Page 1 ROBOTICS Product manual IRB 8700...
Page 2 Trace back information: Workspace 20C version a3 Checked in 2020-09-14 Skribenta version 5.3.075...
Page 3 Product manual IRB 8700 - 550/4.20 IRB 8700 - 800/3.50 IRC5 Document ID: 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved. Specifications subject to change without notice.
Page 4 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, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Installing additional motor units or gear units ..........Start of robot in cold environments ..............Maintenance Introduction ...................... Maintenance schedule and expected component life ..........3.2.1 Specification of maintenance intervals ............Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 6 Replacing the process turning disc ............. 4.5.6 Replacing the complete lower arm .............. Frame and base ....................4.6.1 Replacing the counterweight ..............4.6.2 Replacing the mechanical stop pin ............Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 7 Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................Circuit diagrams Circuit diagrams ....................Index Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
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Page 9: Overview Of This Manual
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 8700. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
Page 10 Reference to the circuit diagram for the robot. References Documentation referred to in the manual, is listed in the table below. Document name Document ID Product manual, spare parts - IRB 8700 3HAC052854-001 Product specification - IRB 8700 3HAC052852-001 Product manual - DressPack/SpotPack IRB 8700...
Page 11 Replacement methods for following spare parts are updated/com- pleted: axis-1 gearbox axis-2 gearbox axis-3 gearbox axis-6 gearbox upper arm brake release board balancing device cable harness lower arm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 12 Changed order in axis-2 gearbox replacement regarding removal of motor flange prior to removing the gearbox. • Removed information regarding the revolution indicator throughout the manual. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 13 Added hub tool to the replacement procedure for the hub. • Pallet removed from required tools tables. • Added information about motor units and gear units in Installation. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 16: How To Read The Product Manual
Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 17: Safety
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
Page 18: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the product manual. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 19: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 20 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 21: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 22 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 23 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 24 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 25 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 26 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 27: Robot Stopping Functions
Protective stop and emergency stop The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - IRC5 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 28: Installation And Commissioning
When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Electrical safety The mains power must be installed to fulfill national regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 29 The risk assessment should also consider other hazards, such as, but not limited • Water • Compressed air • Hydraulics Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 30 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 31: Operation
Never stay beneath a robot arm. Gravity and the release of braking devices can create additional hazards. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 33 Operating temperatures are listed in Operating conditions, robot on page See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 34 WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 35: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 36: Brake Testing
3 Inspect and verify that the axis maintains its position. If the manipulator does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 37: Troubleshooting
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Page 38: Decommissioning
Never stay beneath a robot arm. Gravity and the release of braking devices can create additional hazards. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 39: Installation And Commissioning
Note If the IRB 8700 is connected to power, always make sure that the robot is connected to protective earth and a residual current device (RCD) before starting any installation work. For more information see: •...
Page 40: Unpacking
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work • conform to all national and local codes.
Page 41 These forces and torques are extreme values that are rarely encountered during operation. The values also never reach their maximum at the same time! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 42 Storage conditions, robot The table shows the allowed storage conditions for the robot: Parameter Value Minimum ambient temperature -25°C (-13°F) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 43 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Foundry Plus IP67 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 44: Working Range
2 Installation and commissioning 2.2.2 Working range 2.2.2 Working range Variants Variants IRB 8700 - 550/4.20, - 800/3.50 Axis Type of motion Working range Note Axis 1 Rotation motion ±170° ±220° Option Axis 2 Arm motion -65°/+90° Restrictions with SW DressPack fitted.
Page 45 2 Installation and commissioning 2.2.2 Working range Continued Illustration, working range IRB 8700 - 550/4.20 This illustration shows the unrestricted working range of the robot. R1174 4157 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 46 2 Installation and commissioning 2.2.2 Working range Continued Illustration, working range IRB 8700 - 800/3.50 This illustration shows the unrestricted working range of the robot. R928 3487 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 47: Risk Of Tipping/Stability
-90° Axis-2 -65° Axis-3 2° Axis-4 90° Axis-5 -90° Axis-6 0° WARNING The robot will be mechanically unstable if not properly secured to the foundation. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 48: Main Dimensions
2.2.4 Main dimensions 2.2.4 Main dimensions Illustration LeanID IRB 8700 - 550/4.2 2175 IRB 8700 - 800/3.5 1010 R 340 1475 1530 1621 R 955 xx1400002868 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 49: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 50: On-Site Installation
• This Fork lift accessory set (3HAC053662-003) is only allowed for the use of lifting the IRB 8700. All other usage is prohibited. • Lifting a robot with the Fork lift accessory set is only allowed if lifting is done using all four fork lift accessories.
Page 51 DressPack cable package can stay fitted as long as the tool has been removed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 52 Attaching the fork lift accessory set Action Note CAUTION Each fork lift accessory pocket weights 18 kg. Use caution when handling them. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 54 DressPack cable package can stay lifting the robot with the fork lift accessory set. fitted as long as the tool has been removed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 56 CAUTION The weight of the IRB 8700 robot is 4,750 kg All lifting accessories used must be sized accord- ingly. Use caution and insert the trucks forks into the...
Page 57 Use caution and move the robot with low speed to its new location. Note If the robot shall be stored or later be further transported, make sure to follow appropriate safety measures. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 58: Attaching The Robot And Removing The Fork Lift Accessory Set
650 Nm DANGER DO NOT power up the robot until it is secured to the foundation with all 12 attachment screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 59 Attach the protection plugs in the holes for the fork lift accessory set. Keep the fork lift accessory set together with the manual "Directions for use, Fork lift accessory set IRB 8700". Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 60: Lifting The Base Plate
Required equipment Equipment Article number Note Lifting eye, M24 1 pc Lifting slings 1 pc Length: approx. 2 m Hole configuration xx1400002587 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 61 Use caution and lift the base plate. CAUTION Lift and move the base plate very slowly. If the base plate starts to swing it is a risk for injuries or damage. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 62: Securing The Base Plate
A, B, C, D Common tolerance zone (accuracy all over the base plate from one contact surface to the other). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 63 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1400002594 Orienting grooves (4 pcs) Levelling bolts, attachment holes M20 through (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 64 Make sure the foundation is levelled. CAUTION The base plate weighs 760 kg! All lifting ac- cessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 65 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 66: Lifting The Robot With Roundslings
2.3.5 Lifting the robot with roundslings 2.3.5 Lifting the robot with roundslings Attaching the roundslings 2x L=2m 2x L=2.1m 200 ±50 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 67 When lifting, use them to lengthen the roundsling to 2.1 m. This is a recommendation according to standard EN 1492. Always conform to local regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 68 The robot is mechanically unstable if not secured to the foundation. xx1400002584 CAUTION The weight of the IRB 8700 robot is 4,750 All lifting accessories used must be sized accordingly. Fit lifting eyes to the holes on frame and counter weight respectively.
Page 69 WARNING Personnel must not, under any circum- stances, be present under the suspended load. Use caution and raise the overhead crane to lift the robot. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 70: Returning Of The Abb Pallet
The steel pallet is the property of ABB Note The steel pallet the robot is delivered on, is the property of ABB. It must therefore be returned within the specified time, after the arrival of the robot system. If the pallet is not returned, it will be invoiced.
Page 71: Manually Releasing The Brakes
Supplying power to connector R1.MP on page Note The IRB 8700 has two R1.MP connectors: R1.MP- A and R1.MP-B. How to supply power to the con- nectors is described in Supplying power to connect- or R1.MP on page...
Page 72 If the robot is not connected to the controller, power must be supplied to connector R1.MP on the robot, in order to enable the brake release buttons. Note The IRB 8700 has two R1.MP connectors: R1.MP-A and R1.MP-B. See table how to supply power to the connectors. Action...
Page 73 Supply 24V on pin 11 R1.MP-B. Note Only R1.MP-B contact is used when relas- ing the brakes on axis-4, -5, and -6. MP-B 24V (pin 11) 0V (pin 12) xx1500001990 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 74: Orienting And Securing The Robot
2 X 45° 30 ±0,5 0,3 D E H R500 SECTION K-K SECTION D-D Description Section Holes for guide pins (x2) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 75 4 mm flat washer Tightening torque: 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 76 Attachment screws on holes. page Note Lightly lubricate screws before assembly! Tighten bolts in a crosswise pattern to ensure that the base is not distorted. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 77: Loads Fitted To The Robot, Stopping Time And Braking Distances
The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification for the robot. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 78: Fitting Equipment
R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 500 kg) xx1400002873 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 79 M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the axis-3 extension. xx1400002874 Mass center xx1400002875 Center of gravity 50 kg Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 80 Holes for fitting extra equipment Upper arm 3x M10 3x M8 4x M12 R152,5 4x M8 A - A xx1400002876 Holes located on both sides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 81 3x M8 12 D - D C - C 3x M8 12 E - E xx1500000869 Measure from center axis 6 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 82 234 (3x M10) 368 (4x M10) 388 (4x M10) 4x M10 18 4x M10 A - A B - B xx1400002877 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 83 1 X 45° SECTION C-C + 0,040 160 H7 0,02 A SECTION B-B xx1400002878 Fastener quality Use suitable screws and tightening torque for your application. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 84: Restricting The Working Range
This section describes how to install hardware that restricts the working range. Note Adjustments must also be made in the robot configuration software (system parameters). References to relevant manuals are included in the installation procedures. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 85: Mechanically Restricting The Working Range Of Axis 1
Min. angle 17° positive direction Max. angle 73° Min. angle 32° negative direction negative direction Min. angle 122° negative direction xx1400002593 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 86 • hydraulic pressure supply to the robot • air pressure supply to the robot Before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 87 Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 88: Electrical Connections
References on page DressPack cables (option) Handles signals, process media and power feeding for customer use, regarding material handling or spot welding. See the Product manual - DressPack/SpotPack IRB 8700, see document number in References on page Robot cables These cables are included in the standard delivery. They are completely pre-manufactured and ready to plug in.
