Page 1 ROBOTICS Product manual IRB 910INV...
Page 2 Trace back information: Workspace 22A version a22 Checked in 2022-03-21 Skribenta version 5.5.019...
Page 3 Product manual IRB 910INV-3/0.35 IRB 910INV-6/0.55 OmniCore Document ID: 3HAC068055-001 Revision: K © Copyright 2019-2022 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
Mechanically restricting the working range ........... Electrical connections ..................3.5.1 Robot cabling and connection points ............3.5.2 Customer connections ................Start of robot in cold environments ..............Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 6 Replacing the axis-1 gear unit sub-assembly ..........5.8.2 Replacing the axis-2 gear unit sub-assembly ..........Calibration Introduction to calibration ................... 6.1.1 Introduction and calibration terminology ............Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 7 Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. 10 Spare parts 10.1 Spare part lists and illustrations ................Index Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Product manual scope The manual covers all variants and designs of the IRB 910INV. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
Page 10 Overview of this manual Continued References Documentation referred to in the manual, is listed in the table below. Document name Document ID Product manual, spare parts - IRB 910INV Document.ID-1 Product specification - IRB 910INV 3HAC068057-001 Circuit diagram - IRB 910INV 3HAC061899-011...
Page 11 • Updated information about Gleitmo treated screws, see Screw joints on page 836. • Corrected timing belt description, see Inspecting timing belts on page 109. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 12: 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 13 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 14: 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 15: 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 16: 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 instructions. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 17: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 18 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 19: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 20 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 21 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 22 Moving robot The robot can move unexpectedly when floor standing. Always use transportation lock screw in floor standing position. xx1700000813 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 23 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 24 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 25: Robot Stopping Functions
For more information see: • Product manual - OmniCore C30 • Product manual - OmniCore C90XT • Product manual - OmniCore E10 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 26: Safety During 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. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 27 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 28 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 29: Safety During Operation
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 31 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 32 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 33: 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 34: Brake Testing
For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 35: Safety During 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 36: Safety During Decommissioning
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 37: Technical Data
Force in any direction in the XY plane Force in the Z plane Bending torque in any direction in the XY plane Bending torque in the Z plane Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 38 Application manual - Control- time to have a ler software OmniCore, section Motion Process lower resonance Mode. frequency than recommended. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 39 Manipulator, protection type Clean Room ISO Class 1 According to IEC 60529. The protection class of the ballscrew area is IP20. For more information, please contact ABB. Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances.
Page 40: Robot Dimensions
Robots with protection class IP54 (option 3350-540) or with protection type Clean Room (option 3351-1) 22.5 101.5 16 h7 xx1900001540 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 41 Robots with protection class IP30 (option 3350-300) 22.5 20 h7 xx1900000217 Robots with protection class IP54 (option 3350-540) or with protection type Clean Room (option 3351-1) The figure shows the dimension of the IRB 910INV-6/0.55 for Clean Room/IP54. 22.5 101.5 20 h7 xx1900001541...
Page 42: Working Range
This illustration shows the unrestricted working range and turning radius. xx1800002809 IRB 910INV-3/0.35 IRB 910INV-6/0.55 IP30 Clean Room/IP54 IP30 Clean Room/IP54 R350 R350 R550 R550 R175 R175 R275 R275 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 43: Information Labels
ABB logo WEEE label Rating label UL label Calibration label Read manual and caution Clean Room label Only for robots with protection type Clean Room. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 44: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 45: Installation And Commissioning
Safety on page 15 before performing any installation work. Note Always connect the IRB 910INV and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...
Page 46: 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 47: Risk Of Tipping/Stability
Moving the arm will displace the center of gravity, which may cause the robot to tip over. The shipping position is the most stable position. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 48 Make sure that the robot is secured with the bracket in its shipping and transportation position. If the robot is laid down, the grease may come out from the gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 49 Base inner arm fixture Inner arm outer arm fixture Ballscrew fixture Hex socket head cap screw Hex socket head cap screw Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 50 How to use the transportation bracket is described further in Transportation bracket on page WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 51: Transportation Bracket
Note Keep the brackets every time when it's removed from the robot for further use. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 52 Base inner arm fixture Inner arm outer arm fixture Ballscrew fixture Hex socket head cap screw Hex socket head cap screw Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 53 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws. Remove the bracket. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 54: On-Site Installation
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 55: Lifting The Robot
Do not grasp the ball screw during the lifting work, it may be damaged. Grasp the robot, see Grasping location on page Lift the robot. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 56 Be careful so that the robot does not bump into something while lifting and transporting. It could damage the robot. Secure the robot on a workbench according to section Orienting and securing the robot on page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 57: Lifting Robot With Lifting Accessories
Attempting to lift a robot in any other position than the recommended lifting position may result in the robot tipping over, causing severe damage or injury. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 58 Length: 3 m. Lifting capacity: 50 Lifting the robot WARNING The transportation brackets cannot be removed until the robot is secured to the foundation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 59 For Clean Room robots, it is important not to rub against the paint of the robot while perform- ing any service work on the robot. CAUTION The weight of the IRB 910INV robot is 22 kg All lifting accessories used must be sized ac- cordingly. WARNING Personnel must not, under any circumstances, be present under the suspended load.
Page 60 Do not overstretch the round- slings if the robot is fastened because there is a risk of the robot being damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 61 Remove the robot attachment screws (if the Screw: M6x25 (robot installation dir- robot is fastened). ectly on foundation) (6 pcs) xx1900000141 Raise the overhead crane to lift the robot. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 62: Lifting And Rotating A Suspended Mounted Manipulator
Article numbers for the accessory and the instruction is specified in Special tools on page 841. Any additional equipment required is specified in the instruction for the lifting accessory. Contact ABB for more information. Illustration xx insert an image Product manual - IRB 910INV 3HAC068055-001 Revision: K ©...
Page 63: Manually Releasing The Brakes
If the robot is not connected to the controller, power must be supplied to the connector R1.MP according to the section Supplying power to connector R1.MP on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 64 Make sure no personnel is near or beneath the ro- bot. xx1900000142 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 65 If they are mixed up, damage can be caused to internal electrical components. xx1900000100 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 66: Orienting And Securing The Robot
Hole con- The foundation surface must be clean and un- figuration, base on page painted. CAUTION The weight of the IRB 910INV robot is IRB 910INV-3/0.35: 19 kg IRB 910INV-6/0.55: 22 kg All lifting accessories used must be sized accord- ingly.
