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ABB IRB 2600ID Product Manual

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Table of Contents

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IRB 2600

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Summary of Contents for ABB IRB 2600ID

  • Page 1 ROBOTICS Product manual IRB 2600...
  • Page 2 Trace back information: Workspace 23B version a11 Checked in 2023-06-20 Skribenta version 5.5.019...
  • Page 3 Product manual IRB 2600-20/1.65 IRB 2600-12/1.65 IRB 2600-12/1.85 IRB 2600-20/1.65 type C IRB 2600-12/1.65 type C IRB 2600ID-15/1.85 IRB 2600ID-8/2.0 IRC5, OmniCore Document ID: 3HAC035504-001 Revision: AD © Copyright 2009-2023 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

    Electrical connections ..................2.8.1 Robot cabling and connection points ............2.8.2 Customer connection on robot ..............Test run after installation, maintenance, or repair ............ Maintenance Introduction ...................... Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 6 4.3.1 Removing the complete cable harness ............4.3.2 Refitting the complete cable harness ............4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID ......4.3.4 Replacing SMB unit ................. 4.3.5 Replacing the brake release board ............. Upper arm .......................
  • Page 7 Table of contents 4.7.3 Replacing motor axis 5 - IRB 2600ID ............4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID ........4.7.5 Adjusting the play ................... Gearboxes ....................... 4.8.1 Replacing gearbox axis 1 ................4.8.2 Replacing gearbox axis 2 ................
  • Page 8 This page is intentionally left blank...

  • Page 9: Overview Of This Manual

    Prerequisites A maintenance/repair/installation craftsman working with an ABB robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. • be trained to respond to emergencies or abnormal situations. Continues on next page...
  • Page 10 Overview of this manual Continued References All documents can be found via myABB Business Portal, www.abb.com/myABB. General Reference Document ID Circuit diagram - IRB 2600 3HAC029570-007 Product manual, spare parts - IRB 2600 3HAC049106-001 Safety manual for robot - Manipulator and IRC5 or OmniCore controller...
  • Page 11 Overview of this manual Continued Revision Description The following updates and additions have been made in this revision: • Variant IRB 2600ID added throughout the manual. • Safety symbols updated throughout the manual. • Section Safety signals in the manual on page 23 added in Safety chapter.
  • Page 12 • Added tip to speed up the draining of axis 4 gearbox, see Changing the oil, axis-4 gearbox on page 174. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 13 Removing motors on page 307 Refitting motors on page 320. • Complete process wrist for IRB 2600ID is added to the spare part list and to the service instructions, see Spare partsand Replacing motor axis 6 and wrist unit - IRB 2600ID on page...
  • Page 14 Information in 2.3.4 Manually releasing the brakes has been updated and two figures are added. • Motors Type B added for IRB 2600 and IRB 2600ID. • A new WARNING! is added in the section about motor replacement, informing not to mix different motor types.
  • Page 15 New article numbers for manipulator cables in section Robot cabling and connection points on page 104. • Levelmeter 2000 kit (6369901-347) no longer available. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 16 (IRB 2600ID). • Added tightening torque and inspection step for axis-5 gear oil plug, after refilling oil during axis-5 motor replacement (IRB 2600ID). Published in release 21A. The following updates are made in this revision: • Changed grease to Loctite 574 on o-ring when refitting motor axes 1 and 2.
  • Page 17 • Added axis positions for most stable transport position and removed information about shipping position. • Updated the tightening torque for axis 5 oil plug. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 18: 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 19 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 20: How To Read The Product Manual

    Likewise, certain work methods or general information that is valid for several robot models, can be illustrated with illustrations that show a different robot model than the one that is described in the current manual. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 21: Safety

    Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.

  • Page 22: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 23: Safety Signals And Symbols

    NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 24 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 25: Safety Symbols On Manipulator Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 26 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 27 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 28 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 29 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 30 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 31: Robot Stopping Functions

    For more information see: • Product manual - OmniCore V250XT • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 32: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 33 The air pressure must not exceed the rated limit for the manipulator, or there is a risk of personal injury and mechanical damage. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 34 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 35: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 36: Safety During Maintenance And Repair

    90 °C. Hot oil or grease Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 37 Specified amount de- on how much has previously pends on drained been drained from the gearbox. volume Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 38 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 39: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 40: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 41: 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. CAUTION Risk of hot surfaces that can cause burns. A risk assessment must be done to address both robot and robot system specific hazards.

  • Page 42: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 43: Installation And Commissioning

    Product manual - OmniCore V250XT • Product manual - OmniCore V250XT Type A • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 44: 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 45: Technical Data

    The actual mounting angle must always be configured in the system parameters, otherwise the performance and lifetime is affected. See Setting the system parameters for a suspended or tilted robot on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 46 ±5450 N Force z 2750 ±1420 N 2750 ±3970 N Torque xy ±3360 Nm ±7690 Nm Torque z ±1120 Nm ±3050 Nm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 47 ±7800 Nm Torque z ±1110 Nm ±3050 Nm Only valid for IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0. IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is not available for suspended installation. Requirements, foundation The table shows the requirements for the foundation where the weight of the...
  • Page 48 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IRB 2600: IP 67 IRB 2600ID upper arm: IP 54 Manipulator, protection type Foundry Plus IP 67 According to IEC 60529. Product manual - IRB 2600 3HAC035504-001 Revision: AD...

  • Page 49: Working Range And Type Of Motion

    IRB 2600 Type C-20/1.65 IRB 2600 Type C-12/1.65 IRB 2600-12/1.85 2148 mm 1174 mm 967 mm 506 mm 1553 mm 1853 mm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 50 936 mm 542 mm 1550 mm 1850 mm IRB 2600ID-8/2.00 2295 mm 1321 mm 1051 mm 539 mm 1700 mm 2000 mm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 51 469 mm 1353 mm 1653 mm IRB 2600 - 12/1.85 2148 mm 1174 mm 967 mm 506 mm 1553 mm 1853 mm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 52 936 mm 542 mm 1550 mm 1850 mm IRB 2600ID-8/2.00 2295 mm 1321 mm 1051 mm 539 mm 1700 mm 2000 mm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 53 Axis 4 (IRB 2600 standard) Wrist motion ±400° Axis 4 (IRB 2600ID) Wrist motion ±175° Axis 5 Bend motion ±120° Axis 6 Turn motion ±400° Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 54: Risk Of Tipping/Stability

    Transportation position This figure shows the robot in its transportation position. The figure shows IRB 2600 but is also valid for IRB 2600ID. Best position of IRB 2600ID axis 4 is ±90°. The position where part of the lower arm (A) is beginning to show in the hole, is approximate.
  • Page 55 The robot might be positioned in a different position at delivery, due to actual configurations and options (for example DressPack). WARNING The robot will be mechanically unstable if not properly secured to the foundation. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 56: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 57: On-Site Installation

    Roundsling, length 2 m (put folded in U-shape around the upper arm) Roundsling, length 1.5 m (put folded in U-shape around gearbox axis 3) Lifting lug Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 58 Move the robot to its most stable position. Detailed in section: • Risk of tipping/stability on For robot versions IRB 2600ID: The best pos- page 54 ition of axis 4 is ±90°. DANGER Turn off all: •...
  • Page 59 A: Area where the connection box can be damaged while lifting. Lift the robot with an overhead crane. Lifting capacity: • Required equipment on page 57 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 60: Lifting And Turning A Suspended Mounted Robot

    453. Any additional equipment required is specified in the instruction for the lifting accessory. Contact ABB for more information. How to lift and turn the robot into position for wall position: Contact ABB for more information. How to lift and turn the robot into position for tilted position: Contact ABB for more information.