Page 89 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 90 Note How to ground DressPack/SpotPack cables is detailed in the Product manual - DressPack/SpotPack IRB 8700, see the document number in References on page Fan cables (option) These cables are not included in the standard delivery, but are included in the delivery if the fan option is ordered.
Page 91 Harness - cooling, 22 m 3HAC022723-005 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Harness - cooling, 30 m 3HAC022723-006 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 92: Installation Of Options
The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 93: Installing The Motor Cooling Fans
2.6.2 Installing the motor cooling fans 2.6.2 Installing the motor cooling fans Installation information All required installation information is enclosed with the fan packages sent from ABB Service. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 94: Installing Additional Motor Units Or Gear Units
2.6.3 Installing additional motor units or gear units Installation information If using IRB 8700 together with MUGU (motor unit or gear unit) the system parameter configuration must manually be changed from first ADU to third ADU because the manipulator uses the two first. See type Drive Unit in topic Motion, in Technical reference manual - System parameters.
Page 95: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
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Page 97: Maintenance
Note If the IRB 8700 is connected to power, always make sure that the IRB 8700 is connected to protective earth and a residual current device (RCD) before starting any maintenance work. For more information see: •...
Page 98: Maintenance Schedule And Expected Component Life
40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.
Page 99: Maintenance Schedule
Inspecting the balancing device Inspecting the balancing devices on page 120 Inspecting the robot harness Inspecting the cable harness on page 123 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 100 Depending on application and the operating environment, an overhaul may be necessary after 40,000 hours. To get a correct assessment of the robot's status and about which parts that needs to be overhauled or replaced, contact your local ABB Customer Service office. Product manual - IRB 8700 3HAC052853-001 Revision: M ©...
Page 101: Expected Component Life
Deviations from this cycle will result in differences in expected life! The SIS for an IRC5 system is described in the Operating manual - Service Information System. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 102: Inspection Activities
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 103 Changing oil, axis-1 gearbox on page 138. Refit the oil plugs. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 104 3.3.1 Inspecting the oil level in axis-1 gearbox Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 105: Inspecting The Oil Level In Axis-2 And 3 Gearboxes
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 106 Changing oil in axis-2 and ax- is-3 gearbox on page 144. Refit the oil plugs. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 107 3.3.2 Inspecting the oil level in axis-2 and 3 gearboxes Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 108: Inspecting The Oil Level In Axis-4 Primary Gearbox
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 109 Further information about how to drain or fill with oil is found in sec- tion Changing oil, axis-4 primary gearbox on page 149. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 110 Continued Action Note Refit the oil plugs. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 111: Inspecting The Oil Level In Axis-4 Secondary Gearbox
Inspecting the oil level in axis-4 secondary gearbox Action Note Jog axis-2 to -60° position approximately. Jog axis-3 to +10° position approximately. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 112 155. Refit the oil plugs. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 113: Inspecting The Oil Level In Axis-5 Gearbox
Technical reference manu- al - Lubrication in gearboxes. Required documents Document Document number Note Technical reference manual - Lub- 3HAC042927-001 rication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 114 159. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 115: Inspecting The Oil Level In Axis-6 Gearbox
Inspecting the oil level in axis-6 gearbox Action Note Jog the robot to a comfortable working position in regard of getting access to the axis-6 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 116 Inspect the oil level by slowly jogging the axis-5 further 7° to approximately +82° totally. CAUTION Excessive oil can be spilled! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 117 163. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 118: Inspecting The Transparent Plugs
A few drops of oil inside can normally be released from the hub. But if oil increases, this is not the case. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 119 Add an extra 2 mm shim between the hub and the radial sealing to eliminate the problem In a clean environment the transparent oil plugs can be removed. Do not remove the transparent oil plugs in other than clean environments! Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 120: Inspecting The Balancing Devices
The figure also shows the inspection points, further described in the instructions. Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 121 Inspect the area around the lock nut and V-ring at the upper and lower ear for leakage. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 122 Keep the areas around the balancing devices clean and free from objects, such as service tools etc. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 123: Inspecting The Cable Harness
Make sure the cabling is not dam- aged in any way, between the cable brackets in these areas. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 124 Ensure that the cables are undam- aged. Remove any objects that may cause possible cable chafing! Replace the cable harness if wear, cracks or other damage is detected! Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 125: Inspecting The Information Labels
These figures show the location of the information labels to be inspected. The symbols are described in section Safety symbols on manipulator labels on page Illustration 1 SECTION A-A xx1700000986 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 126 SECTION C-C SECTION B-B Axis 2-3 SECTION D-D xx1700000979 Calibration label Warning label Risk of crush injuries xx1700000980 Oil specification label Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 127 Brake release buttons xx1700000983 Complete oil specification Warning label Tip risk when loosening bolts xx1700000981 Grease specification label Instruction plate Heat xx1700000984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 128 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 741. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 129: Inspecting The Axis-1 Mechanical Stop Pin
Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 130 If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 131: Inspecting The Additional Mechanical Stops
Attachment screw and washer (4+4 pcs) • Document for mechanical stop pin Standard toolkit Content is defined in section Standard toolkit on page 733. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 132 Article number is specified in be replaced. Required equipment on page 131. Correct attachment screws: • M16x90 quality 12.9 Gleitmo 603 (2 pcs per additional mechanical stop) Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 133: Inspecting The Fork Lift Accessories
Fork lift pocket (4 pcs) Attachment screws MC6S 20x60 8.8 (2x4 pcs) Required equipment Equipment Article number Note Fork lift accessory 3HAC053662-003 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 134 If any damage is detected, the fork lift pockets and Article number is specified in attachment screws must be replaced. Required equipment on page 131. Attachment screws: M20x60 quality steel 8.8-A3F Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 135: Inspecting The Signal Lamp (Option)
If so, replace it. page 135. • inspecting cable connections. • inspecting the cabling. Replace the cabling if a fault is detected. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 136: Inspecting Dampers
3HAC12991-1 (7 pcs) Attachment screws: M6x20 (1x7 pcs) Damper, wrist: 3HAC050601-001 (2 pcs) Attachment screws: M6x16 (2+2 pcs) Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 137: Replacement/Changing Activities
Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 138: Changing Oil, Axis-1 Gearbox
Article number Note Oil collecting vessel The capacity of the vessel must be sufficient to take the complete amount of oil. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 139 If the ventilation hole is closed when the oil dispenser is in use, there is a risk of damaging vital parts in the gear. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 140 Remove the oil filling nipple, put the protect- ive cap on and put the oil filling hose into the connection box. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 141 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 142 Inspect the oil level. Required oil level: 58 mm ± 5 mm below the sealing surface of the oil plug. Remove the oil dispenser. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 143 The robot color may otherwise discolor. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 144: Changing Oil In Axis-2 And Axis-3 Gearbox
Standard toolkit on page 733. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 145 Remove the protection cap from the nipple of the oil draining plug and connect the oil dispenser. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 146 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 147 Type of lubrication in gearboxes on Note page 137. The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 148 Tightening torque: 24 Nm Refit the ventilation plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 149: Changing Oil, Axis-4 Primary Gearbox
Standard toolkit on page 733. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 150 Remove the protection cap from the nipple of the oil draining plug and connect the oil dispenser. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 151 Tightening torque: 24 Nm. Filling oil into the axis-4 primary gearbox Action Note Jog the robot to a comfortable working position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 152 If the ventilation hole is not open when the oil dispenser is working, there is a risk of damaging vital parts in the gear! Open the inspection plug. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 153 108. Remove the oil dispenser and refit the protection cap to the nipple of the oil filling plug. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 154 Tightening torque: 24 Nm Refit the ventilation plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 155: Changing Oil, Axis-4 Secondary Gearbox
Standard toolkit on page 733. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 156 Place the oil collecting vessel underneath the oil drain plug. Remove the oil plug from the drain hole and let the oil run into the vessel. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 157 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 158 111. Refit the oil plugs. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 159: Changing Oil, Axis-5 Gearbox
Standard toolkit on page 733. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 160 Place the oil collecting vessel underneath the oil draining plug. Remove the oil draining plug and let the oil run into the vessel. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 161 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 162 113. Refit the oil plugs. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 163: Changing Oil, Axis-6 Gearbox
Draining the axis-6 gearbox Action Note Jog the robot to a comfortable working position in regard of getting access to the axis-6 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 164 Remove the oil plug from the combined filling/inspection/ventilation hole. Note The plug is opened to speed up the drain- age. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 165 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 166 Required oil level is when the oil level is visible just below the lower edge of the in- spection hole, with axis-5 approximately jogged +82° from the starting position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 167 163. Refit the oil plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 168: Replacing The Smb Battery
For spare part number, see: Battery includes protection • Spare parts on page741 circuits. Only replace with a specified spare part or an ABB-approved equivalent. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 169 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB- ap- proved equivalent. WARNING A used battery is hazardous material and shall be disposed of in a safe way. See section...