Page 67 + 0.012 + 0.012 6 x M6 5 H7 4xR10 + 0.012 5 H7 xx1800002817 * Maintenance window: Opening to access inner arm's cover is recommended. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 68: 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. See Product specification - Robot stopping distances according to ISO 10218-1. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 69: Lamp
This function is NOT valid when connecting to OmniCore E10. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 70: Installation Of Signal Lamp (Option)
The X15 connector provides MON_LAMP output signals for use. For more details, see chapter Descriptions for connectors in OmniCore product manuals. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 71 Further information about how to set up I/O system may be found in Technical reference manual - System parameters. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 72: Fitting Equipment On The Robot (Robot Dimensions)
The robot is supplied with holes for fitting extra equipment. Maximum allowed arm load depends on center of gravity of arm load and robot payload. Holes for fitting extra equipment of IRB 910INV-3/0.35 Robots with protection class IP30 (option 3350-300) 6 x M4 8 83.5 14 x M4 8 185.5...
Page 73 14 x M4 8 185.5 4 x M4 8 SECTION A-A xx1900001542 Holes for fitting extra equipment of IRB 910INV-6/0.55 Robots with protection class IP30 (option 3350-300) 6 x M4 8 83.5 14 x M4 8 4 x M4 8 238.5...
Page 74 The dimensions for fitting the end effector is shown in the following figure. Note Mounting of other equipment on the IRB 910INV may damage the gearboxes. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K...
Page 75 3 Installation and commissioning 3.3.7 Fitting equipment on the robot (robot dimensions) Continued xx1800002819 Conical hole Shaft diameter Through hole Flat cut Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 76 3 Installation and commissioning 3.3.7 Fitting equipment on the robot (robot dimensions) Continued End effector flange of IRB 910INV-3/0.35 Robots with protection class IP30 (option 3350-300) 3x90 16h7 52.7 xx1900001315 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K...
Page 77 3.3.7 Fitting equipment on the robot (robot dimensions) Continued Robots with protection class IP54 (option 3350-540) or with protection type Clean Room (option 3351-1) 3x90 16h7 52.7 xx1900001544 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 78 3 Installation and commissioning 3.3.7 Fitting equipment on the robot (robot dimensions) Continued End effector flange of IRB 910INV-6/0.55 Robots with protection class IP30 (option 3350-300) 3x90 20h7 57.7 xx1900001316 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K...
Page 79 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 80: Restricting The Working Range
Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in a different position to ensure a reduced working range. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 81: Mechanically Restricting The Working Range
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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 82: Electrical Connections
An O-ring is needed for the robots with protection type Clean Room and protection class IP54. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 83 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 84 15 m 3HAC067449-003 It is recommended to always use the CP/CS cable provided by ABB. If users still require to do wiring by their own, make sure to use R1.C1 connector in M12 A-code 12p female type. It is the responsibility of the users to guarantee the safety of the system when self-prepared cables and connectors are used.
Page 85: Customer Connections
R1.C1 and R1.C2 connectors on the base are parts of the CP/CS cable and Ethernet floor cable, respectively. For details about the robot cabling, see Robot cabling and connection points on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 86 Protection cover for C1 connector on the base Protection plug for exhaust port connector on the base Only available for protection type Clean Room. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 87: 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
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Page 89: Maintenance
Note If the IRB 910INV is connected to power, always make sure that the IRB 910INV is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
Page 90: Service Information System (Sis)
Such information of the ball screw spline unit of the IRB 910INV is reported as axis 3 in the SIS system. When a service message is reported for axis 3 of the IRB 910INV, an inspection on the ball screw spline unit is required.
Page 91: Maintenance Schedule And Expected Component Life
4.3.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 910INV: • Calendar time: specified in months regardless of whether the system is running or not.
Page 92: Maintenance Schedule
Replacing the SMB battery pack page 115 Recommended to robots without Running the Brake Check routine the SafeMove option. See Operating manual - OmniCore. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 93 Alternatively, lubricate the ball screw spline unit when a running distance of 100 km is reached. iv Not needed separately if already included in the application. Recommended test interval is within the range 8-48 hours. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 94: Expected Component Life
Examples of "extreme usage" in regard to movement: press tending, very severe palletizing applications, major use of axis 1 movement and major use of bending backwards of axis 3. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 95: Cleaning Activities
4.4.1 Cleaning the IRB 910INV General To secure high uptime it is important that the IRB 910INV is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 910INV.
Page 96 Remove waste material, such as sand, dust and chips, if it prevents cable movement. • Clean the cables if they have a crusty surface, for example from dry release agents. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 97: Inspection Activities
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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 98 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 843. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 99: Inspecting The Robot Cabling
Look for abrasions, cuts or crush damage. Replace the cabling if wear or damage is detected. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 100: Inspecting The Ball Screw Spline Unit
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 910INV via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K ©...
Page 101 Move the outer arm to a position where the axis 3 can be moved in full stroke. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 102 113. Replace the ball screw spline unit if wear or dam- Replacing the ball screw on age is detected. page 464. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 103: Inspecting Axis-3 Mechanical Stops
Replacing the bellows. 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 104 See Cut the paint or surface on the robot before repla- cing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 105 Replace if any mechanical stop is: • bent • loose • damaged. Note The expected life of gearboxes can be reduced as a result of collisions with the mechanical stop. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 106: Inspecting The Bellows
The bellows are located as shown in the figures. xx1900001546 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 107 • 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 108 Replace if any bellow is: • aged • loose • damaged. Check the clamps torque. Tightening torque for the clamps: 0.6 Nm ±10% Adjust the clamps if needed. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 109: Inspecting Timing Belts
Always read the section "General procedures" before doing any repair work. Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 110 4.5.6 Inspecting timing belts Continued Location of timing belts The timing belts are located as shown in the figures. Axis Location xx1800002853 xx1800002856 xx1800003400 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 111 65-71N 193-236Hz 229-293Hz Axis 3 22-26N 32-36N 190-232Hz 225-287Hz Axis 4 27-31N 38-42N 178-217Hz 210-268Hz Axis 4-2 84-96N 120-132N 257-314Hz 304-389Hz Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 112 Use a sonic tension meter to measure the Timing belt tension on page 111. timing belt tension. Adjust the belt tension if needed! Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 113: Lubrication Activities
Used to release the motor brakes. Required consumables Consumable Article number Note Grease THK AFA Used to lubricate the ball screw spline shaft. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 114 Move the shaft up and down several times while pressing the brake release button to smooth out the grease on the shaft. Wipe off excessive grease. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 115: Replacement/Changing Activities
Replacing the battery pack Replacing the battery pack is accessible after removing the SMB from the base, Replacing the SMB unit and battery unit on page 214. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 116 This page is intentionally left blank...