  • Page 61: Setting The System Parameters For A Suspended Or Tilted Robot

    The Gravity Beta is a positive rotation direction around the y-axis in the base coordinate system. The value is set in radians. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 62 Mounting angle (A°) Gravity Beta Floor mounted 0° 0.000000 (Default) Tilted mounting 15° 0.261799 Wall mounting 90° 1.570796 Suspended mounting 180° 3.141593 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 63 90° (Wall) 1.570796 -90° (Wall) -1.570796 Note For suspended robots (180°), it is recommended to use Gravity Beta instead of Gravity Alpha. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 64 Mounting angles and values on page The system parameters are described in Technical reference manual - System parameters. The system parameters are configured in RobotStudio or on the FlexPendant. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 65: Manually Releasing The Brakes

    The brake will function again as soon as the button is released. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 66 See the previous figure. The brake will function again as soon as the button is released. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 67 Incorrect connections can cause all brakes to be released simultaneously! xx1400001984 Axes 4, 5 and 6: Pos 6: 0 V Pos 4: +24 V xx1400001985 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 68: Orienting And Securing The Robot

    Requirements, foundation on page Hole configuration, base The illustration shows the hole configuration used when securing the robot. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0900000193 Center axis 1 Note Only the three outer holes are used to secure the robot! IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C...
  • Page 69 Note Securing screws, oiled M16 x 60 3 pcs Quality 8.8 200 Nm Washers 17 x 30 x 3 3 pcs Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 70 Make sure the robot base is correctly fit- screws while lowering it into its mounting ted onto the guide sleeves. position. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 71 When bolting a mounting plate or frame to a concrete floor, follow the general instructions for expansion-shell bolts. Screw joints must be able to withstand the stress loads defined in section Loads on foundation, robot on page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 72: Fitting Equipment On Robot

    All equipment and cables used on the robot, must be designed and fitted not to damage the robot and/or its parts. Note Never drill a hole in the robot without first consulting ABB! Robot dimensions Dimensions IRB 2600-20(12)/1.65, IRB 2600 Type C-20(12)/1.65...
  • Page 73 2 Installation and commissioning 2.3.6 Fitting equipment on robot Continued Description IRB 2600ID = 281 mm Other types than Type A (IRB 2600ID) = 276 mm Dimensions IRB 2600-12/1.85 xx0900000680 Description For all other dimensions see IRB 2600-20(12)/1.65 Continues on next page...
  • Page 74 2.3.6 Fitting equipment on robot Continued Dimensions IRB 2600ID-15/1.85 xx1000000962 Description For dimensions, see IRB 2600-X/1.85 R 172 Minimum turning radius for axis 4 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 75 2.3.6 Fitting equipment on robot Continued Dimensions IRB 2600ID-8/2.00 xx1000000963 Description For dimensions, see IRB 2600-X/1.85 R 172 Minimum turning radius for axis 4 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 76 The shaded area indicates the permitted positions (center of gravity) for any extra equipment fitted in the holes intended for this purpose. xx0800000275 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 77 IRB 2600 Type C- 20/1.65 IRB 2600-12/1.85 IRB 2600-12/1.65 15 kg 1 kg 15 kg 15 kg 35 kg IRB 2600 Type C- 12/1.65 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 78 35 kg IRB 2600ID-8/2.00 15 kg 1 kg 15 kg 15 kg 35 kg Note Maximum loads must never be exceeded! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 79 The illustrations show the fitting holes available for fitting extra equipment on the base and frame of the robot. IRB 2600 Standard & ID. xx0900000227 Attachment holes on base Center axis 2 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 80 The illustrations show the fitting holes available for fitting extra equipment on the lower and upper arms of the robot. IRB 2600 standard xx0900000234 Center axis 4 Center axis 3 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 81 2.3.6 Fitting equipment on robot Continued IRB 2600ID xx1000000707 Hole through axis 4, diameter 50 Center axis 3 2x M8 through Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 82 2 Installation and commissioning 2.3.6 Fitting equipment on robot Continued Lower arm of IRB 2600 -12/1.85, IRB 2600ID -15/1.85 and -8/2.00 xx0900000492 The uppermost holes for fitting equipment on the lower arm are only applicable to variant IRB 2600 -12/1.85.
  • Page 83 Continued Upper arm xx1000000823 Holes on top of upper arm, 2 pcs Holes on other side (symmetrical to A), 2 pcs Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 84 A = R98 xx0800000278 Smallest circumscribed radius axis 4 Note Use attachment screws M6, quality 12.9 and 10 mm used thread length. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 85 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 86: Loads Fitted To The Robot, Stopping Time And Braking Distances

    The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification listed in References on page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 87: Restricting The Working Range

    Remove the mechanical stop bracket if the robots full working range is from one mechanical stop to another mechanical stop. Otherwise the mechanical stop pin will be worn out. xx1500000253 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 88: Mechanically Restricting The Working Range Of Axis 1

    These procedures include references to the may be required. See refer- tools required. ences to these procedures in the step-by-step instruc- tions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 89 Movable mechanical stop. Limited to: • -126° (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) • -129° (IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID- 15/1.85, IRB 2600ID-8/2.0) Movable mechanical stop. Limited to: • +13.5° (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) •...
  • Page 90 Fit the stop lugs firmly with attachment Specified in Required equipment on screws and washers according to the figure page Additional stops on page Tightening torque: 82 Nm Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 91: Installing Options

    The fans are installed on the motors, axes 1 or 2, as shown in the figure below. xx0900000232 Fan, motor axis 1 Fan, motor axis 2 Protection cover Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 92 These procedures include references to may be required. See refer- the tools required. ences to these procedures in the step-by-step instruc- tions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 93 B: Position where the fan shall be aligned with connection box • C: Fan Fit the fanbox with two attachment screws M6x25. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 94 Parts: • A: Protection cover • B: Fan Secure the fan cable to the protection cover with a cable strap. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 95: Installing An Expansion Container

    Introduction to the expansion container The expansion container is needed on suspended robots (IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0) to make sure that the amount of oil in gearbox axis 1 covers all important parts. Robots ordered as suspended robots have the expansion container installed on delivery.
  • Page 96 Included with the lifting accessory. Grease Locking liquid Loctite 2400 (or equivalent Loctite 243) O-ring for base cover Replace if damaged. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 97 Fit a plastic plug in the expansion container drain hole. xx1500001956 Fill the expansion container with oil. Oil volume: 0.4 l Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 98 Secure the expansion container with the at- tachment screws and washers. xx1500001959 Wipe off any oil residuals before continuing. Tightening torque 6 Nm. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 99 Turn the robot so it is not suspended. Turn the robot to suspended position. Inspect the oil level. See procedure for suspended robot, specting oil level, axis-1 gearbox on page 121. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 100: Installation Of Foundry Plus Cable Guard (Option)

    Separate instructions for IRB 2600, 4600, 6620, 6640, 6650S, 6660 and 7600 are available in English, German, French, Spanish, and Italian and can be found for registered users on myABB Business Portal (www.abb.com/myabb) and delivered with the Cable guard, article number 3HAC035933-001.

  • Page 101: Safety Lamp (Option For Irc5)

    The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 102: Robot In Hot Environments

    Let the overpressure leave the gearbox. Refit the oil plug. Continue releasing the overpressure on all gearboxes. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 103: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 104: Electrical Connections

    See Application manual - Additional axes and standalone controller (IRC5) or Application manual - Additional axes for OmniCore (OmniCore), document number in References on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 105 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 106 2 Installation and commissioning 2.8.1 Robot cabling and connection points Continued IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx1600001001 IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C xx1800001155 Fan cables (option) These cables are not included in the standard delivery, but are included in the delivery if the fan option is ordered.
  • Page 107 2.8.1 Robot cabling and connection points Continued Cabling to be installed on the robot is specified in section Installation of cooling fan for motors (option) on page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 108: Customer Connection On Robot

    R2.ETHERNET R2.CP or R2.CBUS R2.CS or R2.CP/CS Signal lamp R3.H1 +, R3.H2 - (inside the arm house, not shown in figure) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 109 R1.CP/CS R1.PROC1 (Air M16x1.5) R1.ETHERNET R1.SMB Customer connections base with 7th axis xx2000001637 R1.CP/CS R1.PROC1 (Air M16x1.5) R1.ETHERNET R1.SMB R2.FB7 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 110 Pins for cable area 0.21 - 0.93 Connector set R2.ETHER- 3HAC070439-001 upper arm • Bottle shaped shrinking hose • Angle shaped shrinking hose Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 111 XP5.3.1 R2.CS.R R1.CP/CS.b15 XP5.3.2 R2.CS.S R1.CP/CS.b16 XP5.3.3 R2.CS.T R1.CP/CS.b18 XP5.3.4 R2.CS.U R1.CP/CS.b19 XP5.3.5 R2.CS.V R1.CP/CS.b20 XP5.3.6 R2.CS.W R1.CP/CS.b21 XP5.2.9 R2.CS.X R1.CP/CS.b22 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 112 Customer Contact Customer Contact on robot base minal Controller on Upper arm, R2 (cable between robot and controller not supplied) XP5.2.10 R2.CS.Y R1.CP/CS.b23 XP5.2.11 R2.CS.Z R1.CP/CS.b24 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 113: Test Run After Installation, Maintenance, Or Repair

    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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 114 This page is intentionally left blank...