Page 170 Update the revolution counters. Updating revolution counters on page 697. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 171: Lubrication Activities
Equipment, etc. Article number Note Grease 3HAC042534-001 Tribol GR 100-0 PD, 50 ml Used for lubrication of the spherical roller bearing. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 172 Inspect the bearings after a few days run- ning. Some of the refilled grease may have emerged from the bearing. Wipe clean from residual grease. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 173: Lubricating The Cross Roller Bearing
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 174 Inspect the cross roller bearing after a few days running. Some of the refilled grease may have emerged from the bearing. Wipe clean from residual grease. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 175: Cleaning Activities
General To secure high uptime it is important that the IRB 8700 is cleaned regularly. The frequency of cleaning depends on the environment in which the product works. Different cleaning methods are allowed depending on the type of protection of the IRB 8700.
Page 176 Typical tap water pressure and flow Instructions for steam or high pressure water cleaning ABB robots with protection types Foundry Plus, Wash, or Foundry Prime can be cleaned using a steam cleaner or high pressure water cleaner. The following list defines the prerequisites: •...
Page 177: Repair
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 8700, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 178: General Procedures
Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 179: Mounting Instructions For Bearings
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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 180 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 181: Mounting Instructions For Sealings
If the sealing is without dust lip, just lubricate the main lip with a thin layer of grease. xx2000000071 A Main lip B Grease C Dust lip Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 182 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 183 Lubricate the o-ring with grease. Tighten the screws evenly while assembling. Check that the o-ring is not squashed outside the o-ring groove. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 184: Cut The Paint Or Surface On The Robot Before Replacing Parts
Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 185: The Brake Release Buttons May Be Jammed After Service Work
If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 186: Attaching Lifting Accessories
Roundsling 3 m (1 pcs) Lifting eye 3HAC16131-1 VLBG M12 Fender washer Outer diameter: minimum 26 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 187 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 188 Attach a roundsling looped to the Lifting Roundsling 2.5 m with lifting capacity: eye and to an overhead crane (or similar). 2,000 kg. xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 189 Adjust the lifting accessories, if needed. This is a recommendation according to standard EN 1492. Always conform to local regulations. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 190: Attaching Lifting Accessories To The Wrist
The figure show IRB 6700, but the principle is the same. Required tools and equipment Equipment, etc. Article number Note Roundsling 1 m Lifting capacity: 1,000 kg Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 191 Use a Mobile platform ladder (or similar) to Mobile platform ladder attach the lifting accessories. DANGER Never use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 192 Stretch the lifting accessories to take the weight of the wrist. Adjust the lifting accessories, if needed. This is a recommendation according to standard EN 1492. Always conform to local regulations. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 193: Cable Harness
The cable harness is located as shown in the figure. xx1500001878 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 194 Retrieving access to the wrist cabling Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 195 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 196 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 197 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 198 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 199 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 200 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 201 Unscrew the nut holding the bracket inside the upper arm. Note The screw is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 202 Disconnecting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 203 Disconnect R1.MP-A and R1.MP-B. xx1500003083 Disconnect R1.SMB. Sparkplug wrench Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Remove the two earth cables. xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 204 Cut the cable ties that secure the axis-2 Axis-2 motor cable and axis-3 motor cables to the cable fixing brackets. xx1500003091 Axis-3 motor cable xx1500003090 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 205 If not already done, unscrew the screws that hold the two cable brackets inside the lower arm. Note The screws are reached from the outside. xx1500002695 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 206 ESD on page 49 Open the small battery cover on the SMB cover, dis- connect the battery cable and remove the battery. xx1300000829 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 207 If needed, disconnect the brake release unit (connect- ors X8, X9 and X10). xx1300000670 Remove the screws with washers that hold bracket with the SMB unit. xx1300000730 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 208 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section unit is sensitive to ESD on page 49 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 209 Use caution and pull out the cable harness from the SMB recess. xx1500003089 Concluding procedure Action Note Use caution and remove the cable harness from the robot. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 210: Refitting The Cable Harness
The cable harness is located as shown in the figure. xx1500001878 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 211 Tightening torque: 6 Nm xx1500003088 Use caution and run the cable harness through the hole in the frame and out to the base plate. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 212 Screws M6x20 stainless steel (4 pcs) Make sure the signal cable R1.SMB runs under the oil hose and above the R1.MP cables, through the base. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 213 Make sure the cable harness is rotated one revolution between the upper and lower bracket inside the lower arm, when refitted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 214 The screws are reached from the outside. xx1500002695 Refit upper and lower cable guides. xx1600000075 The figure show the positions of the cable guides. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 216 Refitting the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 217 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 218 Get a hold of the battery cable in the recess for the battery and reconnect. Place the battery in the recess. xx1300000829 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 219 Run the cables to axis-2 motor through the hole on the left side of the frame. xx1600000079 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 220 Connecting the axis-1, axis-2, axis-3 and axis-4 motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 221 O-ring: 3HAC054692-002 Refit the o-ring. CAUTION When refitting the motor cover, make sure none of the cables inside will be damaged! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 222 Refit the cable clamp inside the upper arm. Nut: M6 Note The screw is attached from the outside. xx1500002720 Refit the protection cover. Attachment screw: M8 xx1500002719 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 223 The three washers are pressed into the holes in the gasket. Make sure all three washers are fitted. xx1500003094 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 224 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 225 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 226 The screw that secure the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 227 Note Replace if damaged. xx1500003095 CAUTION Make sure not to damage the cables inside the motor when refitting the motor cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 228 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 229 Note Update the revolution counters. Updating revolution counters on page 697. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 230: Replacing The Smb
The SMB unit is located inside. xx1500003096 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 231 Disconnecting and removing the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 232 Disconnect the battery cable by pressing down the upper lip of the R2.G connector to release the lock while pulling the connector upwards. xx1300000728 xx1700000993 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 233 The unit is sensitive to ESD on page 49 Connect the battery cable to the SMB unit. Make sure the lock snaps into place during refit- ting. xx1300000729 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 234 Take a hold of the SMB cover and pull the battery cable out through the recess for the battery. xx1300000834 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 235 Note Update the revolution counter. Updating revolution counters on page 697. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 236: Replacing The Brake Release Unit
The brake release unit is located inside cover. xx1500003096 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 237 The battery can stay connected, to avoid needing to synchronize the robot. CAUTION Carefully put the SMB cover down to avoid damaging the battery cable connectors. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 238 Unscrew the attachment screws securing the brake release unit bracket. Remove the bracket with the brake release unit fitted. xx1300000744 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 239 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 240 185! Refit the push button guard to the SMB cover. Attachment screws: M5x16 8.8 (6 pcs) xx1300000743 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 241 The revolution counters must be updated if the battery Updating revolution counters has been disconnected. on page 697. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 242: Upper And Lower Arms