Page 117: 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 910INV, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 118: General Procedures
Carefully grind the paint edge that is left on the structure to a smooth surface. Refitting Note Refitting is required only for robots with protection type Clean Room. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 119 Clean Room/Hygienic. Note After all repair work, wipe the robot free from particles with spirit on a lint free cloth. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 120: Cable Harness
The base harness is located as shown in the figure. xx1800002824 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 121 The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 122 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 123 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 124 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 125 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 126 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 127 Removing the base harness 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 128 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 129 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 130 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 131 Reconnect the connector. • R1.MP See the number markings on the connectors for help to find the corresponding connector. xx1800002829 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 132 Apply grease to the internal harness, cover all moving area of the harness. Apply grease to the covers that have contacting area with the harness. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 133 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 134 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 135 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 136: Replacing The Internal Harness
The internal harness is located as shown in the figure. xx1800003406 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 137 The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 138 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 139 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 140 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 141 Removing the lower cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 142 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 143 Disconnecting the connectors on the base harness 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 144 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 145 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 146 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 147 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 148 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 149 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 150 Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Snap loose and remove the female head of the connectors from the bracket. xx1900000064 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 151 Disconnecting the connector for PB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 152 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 153 The connector clip has to be pressed (1) and pushed forward (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 154 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 155 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 156 Be aware of the cabling that is attached to the cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx1800002848 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 157 • R2.FB2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx1800002875 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 158 Figure 5.1: Remove the bracket from the cable ferrule by re- moving the screws. xx1800003409 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 159 Cut the cable straps for R2.MP3 and R2.MP4. Take photos of the cable straps position before cutting them, to have as a reference when routing the cable. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 160 Pull the internal harness out of the inner arm from the sleeve of the axis-1 gearbox. Wrap the connectors with the masking tape. xx1800003411 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 161 The air hoses should face the axis-1 motor. CAUTION Make sure that no cables or hoses are twisted or xx1800003412 strained. Reroute if necessary. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 162 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 163 Screws: Hex socket head cap with the screws. screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1800003409 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 164 See the number markings on the connectors for help to find the corresponding connector. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 165 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 166 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 167 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 168 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 169 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 170 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 171 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 172 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 173 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 174 The mistake proofing measure has been applied to the connectors, the connectors may be dam- aged if excessive force is used. xx1900000081 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 175 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 176 Reconnect the connectors. • SMB.P7 • SMB.J1 See the number markings on the connectors for help to find the corresponding connector. xx1800002833 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 177 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 178 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 179 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 180 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 181 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 182 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 183 Refit the screws. xx1800002873 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001637 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 184 Refit the screws. xx1800002899 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001636 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 185 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 186 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 187 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 188 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 189: Replacing The Process Hub
The process hub is located as shown in the figure. xx1800002835 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 190 The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 191 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 192 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 193 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 194 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 195 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 196 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connector. • R2.PB xx1900000068 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 197 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the air hoses from the L-shaped con- nectors. xx1800002837 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 198 (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Snap loose and remove the female head of the connectors from the bracket. xx1900000071 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 199 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 200 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 201 Be aware of the cabling that is attached to the cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx1800002848 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 202 Be aware of the cabling that is attached to the cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx1900001638 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 203 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 204 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 205 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 206 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 207 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 208 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 209 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 210 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 211 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 212 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 213 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 214: Replacing The Smb Unit And Battery Unit
The SMB unit and battery unit are located as shown in the figure. xx1800002844 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 215 The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 216 Removing the base cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 217 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 218 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 219 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 220 Refit the SMB package to the bracket with the Screws: Hex socket head cap screws. screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1800002845 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 221 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 222 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 223 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 224 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 225: Base
The base is located as shown in the figure. xx1800002823 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 226 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 227 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 228 Removing the base cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 229 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 230 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 231 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 232 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 233 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 234 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 235 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 236 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 237 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800002851 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 238 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the one way valve by unscrewing it. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 239 Refit the base to the axis-1 gearbox as the illustra- tion. xx1800002852 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 240 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 241 Install the axis1&2 belt tension adjustment tool to Belt tension adjustment tool set, the motor. axis 1&2:- Note Just tighten the tool. xx1900000093 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 242 New belt:296-378Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 243 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 244 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 245 Secure the cable ferrule to the bracket with the Screws: Hex socket head cap screws. screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 246 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 247 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 248 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 249 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 250 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 251 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 252 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 253: Replacing The Axis-1 Timing Belt
The axis-1 timing belt is located as shown in the figure. xx1800002853 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 254 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 255 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 256 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 257 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 258 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 259 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 260 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 261 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 262 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 263 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 264 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 265 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 266 Install the axis1&2 belt tension adjustment tool to Belt tension adjustment tool set, the motor. axis 1&2:- Note Just tighten the tool. xx1900000093 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 267 New belt:296-378Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 268 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 269 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 270 Secure the cable ferrule to the bracket with the Screws: Hex socket head cap screws. screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 271 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 272 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 273 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 274 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 275 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 276 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 277 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 278: Inner Arm
The inner arm is located as shown in the figure. xx1800002854 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 279 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 280 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 281 Removing the base cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 282 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 283 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 284 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Loose the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 285 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 286 Removing the cover of the inner 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 287 Cut the paint or surface on the robot before replacing parts on page 118. Remove the three grounding cables from the bracket by unscrew the screws. xx1900000062 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 288 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 289 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 290 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 291 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 292 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 293 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 294 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800002851 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 295 Disconnecting the connectors for axis-3 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 296 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 297 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connector. • R2.PB xx1900000068 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 298 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the air hoses from the L-shaped con- nectors. xx1800002837 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 299 (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Snap loose and remove the female head of the connectors from the bracket. xx1900000071 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 300 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 301 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 302 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws. xx1800002874 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 303 Cut the cable straps for R2.MP3 and R2.MP4. Take photos of the cable straps position before cutting them, to have as a reference when routing the cable. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 304 Remove the screws and washers. Remove the motor and the timing belt. Move the internal harness out of the way. xx1800002877 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 305 Removing the bracket at the axis -1 gearbox position in the inner 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 306 Figure 5.2: Remove the bracket from the cable ferrule by re- moving the screws. xx1800003409 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 307 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 308 Pull the internal harness out of the inner arm from the sleeve of the axis-1 gearbox. Wrap the connectors with the masking tape. xx1800003411 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 309 CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 310 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 311 CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 312 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 313 Install the axis1&2 belt tension adjustment tool to Belt tension adjustment tool set, the motor. axis 1&2:- Note Just tighten the tool. xx1900000093 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 314 New belt:296-378Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 315 Move the internal harness out of the way. Refit the screws and washers without fully tightened. xx1800002877 Timing belt: 3HAC061861-001 Remove the plug. xx1800002878 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 316 If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Remove the axis-1&2 belt tension adjustment tool. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 317 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 318 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 319 Where the tape is wrapped. Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting. xx1800002900 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 320 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 321 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 322 Refit the bracket and secure with the screws. Screws: Hex socket head cap screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1800002874 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 323 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 324 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 325 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 326 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 327 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 328 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 329 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 330 The mistake proofing measure has been applied to the connectors, the connectors may be dam- aged if excessive force is used. xx1900000081 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 331 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 332 Reconnect the connectors. • SMB.P7 • SMB.J1 See the number markings on the connectors for help to find the corresponding connector. xx1800002833 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 333 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 334 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 335 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 336 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 337 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 338 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 339 Refit the screws. xx1800002873 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001637 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 340 Refit the screws. xx1800002899 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001636 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 341 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 342 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 343 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 344 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 345: Replacing The Axis-2 Timing Belt
The axis-2 timing belt is located as shown in the figure. xx1800002856 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 346 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 347 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 348 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 349 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 350 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 351 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 352 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connector. • R2.PB xx1900000068 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 353 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the air hoses from the L-shaped con- nectors. xx1800002837 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 354 (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Snap loose and remove the female head of the connectors from the bracket. xx1900000071 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 355 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 356 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 357 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws. Remove the casting cover. xx1800002873 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 358 • R2.FB2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx1800002875 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 359 Removing the axis-2 motor sub-assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 360 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 361 Install the axis-1&2 belt tension adjustment tool Belt tension adjustment tool set, to the motor through the hole. axis 1&2:- Note Just tighten the tool. xx1800002879 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 362 Remove the axis-1&2 belt tension adjustment tool. Refit the plug. Tightening torque: 2 Nm ±10% Just tighten it. xx1800002878 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 363 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 364 Refit the bracket and secure with the screws. Screws: Hex socket head cap screw M3x5 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.5 Nm ±10% xx1800002874 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 365 Refit the screws. xx1800002873 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001637 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 366 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 367 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 368 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 369 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 370 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 371 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 372 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 373 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 374 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 375 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 376 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 377: Outer Arm
Replacing the bellows. 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 378 24 VDC power supply Used to release the motor brakes. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 379 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 380 Removing the casting cover of the outer arm with the bellow 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 381 Removing the extension shaft for Clean Room/ IP54 robots 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 382 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the extension shaft from the mechanical stopper. xx1900001558 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 383 IP30 (option 3350-300) xx1800002858 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001640 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 384 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 385 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 7 mm position to the upper of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 2 mm position to the upper of the ball screw.
Page 386 IP30 (option 3350-300) xx1800002858 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001640 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 387 For IRB 910INV-6/0.55: Screws: Hex socket head cap screw M3x20 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.2 Nm ±10% xx1900001557 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 388 For robots with protection type Clean Room (op- tion 3351-1) Check the gasket on the casting cover. Replace the gasket if needed. xx1900001630 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 389 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Refit the upper cover to the ball screw. xx1900001548 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 390 Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Move the ball screw to lower position. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 391 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Loose the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 392 For robots with protection type Clean Room (op- tion 3351-1) Remove the screws on the cover of the outer arm. xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 393 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the O-ring from the lower housing. xx1900001615 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 394 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 396 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 397 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 68 mm position to the lower of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 75.8 mm position to the...
Page 398 IP30 (option 3350-300) xx1800002860 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001642 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 399 For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 1.2 Nm ±10% Secure the shaft to the ball screw with the screws. xx1900001616 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 400 For robots with protection type Clean Room (op- tion 3351-1) Check the gasket on the outer arm cover. Replace the gasket if needed. xx1900001633 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 401 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Refit the lower cover to the ball screw. xx1900001607 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 402 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 403: Replacing The Bellows
The bellows are located as shown in the figure. xx1900001546 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 404 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 405 Preparations before removing the upper bellow parts Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 406 Removing the upper cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 407 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 408 For robots with protection type Clean Room (op- tion 3351-1) Loosen the upper bellow clamp by loosening the screw and pull the clamp apart slightly. xx1900001552 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 409 For robots with protection class IP54 (option 3350- 540) Clean the upper housing from the glue if it will be reused. xx1900001555 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 410 For robots with protection class IP54 (option 3350- 540) Apply the glue to the gap on the inner bellow gaskets. xx1900001804 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 411 Secure the bellow and the gasket with the clamp. The opening part of the clamp should be in the opposite position to the gap on the bellow gasket. xx1900001563 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 412 For robots with protection class IP54 (option 3350- 540) Apply the glue to the outer arm. xx1900001565 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 413 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 414 DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 415 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 416 Removing the lower bellow 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 417 For robots with protection type Clean Room (op- tion 3351-1) Loosen the upper bellow clamp by loosening the screw and pull the clamp apart slightly. xx1900001611 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 418 For robots with protection class IP54 (option 3350- 540) Clean the lower housing from the glue if it will be reused. xx1900001614 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 419 For robots with protection class IP54 (option 3350- 540) Apply the glue to the gap on the inner bellow gaskets. xx1900001804 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 420 Secure them with the clamp. The opening part of the clamp should be in the opposite position to the gap on the bellow gasket. xx1900001622 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 421 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Refit the lower cover to the ball screw. xx1900001607 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 422 For robots with protection class IP54 (option 3350- 540) Apply the glue to the outer arm. xx1900001624 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 423 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 424 5 Repair 5.6.2 Replacing the bellows Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 425: Replacing The Pulley On The Ball Screw Upper Position
The pulley is located as shown in the figure. xx1800002863 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 426 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 427 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 428 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the upper cover from the ball screw. xx1900001548 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 429 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 430 Removing the axis-3 timing belt 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 431 Removing the extension shaft for Clean Room/ IP54 robots 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 432 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the extension shaft from the mechanical stopper. xx1900001558 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 433 IP30 (option 3350-300) xx1800002858 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001640 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 434 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 435 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 436 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 437 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 7 mm position to the upper of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 2 mm position to the upper of the ball screw.
Page 438 IP30 (option 3350-300) xx1800002858 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001640 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 439 For IRB 910INV-6/0.55: Screws: Hex socket head cap screw M3x20 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.2 Nm ±10% xx1900001557 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 440 Refit the timing belt to the pulley on the ball screw Timing belt: and the motor. Ensure that the belt runs correctly 3HAC061862-001 in the grooves. xx1800002886 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 441 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 442 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 443 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 444: Replacing The Pulley On The Ball Screw Lower Position
The pulley is located as shown in the figure. xx1800002864 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 445 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 446 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 447 Removing the lower cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 448 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 449 Removing the axis-4 second timing belt 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 450 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 451 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 452 Removing the pulley on the ball screw lower position 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 453 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 454 Steel (6 pcs) Secure with the special stopping tool to prevent Tightening torque: 6.5 Nm ±10% the pulley from rotating. xx1800002865 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 455 Install the axis-4 belt tension adjustment tool to Belt tension adjustment tool set, the motor. stage two of axis 4:- Note Just tighten the tool. xx1900000096 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 456 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 457 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 68 mm position to the lower of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 75.8 mm position to the...
