. Refit the base cover. Replacement of base cover gasket on page 167 CAUTION The base cover has sharp edges, use protective gloves. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 236 This page is intentionally left blank...

  • Page 237: Calibration Information

    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. The resolver values will change when parts affecting the calibration position are replaced on the robot, for example motors or parts of the transmission.

  • Page 238: Calibration Method

    ABB. Please contact ABB. The parameter Calibration Position (cal_posi- tion) is set at the ABB factory, and is a robot specific parameter. For more information about parameter Calibration Position, see topic Mo- tion, type Arm in Technical reference manu- al - System parameters.
  • Page 239 Ring calibration A factory reset using ring calibration requires specific calibration equipment and is performed by ABB. Please contact ABB. Ring calibration is measuring each contact point for axis 1-3 and modifies cal_position. The Ring calibration method gives a better nominal kinematics and the modified cal_positions will help to get back to the same points when calibrating with Standard calibration.

  • Page 240: Calibration Movement Directions For All Axes

    The following graphic shows the positive and negative directions for each axis and the linear directions when jogging the robot in the base coordinate system. xx0700000448 Axis 1 Axis 2 Axis 3 Axis 4 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 241: Synchronization Marks And Synchronization Position For Axes

    This section shows the position of the synchronization marks and the synchronization position for each axis. Synchronization marks, IRB 360 xx0700000569 Calibration mark axis 4 Calibration marks axis 1-3 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 242: Calibrating Axis 1-3

    This section is valid for IRB 360 all models. It describes how to perform the actual fine calibration of axis 1-3. If the robot needs to have a factory reset instead, please contact ABB. See Calibration method on page 238.
  • Page 243 Press the brake release button to re- lease the brakes. xx0700000435 A Brake release button Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 244 Release the brakes and gently pull the calibrated upper arm in to a horizontal position. Return to step 4, and proceed with axis 2 and 3. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 245: Calibrating Axis 4

    IRB 360 - 1/1130, IRB 360 - 3/1130, IRB 360 - 1/800, IRB 360 - 1/1600 xx0700000629 Axis 4 calibration mark Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 246 Continued IRB 360 - 8/1130, IRB 360 - 6/1600 Calibrating axis 4 Action Note In manual mode, tap Jogging in the ABB menu. Tap Motion mode to choose group of axes to jog. Tap Axis 4-6 to jog axis 4.

  • Page 247: Fine Calibration Procedure On Flexpendant

    Tapping Calibrate results in briefly displaying a dialog box, announcing that the calib- ration process has started. The axis is calibrated and the system returns to the list of available mechanical units. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 248: 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. xx1500000942 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 249 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 A screen is displayed, tap Rev. Counters. en0400000771 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 250 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 254. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 251: Serial Measurement Board Memory

    Check that the new calibration values belong to a manipulator with the serial number defined in your system. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 252 This section describes how to view the data status in the serial measurement board and the controller. Action On the ABB menu, tap Calibration and select a mechanical unit. Tap Robot Memory and then tap Show status. The data is displayed with status on the controller memory and on the robot SMB memory.
  • Page 253 This section describes how to delete the data stored on the robot SMB memory or the controller memory when creating spare parts. Action On the ABB menu, tap Calibration and tap to select a mechanical unit. Tap Robot Memory and then tap Advanced. The following functions are available: •...

  • Page 254: Checking The Synchronization Position

    In manual mode, tap Jog- Manual mode described in the section Calibrating axis 1-3 ging in the ABB menu. on page 242. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 255 Tap to select the axis to jog, axis 1, 2, or 3. Press the brake release button to release the brakes. xx0700000435 A Brake release button Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 256 Calibration Position. xx0700000628 The parameter Calibration Position (cal_position) is set at the ABB factory, and is a robot specific parameter. For more information about parameter Calibration Position, see topic Motion, type Arm in Technical reference manual - System parameters.
  • Page 257 5 Calibration information 5.10 Checking the synchronization position Continued Action Note If the axis position is ok return to step and check axes 2 and 3. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 258 This page is intentionally left blank...

  • Page 259: Decommissioning

    These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 260: Environmental Information

    Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 261 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 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 262: Scrapping Of Robot

    • When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 263: Reference Information

    7.1 Introduction 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 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 264: Applicable Standards

    Terminology and general principles EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 265 Safety requirements for industrial robots and robot systems ANSI/UL 1740 Safety standard for robots and robotic equipment CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require- ments Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 266: Unit Conversion

    1 kg 2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 267: Weight Specifications

    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.

  • Page 268: Standard Toolkit

    Socket head cap 3, 5, 8 mm Torque wrench 4-33 Nm Small screwdriver Plastic mallet Ratchet head for torque wrench 1/2 Cut-off pliers 90° angled bit holder Spirit level Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 269: Special Tools

    (Dolly for joint socket when inserting new bearing rings.) Pliers for parallel arms 3HAC6194-1 All variants. Heat gun (Required if the moveable plate is stainless, see Removal on page 196.) Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 270: Lifting Accessories And Lifting Instructions

    This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 271: Grease Specification

    Pos. For: Type Spare part number Amount Telescopic shaft Food accepted FM 222 3HAC042560-001 Spring units Food accepted FM 222 3HAC042560-001 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 272 Continued Grease on sealings xx0700000706 Pos. For: Type Spare part num- Amount O-rings in gear units Food accepted FM 222 3HAC042560-001 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 273 7 Reference information 7.8 Grease specification Continued xx0800000003 Pos. For: Type Spare part num- Amount Grease in swivel Food accepted FM 222 3HAC042560-001 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 274 Only lubricate bearing rings 3HAC2091-1. Bearing rings 3HAC028087-001 must not be lubricated! Read about the difference in Different versions of bearing rings require different maintenance procedures on page 112. Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 275 • FM 222 (was Mobilgrease FM 102 or Optimol Obeen UF 2) Different versions of bearing rings require different mainten- ance procedures on page 112. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 276 This page is intentionally left blank...

  • Page 277: Spare Part Lists

    Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.mypo- rtal.abb.com. Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 278 This page is intentionally left blank...

  • Page 279: Circuit Diagrams

    Circuit diagram - IRB 6400RF 3HAC8935-1 Circuit diagram - IRB 6600 type A 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 6600 type B 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 280 3HAC029940-001 Circuit diagram - IRB 6700 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - Product.ProductName 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.

  • Page 281: Index

    31 safety risks, 36 external safety devices, 24 pedestal fire extinguishing, 20 installed on pedestal, 23 Fitting equipment, 72 plastic FlexPendant disposal, 260 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 282 18 robot, 267 scales on robot, 241 screw joints, 162 secured robot frame, 63 zero position Secure the robot, 65 checking, 254 Product manual - IRB 360 3HAC030005-001 Revision: U © Copyright 2008-2018 ABB. All rights reserved.
  • Page 284 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2008-2018 ABB. All rights reserved. Specifications subject to change without notice.

This manual is also suitable for:

Irb 360-3/1130Irb 360-1/1600Irb 360-6/1600Irb 360-1/1130Irb 360-8/1130Irb 360 series

Table of Contents