The upper arm is located as shown in the figure. xx1500002060 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 243 Content is defined in section Standard toolkit on page 733. Required consumable Consumable Article number Note Molykote 1000 To be used on attachment screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 244 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 245 Use this procedure to unload both balancing devices. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 247 Use a mobile platform ladder to reach the Mobile platform ladder upper end of the balancing device. DANGER Do not use the robot as a ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 248 Stretch the lifting accessories to unload the balancing device weight. Remove upper and lower KM-nuts, V-rings Sleeve KM nut M10: 3HAC071313-001 and support rings. xx1500001973 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 249 Turn a pallet upside down and place the balancing device in the opening for the trucks forks. This will prevent the balancing device from starting to move unexpectedly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 250 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 251 Not needed if only replacing the axis-6 unit. Unscrew the attachment screws and re- move the motor cover. Note Do not damage the gasket. Replace if damaged. xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 252 Unscrew the screw holding the carrier. Note The screw is located at the bottom of the carrier. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 253 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 254 The motor shall be refitted in the same position. xx1500002717 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 255 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 256 Unscrew the screw that holds the cable clamp at the end of the axis-3 bracket. xx1500002718 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 257 The screw is reached from the outside. xx1500002720 Cut the cable tie located underneath the axis-4 motor. xx1500002721 Unscrew the screws that secure the cover. xx1500002722 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 258 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 259 Attach a roundsling looped to the Lifting Roundsling 2.5 m with lifting capacity: eye and to an overhead crane (or similar). 2,000 kg. xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 260 In order to release the brakes, connect the 24 VDC power supply. Connect connector R2.MP2: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 261 Fixing screw, M10x80 (4 pcs) Note Keep the protection plugs. They shall be refitted when the work is done. xx1500001961 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 262 Leave the screws on the other side. correct position of the parallel rod, when refitting it. xx1500002710 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 263 Secure bearing, thrust washer and cover Strap washer with a strap (or similar) to prevent them from dropping out of its position. xx1500002716 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 264 KM nuts. Note Do not remove this KM nut at this point. Only release the torque. xx1500002726 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 265 Leave the other shaft fitted for now! Remove the magnetic plug and wipe hole and shaft end meticulously clean. xx1500003125 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 266 Lift away the upper arm. xx1500002732 Put the upper arm down on two pallets. Pallet (2 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 267 Lifting eye: 3HAC16131-1 (VLBG M12) Fender washer: Outer diameter: minimum 26 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 268 Adjust the lifting accessories, if needed. This is a recommendation according to standard EN 1492. Always conform to local regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 269 • contact surfaces in the holes for the shafts, outer ring of bearings and sealing rings. xx1500002749 xx1500002750 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 270 Inspect the sealing rings and then wipe them clean with Isopropanol. Replace if damaged. xx1500002748 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 271 Refitting parallel rod, upper end Action Note Note If the parallel rod has been removed from the robot, always start refitting at the lower end! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 272 This is done to be able to refit the parallel rod without problems and to be able to find the correct position of the parallel rod. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 273 Refit the protection plug. xx1500001967 Apply locking liquid on the attachment Attachment screw: M10x16 8.8 screw and secure shaft. Loctite 243 xx1400002600 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 274 Refit the cable clamp inside the upper arm. Nut: M6 Note The screw is attached from the outside. xx1500002720 Refit the protection cover. Attachment screw: M8 xx1500002719 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 275 The three washers are pressed into the holes in the gasket. Make sure all three washers are fitted. xx1500003094 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 276 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 277 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 278 Make sure that the covers are tightly sealed. Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1500002717 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 279 Replace if damaged. xx1200001070 CAUTION When refitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 280 With axis-5 in -90° position, use caution and temporarily connect the axis-6 motor cables outside the motor. Reconnect the connectors to the axis-6 motor. xx1300000488 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 281 Make sure that the cable spiral is not twis- ted an extra revolution. The result will be damage to the cable harness. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 282 Secure the cable bracket with its attach- Attachment screws M6x16 (2 pcs) ment screws. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 283 Replace if damaged. xx1200001095 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. xx1600000047 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 284 Preparations before refitting the balancing device Action Note CAUTION The balancing device weighs 200 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 285 KM-nut. xx1500002304 If needed, fit bearings into the balancing device ears, according to Replacing the balancing device bearings on page 454. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 286 Note Make sure the bearings are axially centered in the balancing device ears, before putting them on the shafts. xx1500002306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 287 Apply locking liquid on the threads of the Locking liquid: Loctite 243 lock nuts. xx1900001235 Inspect that the bearings are axially centered in the balancing device ears. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 288 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 289 Clean the wrist cover from residues of sealant and other contamination. Make sure the contact surface on the wrist cover is undamaged. xx1600000046 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 290 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 291: Replacing The Wrist
The wrist is located as shown in the figure. xx1500002057 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 292 Preparations before removing the wrist Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 293 Retrieving access to the wrist cabling Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 294 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 295 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 296 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 297 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 298 Do not attach the roundsling around the axis-5 gearbox! xx1300000673 The figure show the IRB 6700 but the prin- ciple is the same. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 299 Lubricate the guide pins with some grease to make the wrist slide better. xx1500003103 Remove the remaining attachment screws. xx1500003104 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 300 Use these procedures to refit the wrist. Preparations before refitting the wrist Action Note Clean the contact surfaces on wrist and arm tube flange. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 301 The figure show the IRB 6700 but the prin- ciple is the same. Note Make sure the roundsling is stretched, so it can carry the weight of the wrist. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 302 Use caution and slide the wrist into fitting position against the arm tube flange. CAUTION Make sure not to damage any parts of the cable harness. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 303 Remove the lifting accessories. Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1500002717 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 304 Replace if damaged. xx1200001070 CAUTION When refitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 305 The result will be damage to the cable harness. Use caution and push the carrier into posi- tion. xx1300001113 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 306 Attachment screws: M6x16 (2 pcs) ment screws. xx1300000484 Reconnect the connectors to the axis-6 motor. Note Place the resolver cable underneath the motor cable. xx1300000488 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 307 Make sure not to damage the cables inside the motor when refitting the motor cover. Refit the motor cover. Attachment screws: M5x20 (5 pcs) xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 308 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 309 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 310: Replacing The Axis-6 Unit
The axis-6 unit is located as shown in the figure. xx1500002058 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 311 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 312 Retrieving access to the wrist cabling Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 313 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 314 Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws holding the cable bracket. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 315 To release the brakes, connect the 24 VDC 24 VDC power supply power supply. Connect to R2.MP6-connector: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 316 Attaching lifting accessories to the axis-6 unit Action Note CAUTION The axis-6 unit weighs 165 kg. All lifting accessories must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 317 Slowly rotate the axis-6 unit upwards until the first three (of 21) screws are possible to remove. xx1600000195 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 318 This is done to be able to reach the attach- that secure the bearing. ment screws that secure the axis-6 unit. xx1600000197 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 319 CAUTION Be very careful not to damage the motor (if still fitted). The axis-6 must never rest on the motor. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 320 Refit the o-rings in the grooves. Lubricate the o-ring with some grease for a better fitting in the groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 321 When the last screws are attached, the axis-5 shall be as close as possible to +90° position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 322 Note Make sure that all 21 screws are attached and secured before removing the lifting accessories and continuing the procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 323 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Make sure the o-ring is undamaged. O-ring, 3HAB3772-107 Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 324 2 = 24V • pin 5 = 0V CAUTION Parting/mating motor pinion and hub, may damage the splines if excessive force is used! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 325 Screw dimension: M8x25 quality 12.9 Make sure that the gasket is fitted correctly. Gleitmo (4 pcs) xx1200001090 Disconnect the 24 V DC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 326 Secure the cable bracket with its attach- Attachment screws: M6x16 (2 pcs) ment screws. xx1300000484 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 327 Make sure not to damage the cables inside the motor when refitting the motor cover. Refit the motor cover. Attachment screws: M5x20 (5 pcs) xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 328 Apply flange sealant on the wrist cover Loctite 574 flange. Place the cable harness so it will not be damaged when fitting the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 329 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 330: Replacing The Turning Disc
The turning disc is located as shown in the figure. xx1500002059 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 331 Unscrew the 27 M12x40 screws and washers that secure the turning disc. xx1500002318 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 332 Use these procedures to refit the turning disc. Refitting the turning disc Action Note Wipe clean the contact surfaces. xx1500002319 Make sure the sealing ring is fitted. xx1500002984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 333 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 334: Replacing The Process Turning Disc
Note! The image shows a regular turning disc. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part...