Page 458 IP30 (option 3350-300) xx1800002860 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001642 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 459 For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 1.2 Nm ±10% Secure the shaft to the ball screw with the screws. xx1900001616 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 460 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 461 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 462 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 463 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 464: Replacing The Ball Screw
Replacing the bellows. 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
Page 465 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 466 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 467 Removing the lower cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 468 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 469 Removing the axis-4 second timing belt 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 470 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 471 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 472 Removing the pulley on the ball screw lower position 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 473 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 474 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 475 Removing the axis-3 timing belt 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 476 Removing the ball screw assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 478 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Loose the attachment screws. xx1900001557 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 479 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 481 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 482 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 483 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 484 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 7 mm position to the upper of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 2 mm position to the upper of the ball screw.
Page 485 IP30 (option 3350-300) xx1800002858 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001640 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 486 For IRB 910INV-6/0.55: Screws: Hex socket head cap screw M3x20 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 1.2 Nm ±10% xx1900001557 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 488 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 489 Steel (6 pcs) Secure with the special stopping tool to prevent Tightening torque: 6.5 Nm ±10% the pulley from rotating. xx1800002865 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 490 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 491 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 68 mm position to the lower of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 75.8 mm position to the...
Page 492 IP30 (option 3350-300) xx1800002860 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001642 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 493 For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 1.2 Nm ±10% Secure the shaft to the ball screw with the screws. xx1900001616 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 494 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 495 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 496 Install the axis-4 belt tension adjustment tool to Belt tension adjustment tool set, the motor. stage two of axis 4:- Note Just tighten the tool. xx1900000096 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 497 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 498 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 499 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 500 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 501 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 502 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 503: Replacing The Axis-3 Timing Belt
The axis-3 timing belt is located as shown in the figure. xx1800003400 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 504 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 505 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 506 Removing the casting cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 507 Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001628 xx1900001629 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 508 Loosen the screws of the axis-3 motor sub-as- sembly to let the axis-3 timing belt free. xx1800003391 Remove the timing belt. xx1800003392 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 509 New belt:225-287Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 510 Refit the screws. xx1800002883 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001628 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 511 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001547 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 512 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 513: Replacing The Axis-4 Second Timing Belt
The axis-4 second timing belt is located as shown in the figure. xx1800003402 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 514 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 515 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 516 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 517 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 518 Loosen the screws of the pulley pre-assembly to let the axis-4 second timing belt be free. xx1800003389 Remove the timing belt. xx1800003390 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 519 Refit the timing belt to the pulley and the motor. Ensure that the belt runs correctly in the grooves. xx1800002895 Timing belt: 3HAC061864-001 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 520 Pay attention to the force application direction. If the ball screw will interfere with the handheld dynamometer, adjust the ball screw manually. xx1900000097 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 521 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 522 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 523 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 524 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 525: Replacing The Axis-4 Timing Belt
Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 526 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 527 Removing the lower cover 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 528 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 529 Removing the bracket for the process hub 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 530 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 531 The sudden drop of the ball screw due the lost of the axis-4 motor may cause danger. Remove the screws. xx1800002888 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 532 118. Loosen the screws of the axis-4 motor sub-as- sembly to let the axis-4 timing belt be free. xx1800002894 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 533 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Refit the timing belt to the pulley. xx1800002892 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 534 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 535 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 536 Install the axis-4 belt tension adjustment tool to Belt tension adjustment tool set, the motor. stage two of axis 4:- Note Just tighten the tool. xx1900000096 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 537 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 538 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 539 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 540 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 541 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 542 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 543: Replacing The Pulley Pre-Assembly
The pulley pre-assembly is located as shown in the figure. xx1800003404 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 544 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 545 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 546 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 547 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 548 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 549 Make sure that the ball screw is supported with something. The sudden drop of the ball screw due the lost of the axis-4 motor may cause danger. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 550 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 551 Refit the motor to the pulley pre-assembly. Move the internal harness out of the way. xx1800002891 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 552 Tightening torque: 3 Nm ±10% xx1800002893 Use a sonic tension meter to measure the timing Used belt: 178-217Hz belt tension. New belt:210-268Hz Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 553 M4x20 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Washer 4.3x10x2 steel (4 pcs) Tightening torque: 3 Nm ±10% xx1800002889 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 554 Refit the timing belt to the pulley and the motor. Ensure that the belt runs correctly in the grooves. xx1800002895 Timing belt: 3HAC061864-001 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 555 Pay attention to the force application direction. If the ball screw will interfere with the handheld dynamometer, adjust the ball screw manually. xx1900000097 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 556 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 557 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 558 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 559 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 560 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 561 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 562: Replacing The Outer Arm
The outer arm is located as shown in the figure. xx1800003405 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 563 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 564 Remove the robot from the wall or enough space. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 565 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 566 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 567 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 568 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 569 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 570 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connector. • R2.PB xx1900000068 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 571 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the air hoses from the L-shaped con- nectors. xx1800002837 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 572 (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Snap loose and remove the female head of the connectors from the bracket. xx1900000071 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 573 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 574 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 575 Be aware of the cabling that is attached to the cover! The cover can not be removed completely until the connectors are disconnected, as shown in following steps. xx1800002848 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 576 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 577 Removing the internal harness from the axis -2 gearbox position 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 578 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 579 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800003382 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 580 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800003384 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 581 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 582 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 583 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 584 Removing the axis-3 motor sub-assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 585 Removing the shaft for Clean Room/ IP54 robots 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 586 Removing the lower mechanical stopper 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 588 Removing the ball screw assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 591 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 592 Steel (6 pcs) Secure with the special stopping tool to prevent Tightening torque: 6.5 Nm ±10% the pulley from rotating. xx1800002865 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 593 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 594 540) For robots with protection type Clean Room (op- tion 3351-1) For IRB 910INV-3/0.35, refit the mechanical stop- per to the ball screw at 68 mm position to the lower of the ball screw. For IRB 910INV-6/0.55, refit the mechanical stop- per to the ball screw at 75.8 mm position to the...