  • Page 115: Maintenance

    Product manual - OmniCore V250XT • Product manual - IRC5 • Product manual - IRC5 Panel Mounted Controller • Robot cabling and connection points on page 104. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 116: Maintenance Schedule And Expected Component Life

    40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.

  • Page 117: Maintenance Schedule

    First change when DTC reads: • 6,000 hours Second change when DTC reads: • 24,000 hours Following changes: • Every 24,000 hours. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 118 See Operating manual - IRC5 with FlexPendant or Operating manual - OmniCore for instructions. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 119 1 12 months Inspection Motor fan Every 12 Inspect the fan for contam- months ination that could hinder the air supply. Clean if ne- cessary. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 120: Expected Component Life

    SIS (See the Operating manual - Service Infomation System) In applications such as Foundry or Washing the robot can be exposed to chemicals, high temperature or humidity which can have an effect on the lifetime of gearboxes. Contact the local ABB Robotics Service team for more information.

  • Page 121: Inspection Activities

    Location of oil plugs (floor mounted) The axis 1 gearbox is located between the frame and base of the robot. The oil plug for inspection is shown in the figure. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0800000304 Oil plug, inspection...
  • Page 122 The axis 1 gearbox is located between the frame and base of the robot. The oil plug for inspection is shown in the figure. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx1200000883 Oil plug, inspection, with sealing washer Oil plug IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C...
  • Page 123 Open the oil plug, inspection. Location of oil plugs (floor mounted) on page 121. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 124 Inspecting oil level, axis-1 gearbox (suspended robot) Use this procedure to inspect the oil level in the axis-1 gearbox for IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0. IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is not available for suspended installation.
  • Page 125 Before refitting the oil plug in the gearbox, always replace the oil plug sealing washer with a new one. If not there is a risk of leakage. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 126: Inspecting The Oil Level, Axis 2 Gearbox

    Differences in the mechanical structure are pointed out in the procedure as valid for different robot version: • IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 • IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C...
  • Page 127 Add oil if required. How to fill oil is described in section • Changing the oil, axis-2 gearbox on page 166 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 128 Before refitting the oil plug in the gearbox, always replace the oil plug sealing washer with a new one. If not there is a risk of leakage. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 129: Inspecting The Oil Level, Axis 3 Gearbox

    Other tools and procedures may be required. These procedures include references to the See references to these procedures in the tools required. step-by-step instructions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 130 IRB 2600: 45 ± 5 mm from the upper edge of oil plug hole. • IRB 2600ID: 70 ± 3 mm from the upper edge of oil plug hole. Add oil if required. How to fill oil is described in section: •...

  • Page 131: Inspecting The Oil Level, Axis 4 Gearbox

    Use this procedure to inspect the oil level in the axis 4 gearbox. Action Note WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 132 Measure the oil level at the oil plug hole. Required oil level: • IRB 2600: 15 ±3 mm below the oil plug flange. IRB 2600ID: 30 ±5 mm below the oil plug flange. Add oil if required. How to fill oil is described in section: •...

  • Page 133: Inspecting Oil Level, Gearbox Axes 5 - 6

    IRB 2600: Move the robot to a position where the upper arm is close to horizontal and axis 4 in the calibration position. IRB 2600ID: Move the robot to a position where axis 4 is placed in -25°. Continues on next page...
  • Page 134 Open the oil plug in the tilthouse to al- low the oil level between axis 5 and 6 to level. • IRB 2600ID: Oil shall be visible in the rear oil plug hole, almost on its way to pour out of the hole. If necessary, refill oil.

  • Page 135: Inspecting The Cable Harness

    Hole in lower arm Bracket, lower arm Cable straps steel (One not visible here) Bracket, frame Cable strap plastic, lower arm Bracket, armhouse Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 136 See references to these procedures in the tools required. step-by-step instructions below. Circuit diagram See chapter Circuit diagram on page 459. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 137 Replace the cable harness if wear, cracks or How to replace the cable harness is de- damage is detected. scribed in Repair on page 191. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 138: Inspecting Information Labels

    • hydraulic pressure supply • air pressure supply to the robot, before entering the robot work- ing area. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 139 3.3.7 Inspecting information labels Continued Action Note Check all labels. See the figure in Location of information labels on page 138. Replace any missing or damaged labels. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 140: Inspecting The Mechanical Stop Pin, Axis 1

    These procedures include may be required. See refer- references to the tools re- ences to these procedures in quired. the step-by-step instructions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 141 C O-ring (2 pcs) - Not used if bracket (D) is installed. D Bracket E Stop pin Check that the mechanical stop pin is prop- erly attached. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 142 Continued Action Note Check that the mechanical stop pin can move freely in both directions and the bracket works as it is supposed to. xx1000000222 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 143: Inspecting Additional Mechanical Stops

    Movable mechanical stop. Limited to: • -126° (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) • -129° (IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID- 15/1.85, IRB 2600ID-8/2.0) Movable mechanical stop. Limited to: • +13.5° (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) •...
  • Page 144 If any damage on stops or attachment screws Attachment screws: etc. is detected, the mechanical stops must • M12x40, quality 8.8-A3F be replaced! • 2 pcs/stop lug Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 145: Inspecting Dampers

    Spare part no. Note Damper Spare part lists on page 457. Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 146 Check all dampers for existing impressions larger than 2-3 mm. Check attachment screws for deformation. If any damage is detected the damper must be replaced. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 147: Inspecting The Pressure Relief Valve

    If the air pressure is stopped up, too much pressure can be built up which can be hazardous. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 148 Action Note Check if the pressure relief valve is contam- inated or covered with litter. Clean if necessary. Note Use a cloth or a brush. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 149: Inspecting Signal Lamp (Option)

    If the signal lamp is damaged, it shall be replaced! Action Note Check that the signal lamp is lit when motors are put in operation ("MOTORS ON"). Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 150 Also repair possible damages of the special Foundry Prime paint coat of the robot. Cut the paint or surface on the robot be- fore replacing parts on page 198. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 151: Replacement / Changing Activities

    WebConfig. Location of gearboxes The figure shows the location of the gearboxes. xx0900000312 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 152 Expansion container, gearbox axis 1 Used when the robot is fitted in a suspended position. (valid for IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0) Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 153: Changing The Oil, Axis 1 Gearbox On Floor Mounted Robots

    440. Location of oil plugs The oil plugs are located according to following figures. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0800000304 Oil plug, filling and venting Oil plug, draining, with sealing washer...
  • Page 154 • Type of lubrication in gearboxes on page 151 Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 155 Valid for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C: Remove the protective cap from the oil nipple and connect the oil dispenser. xx1800001136 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 156 Suck out the oil with the oil dispenser. Note There will be some oil left in the gear after draining. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 157 Before refitting the oil plug in the gearbox, always replace the oil plug gasket with a new gasket. If not there is a risk of leakage. xx1800001138 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 158 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 159 Valid for IRB 2600-20/1.65, IRB 2600-12/1.65, Different position due to design differ- IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB ences: 2600ID-8/2.0: Open the oil plug, filling. xx1800001137 xx1800001139 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 160 Remove the oil dispenser and refit the protect- ive cap to the nipple. xx1800001136 Refit the oil plug. Tightening torque: 24 Nm Different position due to design differ- ences: xx1800001137 xx1800001139 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 161: Changing The Oil, Axis-1 Gearbox On Suspended Robots

    This section describes how to change the axis-1 gearbox oil in a suspended robot. Location of oil plugs The oil plugs in axis 1 gearbox are located according to the following figures IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx1200000883 Oil plug, venting...
  • Page 162 The capacity of the vessel must be suffi- vessel. cient to take the complete amount of oil. Open the end plug of the hose. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 163 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 164 Before refitting the oil plug in the gearbox, al- ways replace the oil plug sealing washer with a new one. If not there is a risk of leakage. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 165 If a floor mounted robot shall be fitted in a suspended mounted position, an expansion container must be installed. See Installing an expansion container on page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 166: Changing The Oil, Axis-2 Gearbox