Page 335 Unscrew the 22 attachment screws and washers that secure the process turning disc. Remove the process turning disc. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 336 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 337: Replacing The Complete Lower Arm
The complete lower arm consists of lower arm and parallel arm together. xx1500002061 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 338 Endless ratchet lashing belt Used to secure the parallel arm against the lower arm Crowbar (small) Used when removing parallel arm from lower arm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 339 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 340 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 341 Stretch the lifting accessory to take the weight of the counterweight. Unscrew the attachment screws with Attachment screws: M16x70 (10 pcs) washers, that hold the counterweight. xx1500001981 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 342 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 344 Use a mobile platform ladder to reach the Mobile platform ladder upper end of the balancing device. DANGER Do not use the robot as a ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 345 Stretch the lifting accessories to unload the balancing device weight. Remove upper and lower KM-nuts, V-rings Sleeve KM nut M10: 3HAC071313-001 and support rings. xx1500001973 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 346 Turn a pallet upside down and place the balancing device in the opening for the trucks forks. This will prevent the balancing device from starting to move unexpectedly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 347 Unscrew and remove screws, that secure the axis-3 gearbox to the parallel arm, now possible to reach. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 348 Axis 4: +90° • Axis 5: approximately -90° (to bal- ance the weight of the upper arm) • Axis 6: no significance. xx1700001306 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 349 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 350 If needed, use a Mobile platform ladder (or Mobile platform ladder similar) to attach the lifting accessories. DANGER Never use the robot as ladder. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 351 Attach a roundsling looped to the Lifting Roundsling 2.5 m with lifting capacity: eye and to an overhead crane (or similar). 2,000 kg. xx1400002599 xx1500002713 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 352 In order to release the brakes, connect the 24 VDC power supply. Connect connector R2.MP2: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 353 Fixing screw, M10x80 (4 pcs) Note Keep the protection plugs. They shall be refitted when the work is done. xx1500001961 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 354 Leave the screws on the other side. correct position of the parallel rod, when refitting it. xx1500002710 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 355 Secure bearing, thrust washer and cover Strap washer with a strap (or similar) to prevent them from dropping out of its position. xx1500002716 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 356 Unscrew the attachment screws and re- move the motor cover. Note Do not damage the gasket. Replace if damaged. xx1200001080 Disconnect the motor cables. xx1300000488 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 357 Use caution and pull out the axis-6 motor cables by holding the cables at the motor with one hand, and the other one at the carrier. xx1300000666 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 358 Note Make sure the o-ring is present when re- moving the cover. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 359 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 360 Removing the cable harness in the upper arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 361 Unscrew the nut holding the bracket inside the upper arm. Note The screw is reached from the outside. xx1500002720 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 362 Removing the cable harness in the lower arm Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 363 The figure show the positions of the cable guides. Use caution and remove the cable harness from the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 364 KM nuts. Note Do not remove this KM nut at this point. Only release the torque. xx1500002726 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 365 Leave the other shaft fitted for now! Remove the magnetic plug and wipe hole and shaft end meticulously clean. xx1500003125 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 366 Removing the parallel rod, lower end Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 367 Stretch the roundsling to start taking the weight of the parallel rod. Remove the attachment screw with washer that secure the rod shaft. xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 368 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500002098 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 369 Preparations of axis-2 before lifting the lower arm complete off Action Note CAUTION The lower arm complete weighs 600 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 371 (or similar). xx1500002707 CAUTION The parallel arm weighs 255 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 373 (or simil- ar). Attach the roundsling through the holes, in the upper end of the lower arm. xx1500002733 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 375 (or simil- ar). Attach the roundsling through the hole in the upper end of the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 376 Note Lift the lower arm assembly to a vertical position. xx1500002739 Move the lower arm assembly into mount- ing position. xx1500002700 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 377 Secure the attached screws that secure the Tightening torque: 300 Nm lower arm to the axis-2 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 378 Secure the attached screws that secure the Tightening torque: 300 Nm parallel arm to the axis-3 gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 379 Roundsling 2 m: Lifting capacity: 5,000 kg xx1500002742 Remove the Endless ratchet lashing belt. xx1500002743 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 380 Attach a roundsling to the lower arm. Roundsling 2 m: Lifting capacity: 5,000 kg xx1500002747 Stretch the roundsling to take the weight of the parallel arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 381 Remove the 24 VDC power supply. Remove the lifting accessories. Refitting the axis-1 bracket Action Note Refit the axis-1 cable bracket with the screws. xx1500002372 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 382 Apply corrosion protection on both sides Mercasol of the bearings, and on all machined sur- faces on the parallel rod. xx1500002100 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 383 Attach a roundsling to the parallel rod and Roundsling 1 m: Lifting capacity: 1,000 kg to an overhead crane (or similar). Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 384 Make sure that the washers are on the correct sides of the bearing. xx1500002098 Left side Thrust washer Right side Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 385 Refit the protection plug. xx1500001968 Apply locking liquid on the screw and se- Attachment screw: M10x16 8.8 cure the shaft. Loctite 243 xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 386 Lifting eye: 3HAC16131-1 (VLBG M12) Fender washer: Outer diameter: minimum 26 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 387 Adjust the lifting accessories, if needed. This is a recommendation according to standard EN 1492. Always conform to local regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 388 • contact surfaces in the holes for the shafts, outer ring of bearings and sealing rings. xx1500002749 xx1500002750 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 389 Inspect the sealing rings and then wipe them clean with Isopropanol. Replace if damaged. xx1500002748 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 390 Make sure the cable harness is rotated one revolution between the upper and lower bracket inside the lower arm, when refitted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 391 Refitting the cable harness in the upper arm Action Note Carefully push the cable harness in through the upper arm and out of the wrist. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 392 Refit the cable clamp on the axis-3 bracket. xx1500002718 Refit the cable clamp on the axis-3 bracket, between axis-4 motor and arm housing. xx1500003092 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 393 Make sure all three washers are fitted. xx1500003094 Refit the cover. xx1500002722 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 394 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 395 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 396 Push the motor cables in through the cable gland opening. xx1500002717 Refit the cable gland cover. Attachment screws: M5x16 (2 pcs) Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 397 Replace with standard attachment screws or the threads will be damaged. Note Make sure the o-ring is properly fitted and undamaged. xx1200001013 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 398 Turn on the power, use caution and jog axis-5 slowly to +90° position. CAUTION Make sure not to touch or damage any of the axis-6 motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 399 The attachment screw that secure the car- rier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 400 The resolver cable shall be placed under- neath the motor cable. xx1300000488 Inspect the gasket. Gasket, 3HAC033489-001 Note Replace if damaged. xx1200001095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 401 Secure the attachment screws. Attachment screws: M16x70 12.9 Gleitmo Tightening torque: 300 Nm Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 402 Make sure that the washers are on the correct sides of the bearing. xx1500001964 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 403 Handling the tool incorrectly may cause serious injury. Read and follow enclosed user instructions for the tool. Action Note Refit the protection plug. xx1500001967 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 404 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 405 Apply some grease on shafts and in bear- Grease ing holes. Note Do not apply any grease on the threads for the KM-nut. xx1500002304 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 406 DANGER Do not use the robot as ladder. xx1500001985 Use caution and raise the balancing device into mounting position. xx1500002735 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 407 Press the upper and lower part onto the Press tools, balancing device lower end: shafts using the press tool. 3HAC057130-015 xx1500002305 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 408 Wipe away surplus grease and refit the M6x10 screws. If both balancing devices shall be refitted, refit the other in the same way. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 409 Remove the screws. Refit the M16x35 screws in the holes on Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 410 Lifting accessory (chain): 3HAC15556-1 chains), to the lifting eyes. Lifting instruction 3HAC15880-2 enclosed. Stretch the lifting accessory to take the weight of the counterweight. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 411 Tightening torque: 300 Nm xx1500001981 Remove lifting accessories; lifting chains and the lifting eyes. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 412 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 413: Frame And Base
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M ©...
Page 414 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 415 Stretch the lifting accessory to take the weight of the counterweight. Unscrew the attachment screws with Attachment screws: M16x70 (10 pcs) washers, that hold the counterweight. xx1500001981 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 417 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 contact surface between parallel arm and counterweight. xx1600000049 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 418 Tightening torque: 300 Nm xx1500001981 Remove lifting accessories; lifting chains and the lifting eyes. If used, refit the plastic plugs in the holes for the lifting eyes. xx1500001980 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 419: Replacing The Mechanical Stop Pin
The mechanical stop pin is located as shown in the figure. xx1500002077 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 420 Removing the mechanical stop pin Action Note CAUTION The mechanical stop pin weighs 13 kg. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 421 Hold the stop pin with one hand and re- move the piece of wood (or similar) with the other hand. xx1500002299 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 422 If not, turn on the power, use caution and jog axis-1 to that position. xx1500002093 Clean the stop pin, as well as the hole for Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 423 Apply locking liquid (Loctite 243) on the set Locking liquid: Loctite 243 screw. xx1500002090 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 424 Secure the mechanical stop pin with the Tightening torque: 35 Nm set screw. Concluding procedure Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 425: Replacing The Parallel Rod