Page 595 IP30 (option 3350-300) xx1800002860 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001642 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 596 For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 1.2 Nm ±10% Secure the shaft to the ball screw with the screws. xx1900001616 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 597 Refit the motor to the outer arm. Move the internal harness out of the way. xx1800002885 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 598 New belt:225-287Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. xx1800002887 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 599 M4x20 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Washer 4.3x10x2 steel (4 pcs) Tightening torque: 3 Nm ±10% xx1800002889 Secure with the screws. xx1800002888 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 600 Install the axis-4 belt tension adjustment tool to Belt tension adjustment tool set, the motor. stage two of axis 4:- Note Just tighten the tool. xx1900000096 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 601 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 602 For robots with protection type Clean Room (option 3351-1) When the gear unit is in the right position, you can hear a clear "Click". xx1900001645 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 603 Refit the outer arm with the gear unit to the inner arm. (Location pin?) When the gear unit is in the right position, you can hear a clear "Click". xx1800003383 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 604 Tightening torque: 3 Nm ±10% Move the internal harness out of the way. Refit the screws and washers without fully tightened. xx1800002877 Timing belt: 3HAC061861-001 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 605 Pay attention to the force application direction. xx1900000095 If the ball screw will interfere with the handheld dynamometer, adjust the ball screw manually. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 606 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 607 See the number markings on the connectors for help to find the corresponding connector. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 608 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 609 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 610 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 611 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 612 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 613 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 614 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 615 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 616 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 617 Refit the screws. xx1800002873 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001637 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 618 Refit the screws. xx1800002883 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001628 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 619 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001547 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 620 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 621 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 622 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 623 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 624: Motors
The axis-1 motor sub-assembly is located as shown in the figure. xx1800002866 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 625 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 626 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 627 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 628 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 629 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 630 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 631 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 632 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 633 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 634 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 635 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 636 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 637 Install the axis1&2 belt tension adjustment tool to Belt tension adjustment tool set, the motor. axis 1&2:- Note Just tighten the tool. xx1900000093 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 638 New belt:296-378Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 639 The mistake proofing measure has been applied to the connectors, the connectors may be dam- aged if excessive force is used. xx1900000081 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 640 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 641 Reconnect the connectors. • SMB.P7 • SMB.J1 See the number markings on the connectors for help to find the corresponding connector. xx1800002833 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 642 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 643 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 644 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 645 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 646 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 647 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 648 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 649: Replacing The Axis-2 Motor Sub-Assembly
The axis-2 motor sub-assembly is located as shown in the figure. xx1800002872 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 650 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 651 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 652 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 653 Removing the axis-2 motor sub-assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 654 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 655 Install the axis-1&2 belt tension adjustment tool Belt tension adjustment tool set, to the motor through the hole. axis 1&2:- Note Just tighten the tool. xx1800002879 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 656 Remove the axis-1&2 belt tension adjustment tool. Refit the plug. Tightening torque: 2 Nm ±10% Just tighten it. xx1800002878 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 657 Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting. xx1800002876 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 658 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 659 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 660 5 Repair 5.7.2 Replacing the axis-2 motor sub-assembly Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 661: Replacing The Axis-3 Motor Sub-Assembly
The axis-3 motor sub-assembly is located as shown in the figure. xx1800002881 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 662 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 663 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 664 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the lower cover from the ball screw. xx1900001607 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 665 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 666 Removing the bracket for the process hub 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 667 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 668 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Loose the locking screws. xx1900001547 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 669 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 670 Removing the axis-3 motor sub-assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 671 The sudden drop of the ball screw due the lost of the axis-3 motor may cause danger. Remove the screws. xx1800002884 Remove the axis-3 motor sub-assembly and the timing belt. xx1800002885 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 672 Refit the timing belt to the pulley on the ball screw Timing belt: and the motor. Ensure that the belt runs correctly 3HAC061862-001 in the grooves. xx1800002886 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 673 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 674 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 675 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 676 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 677 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 678 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 679 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 680 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 681: Replacing The Axis-4 Motor Sub-Assembly
The axis-4 motor sub-assembly is located as shown in the figure. xx1800002882 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 682 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 683 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 684 For robots with protection class IP54 (option 3350- 540) For robots with protection type Clean Room (op- tion 3351-1) Remove the lower cover from the ball screw. xx1900001607 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 685 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 686 Removing the bracket for the process hub 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 687 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 688 The sudden drop of the ball screw due the lost of the axis-4 motor may cause danger. Remove the screws. xx1800002888 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 689 118. Remove the screws and washers. Remove the motor and timing belt. Move the internal harness out of the way. xx1800002890 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 690 Refit the timing belt to the motor. Ensure that the Timing belt: belt runs correctly in the grooves. 3HAC061863-001 xx1800002892 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 691 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 692 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 693 Install the axis-4 belt tension adjustment tool to Belt tension adjustment tool set, the motor. stage two of axis 4:- Note Just tighten the tool. xx1900000096 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 694 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 695 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 696 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 697 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 698 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 699 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 700: Gearboxes
The axis-1 gear unit sub-assembly is located as shown in the figure. xx1800002896 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 701 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 702 Do not lay down the robot during the transporta- tion, always keep it straight. If the robot lay down in any situation, the grease may come out from gearbox. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 703 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 704 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 705 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 706 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 707 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 708 Disconnecting the SMB 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 709 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 710 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 711 Snap loose and remove the female head of the connectors from the bracket. xx1900000081 Release the cable ferrule from the bracket. xx1900000080 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 712 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 713 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800002851 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 714 Removing the cable ferrule 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 716 Wrap the connectors with the masking tape. Just remove the axis-1 gear unit sub-assembly without the sleeve. The MP connector cannot pass the sleeve. xx1900001652 xx1900000145 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 717 When the gear unit is in the right position, you can hear a clear "Click". Wrap the connectors with the masking tape. xx1900001652 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 718 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 719 Refit the base to the axis-1 gearbox as the illustra- tion. xx1800002852 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 720 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 721 Install the axis1&2 belt tension adjustment tool to Belt tension adjustment tool set, the motor. axis 1&2:- Note Just tighten the tool. xx1900000093 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 722 New belt:296-378Hz If the timing belt tension does not meet the require- ment, loosen the motor screws and readjust. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 723 The mistake proofing measure has been applied to the connectors, the connectors may be dam- aged if excessive force is used. xx1900000081 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 724 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 725 Reconnect the connectors. • SMB.P7 • SMB.J1 See the number markings on the connectors for help to find the corresponding connector. xx1800002833 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 726 L-shaped connector. Note Make sure that the air hoses are not bent or xx1800002830 broken when you disconnect them. Air hoses Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 727 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 728 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 729 Replace the gasket if needed. xx1800002828 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001635 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 730 Secure the base cover to the base with the Screws: Hex socket head cap screws. screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1800002827 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 731 Screws: Hex socket head cap screw M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Washers: Sealing washer M3 (4 pcs) Tightening torque: 1.2 Nm ±10% xx1900001634 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 732 Refit the screws. xx1800002899 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001636 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 733 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 734: Replacing The Axis-2 Gear Unit Sub-Assembly