    To be fitted on a hose, and then used for draining connected to the quick connect fit- ting. Location of oil plugs on page 166. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 167 Drain the gearbox oil using an oil collecting vessel. Note Draining is time-consuming. Elapsed time varies depending on the temperature of the oil. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 168 Open oil plug, filling. See the figure in: • Location of oil plugs on page 166 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 169 Before refitting the oil plug in the gearbox, always replace the oil plug sealing washer with a new one. If not there is a risk of leakage. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 170: Changing The Oil, Axis-3 Gearbox

    Type of lubrication in gearboxes on page 151 Funnel xx1200000862 Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 171 Open the oil plug, gearbox and use it as a See the figure in: ventilation hole. • Location of oil plugs on page 170 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 172 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 173 Inspecting the oil level, axis 3 gearbox on page 129 Refit the oil plug. Tightening torque: • in armhouse: 10 Nm • in gearbox: 3 Nm Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 174: Changing The Oil, Axis-4 Gearbox

    Length: minimum 300 mm. Diameter: 5 mm. Funnel xx1200000862 Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 175 Insert a compressed air hose approximately 100 mm into the gearbox, to vent the gear- box. This speeds up the draining significantly. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 176 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let out the ex- cess pressure. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 177 Use a funnel. Note The amount of oil to be filled depends on the amount previously being drained. Refit the oil plug. Tightening torque: 10 Nm. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 178: Changing Oil, Axes-5 And -6 Gearboxes

    The figure shows wrist variant 12/20 kg xx0900000139 Oil plug, tilthouse Oil plug, wrist (also used as air inlet when draining from oil plug A) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 179 3 Maintenance 3.4.7 Changing oil, axes-5 and -6 gearboxes Continued Wrist IRB 2600ID shown in position for filling. xx1000000987 Oil plug, filling Oil plug, draining Oil plug, venting Note The gearboxes for axes-5 and -6 are the same. Required equipment...
  • Page 180 IRB 2600: Then turn axis-4 another 90°. IRB 2600: Let the remaining oil run out through the oil plug hole, tilthouse. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 181 How to inspect the oil level is described in section: • Inspecting oil level, gearbox axes 5 - 6 on page 133 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 182 If the robot is fitted in a suspended position, the wrist should be turned 180°. Refit the oil plugs. Tightening torque: • IRB 2600: 10 Nm IRB 2600ID: 3 Nm Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 183: Replacing Smb Battery

    See Operating manual - IRC5 with FlexPendant or Operating manual - OmniCore for instructions. WARNING Hazards related to batteries on page Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 184 DSQC 633A xx0800000322 SMB battery (2-pole battery contact) Battery cover Attachment screws SMB battery cable How to arrange the battery cable Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 185 Do not replace the battery contact! Equipment Note SMB battery pack Battery includes protection circuits. Replace it only with given spare part no. or an ABB approved equivalent. Spare part lists on page 457. Standard toolkit Content is defined in section Standard tools on page 452.
  • Page 186 The unit is sensitive to ESD on page 56 Reconnect the battery cable to the SMB battery. See the figure in Location of SMB battery on page 184. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 187 Make sure all safety requirements are met when performing the first test run. See Test run after in- stallation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 188: Cleaning

    Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. Continues on next page...
  • Page 189 Typical tap water pressure and flow Instructions for steam or high pressure water cleaning ABB robots with protection types Foundry Plus, Wash, or Foundry Prime can be cleaned using a steam cleaner or high pressure water cleaner. The following list defines the prerequisites: •...
  • Page 190 Cooling fans Inspect the air supply inlet of the the motor cooling fans. Clean to remove any contamination that could hinder the air supply. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 191: 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 2600/IRB 2600 ID, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.

  • Page 192: General Procedures

    Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 193: Mounting Instructions For Bearings

    Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 194 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 195: Mounting Instructions For Sealings

    Do not try to grind or polish the shaft surface to get rid of the defect. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 196 Mount the sealing correctly with a mounting tool. Never hammer directly on the sealing as this may result in leakage. xx2000000072 A Gap Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 197 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface. Tighten the screws evenly when fastening the flange joint.

  • Page 198: Cut The Paint Or Surface On The Robot Before Replacing Parts

    Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 199: The Brake Release Buttons May Be Jammed After Service Work

    If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 200: Complete Robot

    IRB 2600 Standard: Axes 1, 2, 3, 4, 5 and 6 • IRB 2600ID: Axes 1, 2, 3 and 4. How to remove the cable harness on axes 5 and 6 is described in section Replacing the cable harness in the upper arm - IRB 2600ID on page 227.
  • Page 201 Cable harness, base and frame. xx0900000009 Cover base Bracket Cable harness Axis-1 motor cable Axis-2 motor cable Axis-2 motor Axis-1 motor Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 202 Other tools and procedures may be re- These procedures include references to the quired. See references to these procedures tools required. in the step-by-step instructions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 203 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 204 Remove the cover base. xx0800000456 A Base B Cover base C Attachment screws Disconnect connectors on the brake release unit: • • • Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 205 A Thin nut, width 30 mm B R1.SMB C Bracket D Air connector Unscrew the nut for the air connection on the inside of the bracket. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 206 How to remove the SMB unit is described screws. in section: • Removing the SMB unit on page 240 Leave the screws in the base. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 207 Parts: • A: Screen connection (4 pcs) Disconnect the earth cables. xx0900000015 Parts: • A: Earth • B: Distance screws Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 208 Remove the bracket securing the cable See the figure in: package to the frame. • Location of the cable harness on page 201 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 209 Before starting this procedure, first remove the cable harness in the base Removing the complete cable harness on page 200 and frame Removing the complete cable harness on page 200. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 210 Remove the brackets on the lower arm. xx0900000020 Parts: • A: Bracket, lower arm • B: Bracket, lower arm • C: Bracket, armhouse • D: Cable bracket Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 211 See section • Replacing the cable harness in the Remove the cable package in the upper upper arm - IRB 2600ID on page 227 arm. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 212: Refitting The Complete Cable Harness

    IRB 2600 Standard: Axes 1, 2, 3, 4, 4, 5 and 6 • IRB 2600ID: Axes 1, 2, 3 and 4. How to refit the cable harness on axes 5 and 6 is described in section Replacing the cable harness in the upper arm - IRB 2600ID on page 227.
  • Page 213 Cable harness, base and frame. xx0900000009 Cover base Bracket Cable harness Axis-1 motor cable Axis-2 motor cable Axis-2 motor Axis-1 motor Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 214 4 Repair 4.3.2 Refitting the complete cable harness Continued The figure shows IRB 2600 Standard but is also valid for IRB 2600ID. xx0900000384 Cable harness Bracket, lower arm Bracket, lower arm Cable straps, one not visible here (steel) Bracket, frame...
  • Page 215 B Connectors to SMB unit and Brake release unit C R1.CP/CS D Air hose E R1.MP F R1.SMB (Connector bent and taped upwards) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 216 Note Use caution when performing this procedure in order not to damage cables or other components! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 217 Connect the axis-1 and axis-2 motor cables. How to refit the motor cables is described in section: • Refitting motors on page 320 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 218 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 219 Secure the bracket with its attach- ment screws. xx0900000018 Parts: • A: Base • B: Attachment screws (2 pcs) • C: Bracket Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 220 A: Screen connections (4 pcs) When refitting connectors on the bracket, put it at a 90° angle. xx0900000013 Parts: • A: Bracket • B: Base Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 221 D: R2.SMB • E: R1.CP/CS • F: R1.MP • G: Air hose • H: Position of R1.ETHERNET (if used) • J: R1.SMB Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 222 Refit the air hose connector on the bracket. Note Check that there is no leakage from the air hose. Reconnect the battery cable. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 223 • Refitting the cable harness in the lower arm and armhouse on page 224 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 224 • Location of the cable harness on page 213 (Cable harness, lower arm) Push the cable harness carefully into the armhouse. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 225 See section • Replacing the cable harness in the Refit the cable package in the upper arm. upper arm - IRB 2600ID on page 227 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 226 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 227: Replacing The Cable Harness In The Upper Arm - Irb 2600Id