The parallel rod is located as shown in the figure. xx1500001978 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 426 Use these procedures to remove the parallel rod. Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 428 Fixing screw, M10x80 (4 pcs) Note Keep the protection plugs. They shall be refitted when the work is done. xx1500001961 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 429 Leave the screws on the other side. correct position of the parallel rod, when refitting it. xx1500002710 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 430 Removing the parallel rod, lower end Note If the parallel rod shall be removed from the robot, always disassemble the upper end shaft first. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 431 Stretch the roundsling to start taking the weight of the parallel rod. Remove the attachment screw with washer that secure the rod shaft. xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 432 Make a note on which side the respective washer is fitted, for a correct assembly later. xx1500002098 Left side Right side Thrust washer Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 433 User instructions, parallel rod bearing press tools: 3HAC071353-002 WARNING xx0900000813 Handling the tool incorrectly may cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 434 Make a note on which side the covers are placed. xx1500002098 Left side Right side Thrust washer Cover washer Wipe the shafts and the holes for the shafts clean. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 435 If the parallel rod has been removed from the robot, always start refitting at the lower end! xx1500001965 CAUTION The parallel rod weighs 55 kg. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 436 Make sure that the washers are on the correct sides of the bearing. xx1500002098 Left side Thrust washer Right side Cover washer Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 437 Refit the protection plug. xx1500001968 Apply locking liquid on the screw and se- Attachment screw: M10x16 8.8 cure the shaft. Loctite 243 xx1500001966 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 438 Apply corrosion protection (Mercasol) on Mercasol both sides of the bearings, and on all ma- chined surfaces on the parallel rod. xx1500002100 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 440 This is done to be able to refit the parallel rod without problems and to be able to find the correct position of the parallel rod. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 441 Refit the protection plug. xx1500001967 Apply locking liquid on the attachment Attachment screw: M10x16 8.8 screw and secure shaft. Loctite 243 xx1400002600 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 442 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 443: Unloading And Restoring The Balancing Device
Axis-3 balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 444 Unloading the pressure of the balancing device Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 446 Use a Mobile platform ladder (or similar) to Mobile platform ladder reach the upper end of the balancing device. DANGER Do not use the robot as ladder. xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 447 Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Concluding procedure Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 448: Replacing The Balancing Devices
Axis-3 balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 449 733. Required consumables Consumable Article number Note Bearing grease 3HAC9408-1 Bearing grease Locking liquid 3HAB7116-1 Loctite 243 Molykote 1000 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 450 Mobile platform ladder to reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 451 2 Then, alternately little by little, attach xx1500002309 the screws at least another five milli- meters. The pressure is now un- loaded. xx1900001210 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 452 Stretch the lifting accessories to unload the balancing device weight. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 453 If a bearing remains seated on the shaft, remove it according to Replacing the balan- cing device bearings on page 454. xx1500001976 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 454 User instructions (3HAC071377- shafts. 002) are enclosed with the tool. Hydraulic pump, 700 bar Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 455 Use caution and lift the balancing device up an let it hang in the lifting accessories. Wipe clean the contact surfaces. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 456 DANGER Do not use the robot as ladder. xx1500001985 Use caution and raise the balancing device into mounting position. xx1500002735 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 457 Press the upper and lower part onto the Press tools, balancing device lower end: shafts using the press tool. 3HAC057130-015 xx1500002305 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 458 Wipe away surplus grease and refit the M6x10 screws. If both balancing devices shall be refitted, refit the other in the same way. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 459 Calibration is described in a separate calib- ration manual enclosed with the calibration tools. General calibration information is included in section Calibration on page 691. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 460 4 Repair 4.6.5 Replacing the balancing devices Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 461: Motors
The axis-1 motor is located as shown in the figure. xx1500002063 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 462 If no previous reference values exist, and routine on page 702. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 463 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 464 Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 465 Removal tool motor M12: 3HAC14631-1 move the motor. Used to push out the motor, if necessary. Always use removal tools in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 466 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 467 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Apply flange sealant on the motor flange. Flange sealant: Loctite 574 xx1500002357 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 468 To release the brakes, connect the 24 VDC power supply as described in the list. Connect to R2.MP1-connector: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 469 Perform a leak-down test (if not already Performing a leak-down test on done). page 178. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 470 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 471 Axis Calibration is described in Calibrating with Axis Calibration method on page 701. General calibration information is included in section Calibration on page 691. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 472 4 Repair 4.7.1 Replacing the axis-1 motor Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 473: Replacing The Axis-2 And Axis-3 Motors
The axis-2 and axis-3 motors are located as shown in the figure. xx1500002064 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 474 If no previous reference values exist, and routine on page 702. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 475 Failure to secure the weight of the lower arm, will cause the lower arm to fall when the brakes of the axis-2 motor are released. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 477 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 478 Connect to connector R2.MP2 (axis-2 mo- tor) or R2.MP3 (axis 3-motor): • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 479 Let the motor rest on the guide pins. xx1500002325 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 480 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Inspect the o-ring. O-ring, 3HAB3772-107 Note Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 481 Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. CAUTION The motor weighs 27 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 482 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 483 Tightening torque: 50 Nm. Use a bits extender in order to reach the Screw dimension: M10x40 quality 12.9 screws. Gleitmo (4 pcs) xx1500002323 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 484 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 485 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 486 Valid for replacement of the axis-3 motor. Refit the plastic plug in parallel arm. xx1500002365 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 487 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 488: Replacing The Axis-4 Motor
The axis-4 motor is located as shown in the figure. xx1500002065 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 489 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 490 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 491 Use caution and pull out the motor cables. Removing the axis-4 motor Action Note CAUTION Use caution when releasing the brakes! Axis-4 can move unexpectedly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 492 All lifting accessories used must be sized accordingly! Attach the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 493 Also wipe clean the o-ring groove. Make sure the o-ring is undamaged. O-ring, 3HAB3772-107 Note Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 494 Always use guide pins in pairs. Lifting accessory, motor: 3HAC15534-1 CAUTION The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 495 • Make sure that the direction of the cable exit is facing the correct way. Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 496 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 497 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 498 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 499: Replacing The Axis-5 Motor
The axis-5 motor is located as shown in the figure. xx1500002066 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Color...
Page 500 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 501 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 502 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 503 The motor shall be refitted in the same position. xx1500002717 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 504 The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Attach the lifting accessory to the motor. Lifting accessory, motor: 3HAC14459-1 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 505 Preparations before refitting the axis-5 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 506 O-ring: 3HAB3772-107 Note Replace if damaged. Lubricate the o-ring with some grease. Make sure the o-ring is seated in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 507 The motor weighs 27 kg. All lifting accessories used must be sized accordingly! Attach the lifting accessory and lift the motor up. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 508 • the direction of the cable exit is fa- cing the correct way. xx1200001018 Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 509 Disconnect the 24 VDC power supply. Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1500002717 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 510 Replace if damaged. xx1200001070 CAUTION When refitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 511 Place the cable harness in a way so it will not be damaged when the wrist cover is fitted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 512 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 513: Replacing The Axis-6 Motor
The axis-6 motor is located as shown in the figure. xx1500002067 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 514 Preparations before removing the axis-6 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 515 Do not damage the sealing. Replace if damaged. Note xx1500003100 The position of axis-4 depends on the on- going procedure. xx1500002330 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 516 Not needed if only replacing the axis-6 unit. Unscrew the attachment screws and re- move the motor cover. Note Do not damage the gasket. Replace if damaged. xx1200001080 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 517 Unscrew the screw holding the carrier. Note The screw is located at the bottom of the carrier. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 518 Connect to R2.MP6-connector: • pin 2 = 24V • pin 5 = 0V Unscrew the attachment screws with washers. xx1500003097 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 519 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 520 Apply flange sealant on the motor flange. Flange sealant: Loctite 574 xx1500002357 If the motor is a new spare part, remove the motor cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 521 The M4 screw may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 522 If not, apply 1 gram of grease. xx1500002346 CAUTION Whenever parting/mating motor pinion and hub, the splines may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 523 Make sure the motor pinion is properly mated into the hub. Make sure the motor pinion is not dam- aged. xx1500003102 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 524 Place the resolver cable underneath the motor cable. xx1300000488 Make sure the gasket on the motor cover is undamaged. Note Replace if damaged. xx1500003095 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 525 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 wrist cover flange. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 526 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 527: Gearboxes
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part...
Page 528 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 529 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 530 Preparations before refitting the hub Action Note Wipe the hub clean. Inspect the hole where the hub shall be refitted. Wipe clean if needed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 531 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 532 See procedures in Motors on page 461. Refill oil in the gearbox in question. See procedures in Replacement/changing activities on page 137. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 533 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 534: Replacing The Axis-1 Gearbox
The axis-1 gearbox is located as shown in the figure. xx1500002068 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number...
Page 535 Leak-down tester Standard toolkit Content is defined in section Standard toolkit on page 733. Required consumables Consumable Article number Note Mercasol Grease Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 536 Remove any tool or other equipment fitted on the turning disc. Begin draining the oil. Draining the axis-1 gearbox on page 139. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 538 Remove the stop pin by sliding it down, out off its hole and moving it slightly forwards. xx1500002089 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 539 • Axis 6: 0° xx1700000968 CAUTION The weight of the IRB 8700 robot is 4,750 All lifting accessories used must be sized accordingly. Fit two lifting eyes to the holes in the frame and two lifting eyes to the holes in the counter weight.