The axis-2 gear unit sub-assembly is located as shown in the figure. xx1800002897 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 910INV via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 735 Used for measuring the timing belt tension. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 736 Cut the paint or surface on the robot before replacing parts on page 118. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 737 Removing the cover of the outer 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 738 For robots with protection type Clean Room (option 3351-1) Check the gasket and replace it if needed. xx1900001631 xx1900001632 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 739 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP3 • R2.FB3 xx1900000063 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 740 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connectors. • R2.MP4 • R2.FB4 xx1900000065 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 741 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the connector. • R2.PB xx1900000068 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 742 Cut the paint or surface on the robot before replacing parts on page 118. Disconnect the air hoses from the L-shaped con- nectors. xx1800002837 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 743 (2) to separate the R1.C2 (for C2 cabling). xx1800002943 Snap loose and remove the female head of the connectors from the bracket. xx1900000071 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 744 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000074 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 745 The harness are not visible due to the cleanness xx1900000078 requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 746 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws. Remove the casting cover. xx1800002873 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 747 • R2.FB2 Take photos of the connector and cable position before disconnecting them, to have as a reference when reconnecting. xx1800002875 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 748 Removing the axis-2 motor sub-assembly 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 749 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800003382 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 750 Cut the paint or surface on the robot before replacing parts on page 118. Remove the screws and washers. xx1800003384 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 751 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 752 For robots with protection type Clean Room (option 3351-1) When the gear unit is in the right position, you can hear a clear "Click". xx1900001645 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 753 Refit the outer arm with the gear unit to the inner arm. (Location pin?) When the gear unit is in the right position, you can hear a clear "Click". xx1800003383 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 754 Tightening torque: 3 Nm ±10% Move the internal harness out of the way. Refit the screws and washers without fully tightened. xx1800002877 Timing belt: 3HAC061861-001 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 755 Pay attention to the force application direction. xx1900000095 If the ball screw will interfere with the handheld dynamometer, adjust the ball screw manually. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 756 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 757 See the number markings on the connectors for help to find the corresponding connector. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 758 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 759 After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Lay the internal harness in a natural state without distortion. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 760 The harness are not visible due to the cleanness requirements of the illustration. They are still ex- isting inside the cable ferrule in the actual situ- ation. xx1900000078 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 761 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 762 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 763 The air hoses with the same number connect to the same L-shaped connector. Secure the C2 cabling to the C2 bracket with the cable straps. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 764 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 765 CAUTION Correct cable routing is highly important. If the cables are routed and secured incorrectly the cables can be damaged. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 766 Secure the bracket with screws. Screws: Hex socket head cap screw M4x8 12.9 Lafre 2C2B/FC6.9 (2 pcs) Tightening torque: 4 Nm ±10% xx1800002839 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 767 118 Note After all repair work, wipe the Clean Room robot free from particles with spirit on a lint free cloth. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 768 Refit the screws. xx1800002836 For robots with protection class IP54 (option 3350-540) For robots with protection type Clean Room (option 3351-1) xx1900001631 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 769 M3x8 (2 pcs) For robots with protection type Clean Room (op- tion 3351-1) Tightening torque: 0.6 Nm ±10% Refit the locking screws. xx1900001606 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 770 Recalibrate the robot. Calibration is detailed in section Calibration on page 771. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 771: 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 772: Calibration Methods
Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 910INV. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
Page 773 References Article numbers for the calibration tools are listed in the section Special tools on page 841. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 774: 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 775: Synchronization Marks And Axis Movement Directions
This section shows the position of the synchronization marks and the synchronization position for each axis. Synchronization marks, IRB 910INV IP30 xx1900000146 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 776 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued Clean Room/ IP54 xx1900001710 IP30 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 777 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued xx1900000147 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 778 Continued Clean Room/ IP54 xx1900001711 The three points need to be aligned. Axis 2 rotate -30° for IRB 910INV-3/0.35 Axis 2 rotate -25° for IRB 910INV-6/0.55 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 779: Calibration Movement Directions For All Axes
Positive directions are shown in the graphic below. Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below. Manual movement directions xx1900000084 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 780: Updating Revolution Counters
1 and 2 are positioned correctly. Axis 1 and 2 can be calibrated at the wrong turn, resulting in an incorrect manipulator calibration. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 781 Use the following procedure to check and correct the axis 1 position. Action Note Jog the manipulator to align the synchronization mark. xx1900000082 Remove the base cover. xx1800003547 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 782 Inspect the cable harness status. The cable harness should be in vertical state without twisting as shown in the figure. xx1800003548 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 783 Jog the axis 1 anti-clockwise (with the operator facing the rear) until the cable harness is in vertic- al state. xx1800003549 180° xx1800003550 270° Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 784 6 Calibration 6.3.1 Updating revolution counters on OmniCore robots Continued Action Note xx1800003551 360° xx1800003552 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 785 Jog the axis 1 clockwise (with the operator facing the rear) until the cable harness is in vertical state. xx1800003553 -180° xx1800003554 -270° Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 786 6 Calibration 6.3.1 Updating revolution counters on OmniCore robots Continued Action Note xx1800003555 -360° xx1800003556 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 787 M3x12 12.9 Lafre 2C2B/FC6.9 (4 pcs) Hex socket head cap screw M3x8 12.9 Lafre 2C2B/FC6.9 (4 pcs) Tightening torque: 1.5 Nm xx1800003547 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 788 Inspect the cable harness status. The cable harness should be in vertical state without twisting as shown in the figure. xx1800003557 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 789 Jog the axis 2 anti-clockwise (with the operator facing the rear) until the cable harness is in vertic- al state. xx1800003558 180° xx1800003559 270° Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 790 6 Calibration 6.3.1 Updating revolution counters on OmniCore robots Continued Action Note xx1800003560 360° xx1800003561 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 791 Jog the axis 2 clockwise (with the operator facing the rear) until the cable harness is in vertical state. xx1800003562 -180° xx1800003563 -270° Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 792 6 Calibration 6.3.1 Updating revolution counters on OmniCore robots Continued Action Note xx1800003564 -360° xx1800003565 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 793 At delivery the manipulator is in the correct position, do NOT rotate axis 1 or 2 at power up before the revolution counters are updated. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 794 This will further affect the calibration position of axis 3. IP30 xx1900000147 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 795 Clean Room/ IP54 xx1900001711 The three points need to be aligned. Axis 2 rotate -30° for IRB 910INV-3/0.35 Axis 2 rotate -25° for IRB 910INV-6/0.55 For robots with protection class IP54 and protection type Clean Room Make sure the opening gap on the lower mechanical stopper is aligned with the notch on the outer arm cover, and the convex edge surface on the mechanical stopper is aligned with the lowest surface on the outer arm cover.
Page 796 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 820. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 797: 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 798 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 799 Axis must be put in position 0 degrees. How to calibrate an inverted robot The IRB 910INV is calibrated inverted in factory, prior to shipping. To recalibrate an inverted robot, use either fine calibration or reference calibration routine. Product manual - IRB 910INV 3HAC068055-001 Revision: K ©...