    Replacing motor axis 5 - IRB 2600ID on page 336 • Replacing motor axis 6 and wrist unit - IRB 2600ID on page 348 Location of the cable harness in the upper arm - IRB 2600ID The location of the cable harness in the upper arm is shown in the figure.
  • Page 228 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Required equipment Equipment Note VK cover 2 pcs. Art. no. is specified in Spare part lists on page 457. Sikaflex 521FC Art. no. 3HAC026759-001 Flange sealant...
  • Page 229 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Removing the cable harness Use this procedure to remove the cable harness. Action Information Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure.
  • Page 230 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Remove the mechanical stop, bracket and See section cover . • Replacing motor axis 5 - IRB 2600ID on page 336 xx1000000879 Parts:...
  • Page 231 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Remove the attachment screws (2 pcs), securing the cable harness bracket to the arm tube. Note The arm tube is not shown here.
  • Page 232 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Pull carefully out the cables off the hole in the arm house from the arm house where the connectors are. xx1000000996 Part: A Hole in arm house Remove the cable harness.
  • Page 233 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Place the cable harness spiral into its pos- Grease: Shell Gadus S2, 3HAC042536-001. ition in the arm house. Lubricate the cables in the spiral with grease.
  • Page 234 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Secure the cover with its attachment Tightening torque: 10 Nm. screws. xx1000001001 Parts: A Attachment screws (6 pcs) M6x20 quality 8.8-A2F B Cover C Attachment screws (8 pcs) M8x25 quality Steel 12.9 Gleitmo...
  • Page 235 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information For IRB 2600ID - 8/2.0: cut the cable tie that holds the harness loop together to loosen the cabling and make it longer.
  • Page 236 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Check that the cable harness is fitted cor- rectly by releasing the brakes on the axis- Note 4 motor and manually moving axis 4 very carefully all the way to each end position.
  • Page 237 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Refit the cover (A) with two screws (B). Refit the bracket (C) with two screws. Apply Sikaflex 521FC on the surfaces A shown in the figure.
  • Page 238 4 Repair 4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID Continued Action Information Fit new VK covers to the arm tube. xx1000000934 Parts: A VK-covers (2 pcs). See article num- ber in section Spare part lists on page 457.

  • Page 239: Replacing Smb Unit

    Do not replace the battery contact! Equipment Note Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 240 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 241 It is not needed to remove these three screws. xx0900000100 Parts: A Screw to be removed B Screws to be unscrewed a little (3 pcs) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 242 See the figure in: the SMB unit: • Location of SMB unit on page 239 • R1.SMB1-2 • R1.SMB3-6 • R2.SMB Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 243 Location of SMB unit on page 239 Note Use caution when performing this procedure order not to damage cables or other com- ponents! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 244 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 245: Replacing The Brake Release Board

    Connectors on push-button board The connectors X8, X9 and X10 are placed on the push-button board as shown in the figure below. xx1700000978 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 246 Remove the push button guard from the The guard must be removed to ensure a SMB cover. correct refitting of the brake release board. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 247 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 248 A Base B Base cover C Attachment screws M6x16 quality 8.8-A2F (6 pcs) Secure the base cover with its attachment screws. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 249 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 250: Upper Arm

    4.4.1 Replacing the complete upper arm Location of the complete upper arm The complete upper arm is located as shown in the figure. The figure shows IRB 2600 Standard but is also valid for IRB 2600ID. xx1100000947 Upper arm Attachment screws M8x40, quality steel 12.9 gleitmo (12 pcs)
  • Page 251 These procedures include references to the tools quired. See references to these proced- required. ures in the step-by-step instructions be- low. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 252 Run the robot to the position shown in the figure. The robot must be floor mounted and the upper arm must be horizontally positioned. xx0800000336 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 253 How to disconnect cables from motors is axes 3, 4, 5 and 6. detailed in sections: • Removing motors on page 307 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 254 Location of the complete upper arm on page 250 Note Do not remove the attachment screws securing the gearbox axis 3 to the arm- house! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 255 251. The purpose of these screws is to prevent the roundsling from sliding. The wrist unit of IRB 2600ID looks a bit different. Either run the roundsling around the ID wrist in such a way that the sling can not...
  • Page 256 Rotating lifting point, 2 pcs Roundsling around wrist unit Length: 1.5 m. Roundsling attached to arm house, 2 pcs Length: 2 m Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 257 It may be necessary to turn the gear by ro- tating the motor pinion with a rotation tool, Tightening torque : motor beneath the motor cover. • 35 Nm Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 258 A: Tubular shaft unit • B: Attachment screws M6x16 qual- ity 8.8-A2F (2 pcs) • C: Bracket Refit the signal lamp, if used. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 259 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 260: Replacing Complete Tubular Shaft Unit

    4 Repair 4.4.2 Replacing complete tubular shaft unit 4.4.2 Replacing complete tubular shaft unit Introduction This section is not valid for IRB 2600ID. Location of tubular shaft unit The tubular shaft unit is located as shown in the figure. xx0900000385...
  • Page 261 How to drain the oil from the gearbox is described in section: • Changing the oil, axis-4 gearbox on page 174 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 262 If only the tubular shaft unit shall be re- placed, it is a good idea to remove the wrist unit at this stage. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 263 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 264 Fit guide pins in the upper arm house. Specified in Required equipment on page 260. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 265 Axis Calibration is described in Calibrating with Axis Calibration method on page 412. General calibration information is included in section Calibration on page 397. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 266 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 267: Replacing Wrist Unit

    Introduction This section describes how to replace the wrist on IRB 2600 Standard. How to remove and refit the wrist unit on IRB 2600ID is described in section Replacing motor axis 6 and wrist unit - IRB 2600ID on page 348.
  • Page 268 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 269 Location of wrist unit on page 267 CAUTION Do not damage the gears. WARNING The wrist unit is filled with oil. Perform removal with care. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 270 Check if there is a parallel pin hole in the upper arm tube. The hole is available on robots that are calib- rated with the Axis Calibration method. xx1600000690 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 271 Clean all assembly surfaces. Remove any painting from the assembly sur- faces with a knife. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 272 Measuring the play, axis 5 (ID upper arm) on page 278 • Measuring the play, axis 6 (ID upper arm) on page 281 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 273 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 274: Measuring The Play, Axis 5

    4 Repair 4.4.4 Measuring the play, axis 5 4.4.4 Measuring the play, axis 5 General This section is only valid for IRB 2600. For IRB 2600ID, see section Measuring the play, axis 5 (ID upper arm) on page 278. After reassembly due to repair work or any other reason, the play in axis 5 and 6 must be checked to ensure the repetition accuracy of the robot positioning.
  • Page 275 The maximum play allowed at the given reading the dial indicator. distance from the center of axis 5 is, for robot version: • IRB 2600 -20/1.65, -12/1.65, - 12/1.85: 0.12 mm Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 276: Measuring The Play, Axis 6

    4 Repair 4.4.5 Measuring the play, axis 6 4.4.5 Measuring the play, axis 6 General This section is only valid for IRB 2600. For IRB 2600ID, see section Measuring the play, axis 6 (ID upper arm) on page 281. After reassembly due to repair work or any other reason, the play in axis 5 and 6 must be checked to ensure the repetition accuracy of the robot positioning.
  • Page 277 (B) from the center of axis 6 is, for robot version: • Values for IRB 2600 -20/1.65, - 12/1.65, -12/1.85: 0.22 mm Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 278: Measuring The Play, Axis 5 (Id Upper Arm)

    4.4.6 Measuring the play, axis 5 (ID upper arm) 4.4.6 Measuring the play, axis 5 (ID upper arm) General This section is only valid for IRB 2600ID. For measuring the play of IRB 2600, see Measuring the play, axis 5 on page 274.
  • Page 279 A from the turning disk. xx1100000691 A 140 mm Remove the load and set the dial indicator to zero. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 280 A 140 mm Remove the load and measure the play by The maximum play allowed is: reading the dial indicator. • IRB 2600ID - 15/1.85: 0.25 mm • IRB 2600ID - 8/2.00: 0.32 mm Turn axis 5 to +90°. Repeat...