Page 540 B Roundsling 2 m: Lifting capacity: 5,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Stretch the lifting accessories to take the weight of the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 541 Disconnecting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 542 Disconnect R1.MP-A and R1.MP-B. xx1500003083 Disconnect R1.SMB. Sparkplug wrench Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Remove the two earth cables. xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 543 Unscrew the attachment screws with washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 544 Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 545 Removal tool motor M12: 3HAC14631-1 move the motor. Used to push out the motor, if necessary. Always use removal tools in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 546 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 547 Alternately thread the nuts clockwise on the two rods to pull out the hub from the gear. xx2000001380 Lift out the hub carefully. xx2000001381 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 548 Make sure that all screws have been re- moved and that the lifting accessories are fastened correctly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 549 Always use guide pins in pairs. xx1700000929 CAUTION The complete arm system weighs 4,300 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 550 Do not tighten the lifting eyes completely against the gearbox. Leave a 5 mm gap, or the sealing surface on the gearbox will be damaged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 551 Use caution and lift the gearbox off. xx1500003123 Make sure not to loose the small o-ring between base and gearbox. xx1500003124 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 552 Let only one hand stay underneath the hanging gearbox while cleaning. Fitting the axis-1 gearbox Action Note Clean the groove for the small o-ring. xx1600000042 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 553 Person two: working beside the ro- bot, working with the torque wrench. xx1500003122 Remove the guide pins and attach the re- maining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 554 If the lifting accessories have been removed from the arm system, refit them accordingly: Action Note CAUTION The complete armsystem weighs 4,300 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 555 B Roundsling 2 m: Lifting capacity: 5,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Stretch the lifting accessories and adjust if needed to make the lift level. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 556 Apply flange sealant (Loctite 574) on the Flange sealant: Loctite 574 sealing surface for the cross roller bearing on the base. xx1600000045 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 557 One of the guide pins shall be matched against the hole closest to the small dowel pin in the bas. xx1700000932 xx1700000933 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 558 • Person two: working beside the ro- bot, working with the torque wrench. xx1500003120 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 559 Person two: working beside the ro- bot, working with the torque wrench. xx1500003119 Remove the guide pins and attach the re- maining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 560 Preparations before refitting the hub Action Note Wipe the hub clean. Inspect the hole where the hub shall be refitted. Wipe clean if needed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 561 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 562 Tightening torque: 14 Nm. Performing a leak-down test Action Note Perform a leak-down test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 563 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 564 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC14459-1. Fit the rotation tool. Rotation tool: 3HAC7887-1 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 565 • Make sure that the direction of the cable gland exit is facing the correct way. xx1500002084 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 566 If the lifting accessories have been removed from the arm system, refit them accordingly: Action Note CAUTION The complete armsystem weighs 4,300 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 567 A Lifting chains with shortener (2 pcs) B Roundsling 2 m: Lifting capacity: 5,000 kg (2 pcs) C Lifting eye, M24: 3HAC038295-003 (4 pcs) Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 568 Refitting the cable harness in the base Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 570 Use a Sparkplug wrench (or similar). xx1200000888 xx1500003084 Refit the two earth cables. Attachment screw: M6x16 stainless steel A2-70 xx1500003085 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 571 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 572 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 574 Tightening torque: 35 Nm set screw. Concluding procedure Action Note Refill oil in the gearbox. Changing oil, axis-1 gearbox on page 138. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 575 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 576: Replacing The Axis-2 Gearbox
The axis-2 gearbox is located as shown in the figure. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part...
Page 577 Shell Alvania WR2 (or similar) Grease 3HAC063069-001 Castrol Molub. Alloy 777-1 NG, 5 ml. To be used on hub splines to prevent from fretting corrosion. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 578 Removal and refitting must be performed with the robot in several positions, which are described in the procedures. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 579 • Axis 2: 0° • Axis 3: +66° • Axis 4: 0° • Axis 5: 0° • Axis 6: No significance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 580 Find area 1. Note Do not remove screws in area 2 or area 3 at this point. Remove the screws in area 1. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 581 Keep the plastic plugs. It shall be refitted after the work is done. Jog axis-3 to the area shown in the figure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 582 Release the brakes on axis-2 using the 24 VDC power supply brake release button, and let the axis rest on the lock screw. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 583 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 584 Mobile platform ladder to reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 585 2 Then, alternately little by little, attach xx1500002309 the screws at least another five milli- meters. The pressure is now un- loaded. xx1900001210 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 586 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 587 Connect to connector R2.MP2 (axis-2 mo- tor) or R2.MP3 (axis 3-motor): • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 588 Let the motor rest on the guide pins. xx1500002325 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 589 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 590 Alternately thread the nuts clockwise on the two rods to pull out the hub from the gear. xx2000001380 Lift out the hub carefully. xx2000001381 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 591 Put some paper (or similar) to absorb the surplus oil. Use caution and move the motor flange out over the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 592 Always use guide pins in pairs. Find area 2. Remove the attachment screws in area 2. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 593 Removing the axis-2 gearbox from the lower arm, step 3 - screws in area 3 Action Note Find area 3. Remove the attachment screws that secure the gearbox to the lower arm in area 3. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 594 Slide the gearbox out on the four guide pins, just enough to be able to attach the lifting accessories. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 595 Attach the lifting accessory to the gearbox. Lifting accessory, gearbox: 3HAC054404- Attach a roundsling to the lifting accessory. Roundsling 2 m: Lifting capacity: 5,000 kg Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 596 Removal and refitting must be performed with the robot in two different positions described in the procedures. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 597 Make sure the gearbox is resting in a stable position. Fit a new sealing ring. Sealing ring 3HAC052423-001 Clean the contact surfaces between gear- box and frame. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 598 Fit guide pins to the back of the gearbox Guide pin, M16x150 (2 pcs) 3HAC13120-2 (if replaced). Always use guide pins in pairs. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 599 Apply Mercasol (40 mm from the lower arm side) Mercasol on the contact surface. Note Area where to apply Mercasol, 40 mm wide, from the lower arm side. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 600 The axis-2 gearbox shall, on the side shown in the figure, be attached to the frame. The other side of the gearbox shall be attached to the lower arm. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 601 Attach the screws with washers, in area 3. Attachment screws, M16x70 12.9 Gleitmo Note Do not torque the screws at this point. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 602 Attach the screws with washers, in area 2. Attachment screws, M16x70 12.9 Gleitmo Note Do not torque the screws at this point. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 603 Lift the motor flange onto the guide pins. Make sure the o-rings are in position and slide the motor flange into position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 604 Securing the motor flange together with gearbox Action Note Secure motor flange together with the gearbox, Tightening torque: 300 Nm to the frame. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 605 Apply some grease on the o-ring for a bet- ter fitting. Examine the pinion and the splines in the hub for damages. xx1500002082 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 606 Lift the hub to the gear, and mate the pinon carefully into the gear. xx2000001381 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 607 Wipe clean the contact surfaces from any remain- ing contamination. Also wipe clean the o-ring groove. Inspect the o-ring. O-ring, 3HAB3772-107 Note Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 608 Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. CAUTION The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 609 Fit two of the attachment screws. Screw dimension: M10x40 quality 12.9 Gleitmo (4 pcs) Remove the guide pins and replace with the remaining attachment screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 610 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 611 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 612 Restore the pressure of the balancing device by unscrewing the two M16x80 screws alternately little by little. xx1500002308 Remove the screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 614 Examine that all screws have been torqued. Concluding procedure Action Note Perform a leak-down test (if not already Performing a leak-down test on done). page 178. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 615 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 616: Replacing The Axis-3 Gearbox
The axis-3 gearbox is located as shown in the figure. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part...
Page 617 To be used on hub splines to prevent from fretting corrosion. Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 618 Removal and refitting must be performed with the robot in more than one position. These positions are described in the procedures. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 619 • Axis 2: +48° • Axis 3: 0° • Axis 4: 0° • Axis 5: 0° • Axis 6: No significance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 620 If not, there is a potential risk that a severe accident will happen. Find area 1. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 621 If not, there is a potential risk that a severe will accident happen. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 622 Preparations before jogging the robot into calibration position Action Note Turn the power to the robot on. Jog axis-2 to within the area shown in the figure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 623 Keep the plastic plug. It shall be refitted after the work is done. Jog axis-3 to the area shown in the figure. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 624 Release the brakes on axis-2 using the 24 VDC power supply brake release button, and let the axis rest on the lock screw. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 625 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 626 Mobile platform ladder to reach the upper end of the balancing device. DANGER Do not use the robot as ladder! xx1500001985 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 627 2 Then, alternately little by little, attach xx1500002309 the screws at least another five milli- meters. The pressure is now un- loaded. xx1900001210 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 628 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 629 24 VDC power supply 24 VDC power supply. Connect connector R2.MP3: • pin 2 = 24V • pin 5 = 0V Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 630 Let the motor rest on the guide pins. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 631 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 632 Lift out the hub carefully. xx2000001381 Removing the axis-3 gearbox from parallel arm, step 3 - screws area 3 Action Note Find area 3. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 633 Remove two attachment screws in opposite holes. Fit guide pins in the holes. Mounting set gear (axis 2 and 3), 3HAC059801-001 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 634 Use caution and move the motor flange out over the guide pins. Make sure the o-rings are present. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 635 Slide the gearbox out on the four guide pins, just enough to be able to attach the lifting accessories. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 637 Use caution and lift the gearbox up and let it rest on its side. CAUTION Make sure the gearbox is resting in a stable position. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 638 Apply some grease on the thin chamfer on Grease the gearbox. Fit guide pins as shown in the figure. Mounting set gear (axis 2 and 3), 3HAC059801-001 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 639 (2 pcs) Attach the roundslings to an overhead crane (or similar) and raise to take the weight of the gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 641 Action Note Find area 3. Remove the guide pins. Lower arm is hidden in this figure, to get a better view. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 642 Clean the contact surfaces on gearbox and motor flange. Clean o-rings and o-ring groove on gearbox. Inspect the o-rings. Replace if damaged! Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 643 Attach 20 of the 24 attachment screws with the Attachment screws: M16x130 12.9 four six-hole washers. Gleitmo 603 Remove the guide pins and attach the remaining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 644 Preparations before refitting the hub Action Note Wipe the hub clean. Inspect the hole where the hub shall be refitted. Wipe clean if needed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 645 Make sure that there is enough grease on Grease: Castrol Molub. Alloy 777-1 NG the splines before fitting. If not, apply 1 gram of grease. xx1500002346 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 646 Tightening torque: 14 Nm. Performing a leak-down test Action Note Perform a leak-dowm test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 647 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 648 Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Note Make sure the cable exit hole is turned the correct way. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 649 Tightening torque: 50 Nm. Performing a leak-down test Action Note Perform a leak-dowm test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 650 Note Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 651 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 652 Refit the M16x35 screws in the holes on Attachment screws: M16x35 (2 pcs) top of the balancing device. xx1500001971 Removing lock screws Action Note Turn on the power. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 653 • Axis 2: -65° • Axis 3: 0° • Axis 4: 0° • Axis 5: 0° • Axis 6: No significance. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 655 To make sure that all screws in this area are torqued, use a marker pen and mark each screw after it has been torqued. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 656 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 657: Replacing The Axis-4 Primary Gearbox
The axis-4 primary gearbox is located as shown in the figure. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part...