Page 800: Calibration Tools For Axis Calibration
Required if Axis Calibration is the valid calib- ration method for the robot. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory.
Page 801 • Outer diameter within Ø12g4 mm, Ø8g4 mm or Ø6g5 mm (depending on calibration tool size). • Straightness within 0.005 mm. xx1500000951 Outer diameter Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 802: Installation Locations For The Calibration Tools
This is shown in the figure. xx1900000997 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 803 Protective plug for bushing 3HAC059556-001 Replace if damaged or missing. O-ring 3HAC061327-022 Replace if damaged or missing. Calibration pin cover, 10 mm 3HAC056253-003 Replace if damaged or missing. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 804: Axis Calibration - Running The Calibration Procedure
Required if Axis Calibration is the valid calibration method for the robot. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory. Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Page 805 For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 806 Replace the cover with new spare part, if missing or damaged. xx1600002102 O-ring: 3HAC061327-022 Calibration pin cover, 10 mm: 3HAC056253-003 Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 807 Ensure that the sealing is not damaged. Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protective plug for bushing: 3HAC059556-001. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 808: Reference Calibration
6.4.5 Reference calibration Brief introduction to Reference Calibration Note Only axes 1 and 2 of the IRB 910INV can be calibrated with the reference calibration routine. Reference calibration is a faster method compared to Fine calibration, as it refers to a previously made calibration.
Page 809: Calibrating The Robot
The table below specifies the axis positions. Axis IRB 910INV-3/0.35 IRB 910INV-6/0.55 IP30 IP54/Clean Room IP30 IP54/Clean Room 5.5 mm 2 mm 8.3 mm 2 mm 0° 0° 0° 0° Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 810: Calibrating Axis 1 And Axis 2
6.5.2 Calibrating axis 1 and axis 2 6.5.2 Calibrating axis 1 and axis 2 Calibrating axis 1 and axis 2 Axes 1 and 2 of the IRB 910INV are calibrated using the Axis Calibration method. Calibrating with Axis Calibration method on page 797.
Page 811: Calibrating Axis 3 And Axis 4
The figure shows axis 3 and axis 4 in calibration position. The axes 3 and 4 are calibrated together. IP30 xx1900000148 IRB 910INV-3/0.35 IRB 910INV-6/0.55 24.5 mm 21.7 mm Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 812 Continued Clean Room/ IP54 xx1900001711 The three points need to be aligned. Axis 2 rotate -30° for IRB 910INV-3/0.35 Axis 2 rotate -25° for IRB 910INV-6/0.55 Note For robots with protection class IP30 Do not mix up the calibration position with the synchronization position, which two are close to each other.
Page 813 Make sure the payload is disassembled or tooling is properly supported; otherwise, fast downward movements of axis 3 may cause severe hits. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 814 When doing this, pay attention to robot pose in order to avoid arm collision. Release the brakes (for IRB 910INV-6/0.55 only) and manually rotate axis 4 until the opening gap or the ball screw origin point on the lower mech- anical stopper is aligned with the notch on the outer arm cover.
Page 815 The axis is calibrated and the system returns to the list of available mechanical units. Tap OK. The fine calibration process is complete. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 817 Write down the new system parameters on a new label and stick on top of the calibration label on the robot. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 818 In this case, update the revolution counters for axis 3 and axis 4 (axis 4 is coupled with axis 3). See Updating revolution counters on page 780. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 819: Verifying The Calibration
775. Write down the values on a new label and stick it on top of the calibration label. The label is located on the base. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 820: Checking The Synchronization Position
If they do not, up- ization position for axes on page 775 date the revolution counters. Updating revolution counters on page 780. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 821: Troubleshooting
Check: been installed • the configuration files • connectors • options and their configuration • changes in the robot working space/movements. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 822 The robot has recently Check: been moved from one site • connections to another (an already • software versions working robot) Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 823: Oil And Grease Stains On Motors And Gearboxes
"cooling periods" into the your local ABB representative. application. • Overpressure created inside gearbox. Inspect all sealings and gaskets between motor and gearbox. Replace broken parts. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 824: Mechanical Noise Or Dissonance
Bearings inside motors are not to be re- placed individually, but the complete motor is replaced. Make sure the bearings are fitted correctly. Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 825 Investigate whether it chased from your local ABB representat- is possible to program small "cooling ive. periods" into the application. • Overpressure created inside gearbox. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 826: Manipulator Collapses On Power Down
Remove the motor from the gearbox to in- If found faulty, the motor must be replaced spect it from the drive side. as a complete unit. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 827: Motor Temperature Too High
The ways could be but not limited to op- tor utilization. timizing robot movement cycle, adjusting acc, dec as well as external force, adding wait time, and introducing alternative path/RAPID, etc. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
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Page 829: Decommissioning
These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 830: Environmental Information
8.2 Environmental information 8.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
Page 831 China RoHS symbol The following symbol shows the information to hazardous substances and the environmental protection use period of IRB 910INV according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products (SJ/T 11364-2014) ".
Page 832: 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 833: Reference Information
9.1 Introduction 9 Reference information 9.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 834: Applicable Standards
Protection of Electrical and Electronic Parts, Assemblies and Equipment (Excluding Electrically Initiated Explosive Devices) EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 835: 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 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 836: Screw Joints
9.4 Screw joints 9.4 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 837 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 838 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 839: 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 840: Standard Toolkit
Hex socket head cap no. 2.5 socket 1/2" bit L=110 mm Hex socket head cap no. 2.5 socket 1/2" bit L=150 mm Small screwdriver T-handle with ball head Small cutting plier Plastic mallet Needle-nose plier Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 841: Special Tools
Includes Belt tension adjustment tool set, axis 1&2 and Belt tension adjustment tool set, stage two of axis 4. The robot is calibrated by either manual calibration or Axis Calibration at ABB factory before delivery. Always use the same calibration method as used at the factory.
Page 842: Lifting Accessories And Lifting Instructions
The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 843: 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.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRB 910INV 3HAC068055-001 Revision: K...
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Page 845 37 lock and tag, 27 lubricants, 30 damaged bearings, 824 lubrication dimensions ball screw spline unit, 113 robot, 72 direction of axes, 779 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 846 39 updating revolution counters, 780 protection types, 39 users symbols, 19 requirements, 16 technical data, 37 robot cabling inspecting, 99 validity and responsibility, 15 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 847 819 replacing, 47, 62, 120, 136, 189, 214, 225, 377, 425, 444, 464, 525, 543 weight, 37 robot, 59, 66 zero position checking, 820 Product manual - IRB 910INV 3HAC068055-001 Revision: K © Copyright 2019-2022 ABB. All rights reserved.
Page 850 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2019-2022 ABB. All rights reserved. Specifications subject to change without notice.

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