  • Page 281: Measuring The Play, Axis 6 (Id Upper Arm)

    4.4.7 Measuring the play, axis 6 (ID upper arm) 4.4.7 Measuring the play, axis 6 (ID upper arm) General This section is only valid for IRB 2600ID. For measuring the play of IRB 2600, see Measuring the play, axis 6 on page 276.
  • Page 282 6. xx1100000692 A 100 mm (dial indicator) B 140 mm Remove the load and set the dial indicator to zero. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 283 B 140 mm Remove the load and measure the play by The maximum play allowed is: reading the dial indicator. • IRB 2600ID - 15/1.85: 0.20 mm • IRB 2600ID - 8/2.00: 0.22 mm Turn axis 6 to +180°. Repeat...

  • Page 284: Lower Arm

    4.5 Lower arm 4.5.1 Replacing the lower arm Location of lower arm The lower arm is located as shown in the figure. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0800000360 Upper arm Gearbox axis 3 Lower arm Washer (12 pcs) Attachment screws M8x40 quality Steel 12.9 Gleitmo (12 pcs)
  • Page 285 Attachment screws M8x40 quality Steel 12.9 Gleitmo (12 pcs) Frame Gearbox axis 2 Washer (3 pcs) Attachment screws M10x40 12.9 Gleitmo 603+Geomet 500 (15 pcs) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 286 Use this procedure to remove the lower arm. 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 287 IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0) 30 kg (IRB 2600-20/1.65 type C, IRB 2600- 12/1.65 type C) All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 288 12/1.65, IRB 2600-12/1.85, IRB 2600ID- gearbox. 15/1.85, IRB 2600ID-8/2.0: xx1800000935 Valid for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C: xx1800000934 Remove the lower arm. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 289 • A: Lifting lug Secure the lower arm with a roundsling in an overhead crane and lift it to the robot. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 290 Refitting the cable harness in the frame on page 215 • Refitting the cable harness in the lower arm and armhouse on page 224 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 291 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 292: Frame And Base

    Frame and base in Product manual, spare parts - IRB 2600. Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 293 • Location of stop pin axis 1 on page 292 Note The o-rings are not used when bracket (D) is installed. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 294 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 295: Replacing The Base

    • frame • axis-1 gearbox The location of the base and the complete arm system is shown in the figure. The figure shows IRB 2600 Standard but is also valid for IRB 2600ID. xx0900000320 Base Frame Lower arm Arm house (part of complete upper arm)
  • Page 296 For cleaning. Flange sealant Loctite 574 Only valid for IRB 2600-20/1.65, For sealing. IRB 2600-12/1.65, IRB 2600- 12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 297 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 298 The IRB 2600/IRB 2600 ID robot weighs 280 All lifting accessories used must be sized accordingly! Remove the bolts that secure the robot to the foundation. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 299 Valid for IRB 2600-20/1.65, IRB 2600- 12/1.65, IRB 2600-12/1.85, IRB 2600ID- 15/1.85, IRB 2600ID-8/2.0: Remove the expansion container, if avail- able. xx1800000881 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 300 Always use guide pins in pairs. xx1800000883 CAUTION The arm system and axis-1 gearbox weighs 235 kg together. All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 301 2600-12/1.65 type C: Lifting eye: M12 xx1800000931 Remove the support legs attachments screws and remove the base from the sup- port legs. xx1800000885 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 302 Remove residues of old Loctite and other Use Loctite 7063 (or similar) for cleaning. contaminations from surfaces before apply- ing new Loctite 574. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 303 The arm system and axis-1 gearbox weighs 235 kg together. All lifting accessories must be sized accord- ingly. Lift the arm system to the mounting site. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 304 Valid for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C: Attachment screws: M12x50 12.9 Gleitmo 603+Geomet 500 and washers (12+12 pcs). Tightening torque: 110 Nm. xx1800000880 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 305 Stretch the roundslings to make sure that the robot weight is secured. xx1800000875 Lift the complete robot and remove the support legs from the base. xx1800000874 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 306 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 307: Motors

    Introduction This procedure describes how to remove motors on all axes of the robot. Note For IRB 2600ID this section describes motors axes 1, 2, 3 and 4. Motors axes 5 and 6 are described in sections: • Motor axis 5, section Replacing motor axis 5 - IRB 2600ID on page 336 •...
  • Page 308 Tightening torques and attachment screws on page 327 Axis-3 motor Axis-4 motor Axis-5 motor Axis-6 motor O-ring (axis-4, axis-5 and axis-6) Armhouse Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 309 Connectors, motors axes 3 - 6 The figures shows the connectors in the armhouse. • IRB 2600 Standard: Axes 3-6 • IRB 2600ID: Axes 3-4 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 310 4 Repair 4.7.1 Removing motors Continued IRB 2600 Standard, motor type B MP3-6 FB3-6 xx1400002568 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 311 4 Repair 4.7.1 Removing motors Continued IRB 2600 Standard, motor type A xx0900000367 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 312 Other tools and procedures may be required. These procedures include references to the See references to these procedures in the tools required. step-by-step instructions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 313 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 314 Action Information Axis-1, axis-4, axis-5 and axis-6 motor (IRB 2600 Standard) Axis-1 and axis-4 motors (IRB 2600ID) • Move the robot to a position where the wrist is pointing to the floor, as shown in the figure. This will make it possible to remove the motors without draining the oil from the gearbox.
  • Page 315 Use this procedure to remove the axis-1, axis-2, axis-3, axis-4, axis-5 and axis-6 motors. Note How to replace motors axes 5 and 6 on IRB 2600ID is described in sections: • Replacing motor axis 5 - IRB 2600ID on page 336 •...
  • Page 316 This must be done in order to be able to remove the bracket on top of motors axes 4, 5 and 6. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 317 C: Clamp • D: Cable straps • E: Connection bracket • F: Connection bracket • G: Hexagon nut, M5 quality steel 8-A2F Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 318 Always use removal tools in pairs diag- onal to each other. Remove the motor! CAUTION Lift the motor gently in order not to damage pinion or gears. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 319 Location of axis-1 and axis-2 Check that the o-ring also is removed. It might motors on page 307 stay in the armhouse when the motor is re- moved. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 320: Refitting Motors

    See the Spare parts manual on myABB business portal (www.abb.com/myABB). Note For IRB 2600ID this section describes motors axes 1, 2, 3 and 4. Motors axes 5 and 6 are described in sections: •...
  • Page 321 Tightening torques and attachment screws on page 327 Axis-3 motor Axis-4 motor Axis-5 motor Axis-6 motor O-ring (axis-4, axis-5 and axis-6) Armhouse Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 322 Connectors, motors axes 3 - 6 The figures shows the connectors in the armhouse: • IRB 2600 Standard: Axes 3-6 • IRB 2600ID: Axes 3-4. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 323 MP3-6 FB3-6 xx1400002568 Note On IRB 2600 standard, motor type B the connector FB6 shall be fitted in a 30° angle. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 324 4 Repair 4.7.2 Refitting motors Continued IRB 2600 Standard, motor type A xx0900000367 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 325 Lifting tool, axis-3 For art. no. see Reference information. Motors For spare part no. see Spare part lists on page 457. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 326 Action Information Axis-1, axis-4, axis-5 and axis-6 motors (IRB 2600 Standard) Axis-1 and axis-4 motors (IRB 2600ID) • Move the robot to a position where the wrist is pointing to the floor, as shown in the figure. This will make it possible to remove the motors without draining the oil from the gearbox.
  • Page 327 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 328 (24 VDC connection) are phase de- pendent. If the connection on the pins is switched, it can cause severe dam- age to vital parts. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 329 Use this procedure to refit motors axes 1, 2, 3, 4, 5 and 6. Note How to refit motors axes 5 and 6 on IRB 2600ID is described in sections: • Replacing motor axis 5 - IRB 2600ID on page 336 •...
  • Page 330 Make sure that the wire exit holes of motor axis 3 is in the correct position. See illustration! xx0900000375 Parts: • A: Wire exit hole, motor axis 3 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 331 A Wire exit hole, motor axis 3 B Motor axis 3 C Motor axis 4 D Wire exit hole, motor axis 4 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 332 Refit the connection box (if it has been re- motors on page 320 moved). Note Make sure that the o-ring is in place! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 333 IRB 2600 Standard, motor type B Note Connection bracket for FB6 shall be fitted in a 30° angle. See figure! xx1400002569 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 334 If the gasket is damaged, it need to be replaced. Make sure that the gasket on the cover on the armhouse is intact. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 335 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 336: Replacing Motor Axis 5 - Irb 2600Id