Page 658 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 659 Disconnecting the axis-4 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 661 The motor weighs 27 kg. All lifting accessories used must be sized accordingly. Attach the lifting accessories to the motor. Lifting accessory, motor Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 662 Do not remove the M6x16 torx pan head screws. xx1500002038 CAUTION Whenever parting/mating the hub pinion and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 663 The indicator does not need to be refitted after repair. Note The revolution indicator has been removed from robots from release R19C and for- ward. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 664 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. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 665 Cut the paint and Sikaflex with a knife in the slot between motor flange and gearbox. Remove two attachment screws in opposite holes. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 666 Attach the lifting accessories to the primary Lifting accessory axis-4 primary gearbox: gearbox. If needed, use removal tools to press out the gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 667 Always use guide pins in pairs. Put some grease on the guide pins for a better fitting. Clean the o-rings and o-ring grooves on the gearbox. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 668 Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Apply flange sealant. Loctite 574 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 669 Clean the contact surfaces on gearbox and motor flange. Clean o-ring and o-ring groove on motor flange. Inspect the o-ring. Note Replace if damaged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 670 Attach 30 of the 32 attachment screws with the Attachment screws: M12x110 12.9 four six-hole washers. Gleitmo 603 (32 pcs) Remove the guide pins and fit the remaining screws. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 671 Apply some grease on the o-ring for a bet- ter fitting. Examine the pinion and the splines in the hub for damages. xx1500002082 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 672 Lift the hub to the gear, and mate the pinon carefully into the gear. xx2000001381 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 673 The gear must never be attached with minus play. Always start with 6 mm shims. Put the axis-4 gear on the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 674 Measure the play again. If the measured result deviates too much, the gear must be disassembled and the number of shims be adjusted. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 675 Tightening torque: 10 Nm Apply locking liquid (Loctite 243) on the screws. Perform a leak-down test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 676 Lubricate the o-ring with some grease for a better fitting in the groove. If the motor is a new spare part, remove the cover. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 677 • Make sure that the direction of the cable exit is facing the correct way. Remove the guide pins. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 678 Note Push the motor cables through the cable gland opening. Refit the cable gland cover. Note Replace the gasket if damaged. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 679 Note Make sure the o-ring is undamaged and properly fitted. Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 680 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 681: Replacing The Axis-6 Gearbox
The axis-6 gearbox is located as shown in the figure. xx1500002072 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 8700 via myABB Business Portal, www.mypo- rtal.abb.com. Spare part Article number Note Reduction Gear RV-500N-236.36...
Page 682 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 683 Unscrew the 27 M12x40 screws and washers that secure the turning disc. xx1500002318 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 684 Stretch the roundsling to take the weight of the process turning diss. Unscrew the 22 attachment screws and washers that secure the process turning disc. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 685 Unscrew the attachment screws that secure the axis-6 gearbox. xx1500002982 CAUTION Whenever parting/mating hub and gearbox, the splines may be damaged if excessive force is used. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 686 Wipe clean all contact surfaces. Fit a new sealing ring. Sealing ring 3HAC052423-001 xx1600000067 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 687 Note Do not refit any of the M12x80 screws where the pin holder will be refitted with the M12x110 screws. xx1500002982 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 688 Wipe clean the contact surfaces and refit the axis-6 gearbox. xx1500002319 Make sure the sealing ring is fitted on the gearbox. xx1500002984 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 689 General calibration information is included in section Calibration on page 691. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
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Page 691: Calibration
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 692: Calibration Methods
Wrist optimization will update standard calib- ration data for axes 4 and 5. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 693 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.
Page 694: When To Calibrate
The resolver values are changed If resolver values are changed, the robot must be re-calibrated 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.
Page 695: Synchronization Marks And Axis Movement Directions
Synchronization marks, IRB 8700 Axis 1 Axis 2 xx1500000945 xx1500000946 Axis 3 Axis 4 xx1500000947 xx1500000948 Axis 5 Axis 6 xx1500000949 xx1500000950 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 696: Calibration Movement Directions For All 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 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 697: Updating Revolution Counters
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 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 698 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 699 Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Tap Manual Method (Advanced). xx1500000944 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 700 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 717. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 701: Calibrating With Axis Calibration Method
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.
Page 702 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 703 Axis to be calibrated Unrestricted. Axis is allowed to be jogged to other position than 0 degrees. Axis must be put in position 0 degrees. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 704: Calibration Tools For Axis Calibration
There is no risk for bad calibrations as long as the calibration tool is in one piece. 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. Equipment, etc. Article number...
Page 705 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. Action Note It is possible to use any RFID solution, with the correct dimensions.
Page 706: Installation Locations For The Calibration Tools
Installed calibration tools are not shown. A fixed calibration pin and a bushing for the movable calibration tool are located on each axis as follows. xx1500000786 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 707 Replace damaged parts with new. Spare part Article number Note Protection cover and plug set 3HAC056806-001 Contains replacement calibration pin covers and protective plugs for the bushing. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 708: Axis Calibration - Running The Calibration Procedure
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. Equipment, etc.
Page 709 This is shown in the Calibration Method Overview ration. window on the FlexPendant. Calibrating with Wrist Optimiza- tion method on page 715. xx2000000509 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 710 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 711 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. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 712 If the standard calibration data for axes 4, 5 or 6 Calibrating with Wrist Optimiz- should be updated with wrist optimization, run the ation method on page 715. calibration routine Wrist Optimization. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 713: Reference Calibration
(step 5, see Brief introduction to Reference Calibration on page 713). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 714 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 715: Calibrating With Wrist Optimization Method
WARNING Robot moves automatically when pressing Calibrate. 6 Wrist optimization is finished. 7 Redefine / verify TCP for all tools. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 716: Verifying The Calibration
Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 717: Checking The Synchronization Position
If they do not, up- ization position for axes on page 695 date the revolution counters. Updating revolution counters on page 697. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
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Page 719: Decommissioning
Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 720 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 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 721: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 722: Decommissioning Of Balancing Device
The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 723 Use a cutting torch with a long shaft. Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 724 This page is intentionally left blank...
Page 725: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 726: Applicable Standards
Degrees of protection provided by enclosures (IP code) Only robots with protection Clean Room. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 727 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 728: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 729: Screw Joints
7.4 Screw joints 7.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 730 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 731 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. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 732: 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 733: Standard Toolkit
Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 734: Special Tools
Standard toolkit on page 733, and of special tools, listed directly in the instructions and also gathered in this section. Special tools Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 735 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Guide pins 3HAC15521-2 Guide pin, M10x150 3HAC13056-2 Guide pin, M12x150 3HAC13056-3 Guide pin, M12x200 3HAC13120-2 Guide pin, M16x150 3HAC13120-3 Guide pin, M16x200...
Page 736 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC046128-001 Lifting accessory, gearbox Lifting eye 3HAC16131-1 VLBG M12 xx1200001242 Lifting eye, with swivel Working load limit: 2,000 kg xx1200001242...
Page 737 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Roundsling 2 m Lifting capacity: 5,000 kg Roundsling 1.5 m Lifting capacity: 2,000 kg Roundsling 1 m Lifting capacity: 1,000 kg...
Page 738 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC071355-001 Hub tool xx2000001378 Other tools 24 VDC power supply 3HAC12342-1 Bits extender Calibration tool box, Axis Calibration 3HAC055412-001 Delivered as a set of calibration tools.
Page 739 7 Reference information 7.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Mobile platform ladder Endless ratchet lashing belt On axis-4 motor side. 4 chains required. Continues on next page Product manual - IRB 8700 3HAC052853-001 Revision: M ©...
Page 740: Lifting Accessories And Lifting Instructions
This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 741: Spare Parts
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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
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Page 743: 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 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 744 Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 14000 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 745: Index
697 humidity calibrating robot, 701, 715 operation, 43 calibration storage, 42 Absolute Accuracy type, 692 rough, 697 information labels location, 125 standard type, 692 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 746 28 signals in manual, 19 personnel symbols, 19 requirements, 18 symbols on robot, 21 plastic safety devices, 29 disposal, 719 safety equipment Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 747 1, 85 safety, 19 Wrist Optimization synchronization position, 697 overview of method, 715 sync marks, 695 system integrator requirements, 28 zero position checking, 717 Product manual - IRB 8700 3HAC052853-001 Revision: M © Copyright 2015-2020 ABB. All rights reserved.
Page 750 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 2015-2020 ABB. All rights reserved. Specifications subject to change without notice.

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