    4.7.3 Replacing motor axis 5 - IRB 2600ID 4.7.3 Replacing motor axis 5 - IRB 2600ID Introduction This procedure describes how to replace motor axis 5 on IRB 2600ID. WARNING When a motor is replaced, make sure to use the correct type of new motor. Motors of different types may not be compatible.
  • Page 337 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Deciding calibration routine Decide which calibration routine to be used, based on the information in the table. Depending on which routine is chosen, action might be required prior to beginning the repair work of the robot, see the table.
  • Page 338 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Move the upper arm to sync. position. xx1000001007 DANGER Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area.
  • Page 339 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Remove the mechanical stop. Note Don’t loose the o-ring and distance ring in the removal process! xx1000000879 Parts: • A: Attachment screws (5 pcs) • B: Mechanical stop •...
  • Page 340 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Remove the attachment screws (A) securing the cover (B) on the armhouse. xx1000001001 Parts: A Attachment screws (6 pcs) B Cover C Attachment screws (8 pcs) securing...
  • Page 341 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Pull carefully out the upper arm tube a little. Not more than it is possible to reach the connectors for motor axis 5. CAUTION Be careful not to damage the cable harness in the process.
  • Page 342 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Remove motor axis 5 by unscrewing its at- tachment screws. xx1000000937 Parts: • A: Upper arm tube • B: Motor axis 5 Refitting motor axis 5 Use this procedure to refit motor axis 5.
  • Page 343 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Push the cables to motor axis 6 into the upper arm tube. R4.FB5 IRB 2600, motor type B Connect connectors R4.MP5 and R4.FB5 to motor axis 5.
  • Page 344 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Secure the cover with its attachment Tightening torque: 10 Nm. screws. xx1000001001 Parts: A Attachment screws (6 pcs) M6x20 quality 8.8-A2F B Cover C Attachment screws (8 pcs) M8x25 quality Steel 12.9 Gleitmo...
  • Page 345 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Apply flange sealing (Loctite 574) on the surface shown in the figure. Note Do not apply flange sealing on the surfaces where Sikaflex 521FC shall be applied!
  • Page 346 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Apply Sikaflex 521FC on the surfaces shown in the figure. xx1000001002 Parts: A Sikaflex 521FC B Cover C Surface where to apply Sikaflex 521FC Connect the cable to motor axis 6.
  • Page 347 4 Repair 4.7.3 Replacing motor axis 5 - IRB 2600ID Continued Action Information Remove the oil plug, and refill the axis-5 gear with lubricating oil. xx2000002311 Where to find type of oil and total amount is detailed in Type and amount of oil in gearboxes on page 151.

  • Page 348: Replacing Motor Axis 6 And Wrist Unit - Irb 2600Id

    4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Introduction This procedure describes how to replace the axis-6 motor on IRB 2600ID. The replacement of the motor also contains the procedure for how to remove and refit the wrist unit on IRB 2600ID Location of motor axis 6 Motor axis 6 is located inside the upper arm tube, as shown in the figure.
  • Page 349 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Deciding calibration routine Decide which calibration routine to be used, based on the information in the table. Depending on which routine is chosen, action might be required prior to beginning the repair work of the robot, see the table.
  • Page 350 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Removing the wrist unit Action Information Remove the VK cover. xx1600001486 Pull out the cabling from the upper arm cavity through the VK cover hole and re- lease the cable loop by straightening the cables.
  • Page 351 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Remove the attachment screws that secure the wrist. xx1000000875 Part: A Attachment screws (4 pcs) Separate wrist and upper arm tube at the marked division point (along the dotted line in the figure).
  • Page 352 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Fit two short screws in the holes for the at- tachment screws in order to temporarily secure that the cover is not opened. xx1000000932...
  • Page 353 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Open the flexible coupling securing motor axis 6. xx1000000930 Parts: A Attachment screw, coupling B Flexible coupling C Motor, axis 6 Remove the attachment screws that secure the axis-6 motor and remove the motor.
  • Page 354 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Refitting axis-6 motor and wrist unit Use this procedure to refit the axis-6 motor and the wrist unit. Refitting the motor Action Information Place the motor axis into the axis-6 flexible coupling.
  • Page 355 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Fit the cable protection with its nuts. xx1000000931 Parts: A Cable protection B Nuts (2 pcs) C Connector motor axis 6 Refitting the wrist...
  • Page 356 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Apply locking liquid to the assembly surface Specified in Required equipment on on the upper arm tube. page 348. xx1200000063 Push the wrist and the axis-6 motor into its position onto the cylindrical pins.
  • Page 357 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Action Information Secure the axis-5 flexible coupling with its Tightening torque: 15 Nm. attachment screw. Fit a new VK cover. Article number is specified in Required equipment on page 348.
  • Page 358 4 Repair 4.7.4 Replacing motor axis 6 and wrist unit - IRB 2600ID Continued Concluding procedure Action Information Recalibrate the robot. Pendulum Calibration is described in Op- erating manual - Calibration Pendulum, enclosed with the calibration tools. Axis Calibration is described in...

  • Page 359: Adjusting The Play

    Drill holes in the middle so that they match the existing holes that are used to place extra equipment at the wrist unit. xx1200000066 Note Do NOT drill holes in the robot! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 360 Do not tighten the attachment screws yet! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 361 Note Do not use too much force! xx1200000093 Parts: • A: Motor pinion • B: Gear Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 362 When the play is adjusted correctly, rotate the motor five revolutions and check the play again. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 363 If motor and gear is not running smoothly or if unnormal noice comes from the gears, the play must be readjusted. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 364: Gearboxes

    Differences in the mechanical structure are pointed out in the procedure as valid for different robot version: • IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 • IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C...
  • Page 365 The gearbox is located as shown in the figure. The exploded view only shows the principle of the assembly. The actual replacing is recommended to be done with the robot resting on its side. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0800000400 Spinea gearbox...
  • Page 366 Other tools and procedures may be re- These procedures include references to the tools quired. See references to these proced- required. ures in the step-by-step instructions below. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 367 Make sure the cabling brackets on the lower arm are unfastened and moved out of the way so that the cabling is not getting squeezed. xx1800000593 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 368 Remove the complete arm system from the Removing the base on page 297. base and lay down the robot on its side. xx1800000593 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 369 Fit two guide pins to the gearbox through the holes in the frame. xx1800000788 Guide pin, M8x100: 3HAC15520-1 Always use guide pins in pairs! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 370 There will be some excess oil running out of the gearbox when it is removed. Use some absorbent material to catch the oil. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 371 Check the radial sealing in the frame. Replace if damaged. xx1800000794 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 372 Location of gearbox on page 365 Replace o-ring if damaged. Clean all assembly surfaces. Remove any painting from the assembly surfaces, with a knife. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 373 IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0) 24 kg (IRB 2600-20/1.65 type C, IRB 2600- 12/1.65 type C) All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 374 15/1.85, IRB 2600ID-8/2.0: Tightening torque: 35 Nm. Valid for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C: Tightening torque: 50 Nm. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 375 Refitting the cable harness in the frame on page 215 • Refitting the cable harness in the lower arm and armhouse on page 224 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 376 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 377: Replacing Gearbox Axis 2

    440. Location of gearbox axis 2 The gearbox is located as shown in the figure. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx0900000380 Attachment screws M8x80 quality steel 12.9 Gleitmo (17 pcs) Washers (17 pcs)
  • Page 378 Always use guide pins in pairs. Guide pin, M10x150 3HAC15521-2 Valid for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C. Always use guide pins in pairs. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 379 Be careful not to damage the cables! 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 380 Drain the gearbox. How to drain the gearbox is described in sec- tion: • Changing the oil, axis-2 gearbox on page 166 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 381 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 382 15/1.85, IRB 2600ID-8/2.0) 14 kg (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 383 C: Holes for attachment screws that se- cure the lower arm to the axis-2 gearbox Secure the gearbox with a roundsling in an overhead crane or similar. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 384 If necessary, use removal tools to re- move the gearbox. Note Always use removal tools in pairs diagonal to each other. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 385 A: Gearbox axis 2 • B: Lifting lug • C: Holes for attachment screws securing the lower arm to gearbox axis 2. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 386 378. pinion to find the mating position. Use a ro- tation tool. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 387 The weight of the complete upper and lower arm together is 100 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 388 603+Geomet 500 (15 pcs) Washers: 3HAC043534-001 (3 pcs) Tightening torque: 50 Nm ± 5 Nm and 90° angle ± 10°. xx1800000934 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 389 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 390: Replacing Gearbox Axis 3

    Used to guide the gearbox and the upper arm during removal/refitting. Rotation tool 3HAB7887-1 Standard toolkit Content is defined in section Standard tools on page 452. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 391 Drain the gearbox. How to drain the gearbox is described in section: • Changing the oil, axis-3 gearbox on page 170 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 392 255 Connect the 24 VDC power supply to the axis-3 motor and release the brakes. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 393 CAUTION Remaining oil will drain out from the gear- box cavity when the gearbox is lifted out. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 394 Rotate the motor pinion and slide the gear- box into position. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 395 It is a vital part for the stability of the robot. xx0800000389 Parts: • A: Cover • B: Attachment screws M6x25, quality 8.8-A2F (8 pcs) Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 396 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page 113. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 397: 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 398: Calibration Methods

    To regain 100% Absolute accuracy perform- ance, the robot must be recalibrated for abso- lute accuracy after repair or maintenance that affects the mechanical structure. xx0400001197 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 399 Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant. If no data is found related to standard calibration, contact the local ABB Service. Brief description of calibration methods Calibration Pendulum method Calibration Pendulum is a standard calibration method for calibration of many of ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
  • Page 400 The calibration equipment for Calibration Pendulum is delivered as a complete toolkit, including the Operating manual - Calibration Pendulum, which describes the method and the different routines further. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 401: 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 402: Synchronization Marks And Axis Movement Directions

    IRB 2600-20/1.65, -12/1.65, -12/1.85 IRB 2600 Type C-20/1.65, -12/1.65 xx0800000312 Synchronization mark, axis 1 Synchronization mark, axis 2 Synchronization mark, axis 3 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 403 Synchronization mark, axis 5 IRB 2600ID -15/1.85, -8/2.00 xx1000000445 Synchronization mark, axis 4 Synchronization mark, axis 5 Synchronization mark, axis 6 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 404 5 Calibration 5.2.1 Synchronization marks and synchronization position for axes Continued IRB 2600 -20/1.65, -12/1.65, -12/1.85 xx0800000321 Synchronization mark, axis 6 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 405: Calibration Movement Directions For All Axes

    Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the opposite direction! xx0200000089 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 406: Updating Revolution Counters

    The correct values are found on a label, located either on the lower arm, underneath the flange plate on the base or on the frame. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 407 Step 2 - Updating the revolution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant (IRC5). Action On the ABB menu, tap Calibration. xx1500000942 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 408 Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Tap Manual Method (Advanced). xx1500000944 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 409 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 433. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 410: Updating Revolution Counters On Omnicore Robots

    Tap Update to proceed with updating the revolution counters. • Tap Cancel to cancel updating the revolution counters. Tapping Update and a confirmation window is displayed. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 411 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 433. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 412: 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 413 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 414 To calibrate a suspended or wall mounted robot with the fine calibration routine, the robot must first be taken down and mounted standing on the floor. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 415: Calibration Tools For Axis Calibration

    There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
  • Page 416 • 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 417: Installation Locations For The Calibration Tools

    This is shown in the figure. IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0 xx1800000963 IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C...
  • Page 418 5 Calibration 5.4.3 Installation locations for the calibration tools Continued IRB 2600, IRB 2600ID xx1600000521 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 419 5 Calibration 5.4.3 Installation locations for the calibration tools Continued IRB 2600 xx1600000522 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 420 Contains replacement calibration pin covers and protective plugs for the bushing. Protective plug on turning disc 3HAC057676-001 Replace if damaged or missing. (IRB 2600ID) 3HAC057511-001 (IRB 2600) Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 421: Axis Calibration - Running The Calibration Procedure

    WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
  • Page 422 10 Choose whether to save the calibration data or not. Calibration of the robot is not finished until the calibration data is saved, as last step of the calibration procedure. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 423 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 424 Axis Calibration routine. When a warning message is displayed, tap Acknowledge to confirm the unsynchronized state and continue Axis Calibration procedure. CAUTION SafeMove must be synchronized after the calibration is completed. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 425 Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: 3HAC059487-001. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 426 If the standard calibration data for axes 4, 5 or 6 Calibrating with Wrist Optimiz- should be updated with wrist optimization, run the ation method on page 430. calibration routine Wrist Optimization. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 427: Reference Calibration

    The requirement to do manual tuning is that there is a known accurate position, that worked accurately before the repair (step 5, see Brief introduction to Reference Calibration on page 427). Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 428 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 429: Calibrating With Calibration Pendulum Method

    Where to find information for Calibration Pendulum Detailed instructions of how to perform Pendulum Calibration are given in the documentation enclosed with the calibration tools. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 430: Calibrating With Wrist Optimization Method

    3 Improved calibration data to the wrist axes is identified and presented. 4 Optimized positions for the wrist axes are presented. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 431 WARNING Robot moves automatically when pressing Calibrate. 6 Wrist optimization is finished. 7 Redefine / verify TCP for all tools. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 432: Verifying The Calibration

    Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 433: Checking The Synchronization Position

    If they do not, up- ization position for axes on page 402 date the revolution counters. Updating revolution counters on page 406. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 434 If they do not, up- ization position for axes on page 402 date the revolution counters. Updating revolution counters on page 406. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 435: Decommissioning

    See also Environmental information on page 436. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 436: Environmental Information

    6.2 Environmental information 6.2 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 437 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 438: Scrapping Of Robot

    • A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 439: Robot Description

    Axis 1 and 2 20/1.65 type C, IRB 2600-12/1.65 changes gearbox type C. and motor pinion Axis 3, 4, 5 and 6 has motor type B Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 440: Non-Compatible Versions Of Axis-1 And Axis-2 Gearboxes

    Axis-1 motor pinion • Axis-2 motor pinion • Cable harness The listed parts are not interchangeable. The gearbox oils are not interchangeable. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 441 At delivery there is a designation label fitted to the lower arm of the Type C version of the robot, informing that the robot is a Type C version. xx1800002211 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 442 Hole pattern for 17 screws that fasten the Hole pattern for 16 screws that fasten the lower arm to the gearbox. lower arm to the gearbox. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 443 Only robot variants IRB 2600-20/1.65 and IRB 2600-12/1.65 are affected by different gearbox suppliers. Use the table to identify which gearbox versions are installed on the robot, by article number. If needed, contact your local ABB for further assistance regarding the robot type. Robot type...
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  • Page 445: Reference Information

    8.1 Introduction 8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 446: Applicable Standards

    Industrial robots and robot Systems - General safety require- ments EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 447: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 448: Screw Joints

    8.4 Screw joints 8.4 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 449 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 450 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 451: 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 452: Standard Tools

    Socket head cap no: 6, socket 1/2" bit L 20 mm Socket head cap no: 8, socket 1/2" bit L 20 mm Small cutting plier T-handle with ball head Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 453: Special Tools

    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. Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 454 The tools are specified directly in concerned instructions. Description Article no. Guide for reduction gear 3HAC068109-001 Used to guide axis-1 gear and frame during refitting. Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.

  • Page 455: 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 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
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  • Page 457: Spare Part Lists

    Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.abb.com/myABB. All documents can be found via myABB Business Portal, www.abb.com/myABB. Product manual - IRB 2600 3HAC035504-001 Revision: AD...
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  • Page 459: Circuit Diagram

    Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Circuit diagram - IRB 6640 3HAC025744-001 Circuit diagram - IRB 6650S 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 460 Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 14000 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 461 151 climbing on robot, 36 type of lubrication, 151 Cold environments, 103 connecting the robot and controller, cabling, 104 copper magnesium disposal, 436 disposal, 436 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 462 435 protection class, 48 troubleshooting protection types, 48 oil spills, 188 symbols, 25 safety, 41 rubber turning disposal, 436 accessory, 60 safety upcycling, 436 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 463 21 upper arm, complete, 253, 257 velocity Wrist Optimization adjusting, 103 overview of method, 430 verifying calibration, 432 zero position wall mounting, 61 checking, 433 Product manual - IRB 2600 3HAC035504-001 Revision: AD © Copyright 2009-2023 ABB. All rights reserved.
  • Page 466 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 2009-2023 ABB. All rights reserved. Specifications subject to change without notice.

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