ABB IRB 6700I Manuals

Manuals and User Guides for ABB IRB 6700I. We have 1 ABB IRB 6700I manual available for free PDF download: Product Manual

ABB IRB 6700I Product Manual (730 pages)

Brand: ABB | Category: Robotics | Size: 27.81 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
13
How to Read the Product Manual
15
Safety
17
Safety Information
17
Limitation of Liability
17
Requirements on Personnel
18
Safety Signals and Symbols
19
Safety Signals in the Manual
19
Safety Symbols on Manipulator Labels
21
Robot Stopping Functions
28
Installation and Commissioning
29
Operation
32
Unexpected Movement of Robot Arm
32
Maintenance and Repair
33
Emergency Release of the Robot Axes
36
Brake Testing
37
Troubleshooting
38
Decommissioning
39
Installation and Commissioning
41
Introduction to Installation and Commissioning
41
Unpacking
42
Pre-Installation Procedure
42
Working Range
46
Risk of Tipping/Stability
50
Main Dimensions
52
The Unit Is Sensitive to ESD
53
On-Site Transportation
54
Robot Transportation Precautions
54
Securing the Robot Arm Position for Lift, Rotation and Transportation
55
On-Site Installation
58
Brief Installation Procedure
58
Lifting the Robot
59
Lifting the Robot with Fork Lift
59
Lifting the Robot with Roundslings
60
Orienting, Rotating and Securing the Robot
64
Manually Releasing the Brakes
68
Loads Fitted to the Robot, Stopping Time and Braking Distances
70
Fitting Equipment to the Robot
71
Restricting the Working Range
79
Axes with Restricted Working Range
79
Mechanically Restricting the Working Range of Axis 1
80
Electrical Connections
82
Robot Cabling and Connection Points
82
Installation of Options
85
Signal Lamp (Option)
85
Installing the Motor Cooling Fan (Option)
86
Start of Robot in Cold Environments
92
Maintenance
93
Introduction
93
Maintenance Schedule and Expected Component Life
94
Specification of Maintenance Intervals
94
Maintenance Schedule
95
Expected Component Life
97
Inspection Activities
98
Inspecting the Motor Seal
98
Inspecting the Oil Level in Axis-1 Gearbox
100
Inspecting the Oil Level in Axis-2 Gearbox
105
Inspecting the Oil Level in Axis-3 Gearbox
107
Inspecting the Oil Level in Axis-4 Gearbox
110
Inspecting the Oil Level in Axis-5 Gearbox
113
Inspecting the Oil Level in Axis-6 Gearbox
115
Inspecting the Balancing Device
118
Inspecting the Cable Harness
122
Inspecting the Information Labels
125
Inspecting the Transportation Lock Screw
131
Inspecting the Axis-1 Mechanical Stop Pin
133
Inspecting the Additional Mechanical Stops
134
Inspecting the Fork Lift Accessory
136
Inspecting the Dampers
138
Inspecting the Signal Lamp (Option)
140
Replacement/Changing Activities
142
Type of Lubrication in Gearboxes
142
Changing Oil, Axis-1 Gearbox
144
Changing Oil, Axis-2 Gearbox
151
Changing Oil, Axis-3 Gearbox
157
Changing Oil, Axis-4 Gearbox
162
Changing Oil, Axis-5 Gearbox
166
Changing Oil, Axis-6 Gearbox
170
Replacing the SMB Battery
174
Lubrication Activities
177
Lubricating the Spherical Roller Bearing, Balancing Device
177
Cleaning Activities
179
Cleaning the IRB 6700Inv
179
Repair
183
Introduction
183
General Procedures
184
Performing a Leak-Down Test
184
Mounting Instructions for Bearings
185
Mounting Instructions for Sealings
187
Service Stops
190
Dismantle and Mounting Tool, 3HAC028920-001
192
Cut the Paint or Surface on the Robot before Replacing Parts
193
The Brake Release Buttons May be Jammed after Service Work
194
Lifting Associated Procedures
195
Attaching Lifting Accessories to Complete Arm System
195
Attaching Lifting Accessories to an Un-Separated Lower and Upper Arm
201
Attaching Lifting Accessories to the Upper Arm
204
Lifting down the Robot from Inverted Position
207
Complete Robot
211
Removing the Cable Harness
211
Refitting the Cable Harness
234
Replacing the SMB
262
Replacing the Brake Release Unit
268
Upper and Lower Arms
273
Replacing the Upper Arm
273
Replacing the Wrist
309
Replacing the Turning Disc
330
Replacing the Process Turning Disc
334
Replacing the Lower Arm
337
Frame and Base
396
Replacing the Spherical Roller Bearing
396
Replacing the Balancing Device
409
Replacing the Rear Bearings on the Balancing Device
432
Replacing the Stop Pin
450
Motors
453
Replacing the Axis-1 Motor
453
Replacing the Axis-2 Motor
467
Replacing the Axis-3 Motor
480
Replacing the Axis-4 Motor
493
Replacing the Axis-5 Motor
505
Replacing the Axis-6 Motor
520
Gearboxes
535
Replacing the Hub
535
Replacing the Axis-1 Gearbox
557
Replacing the Axis-2 Gearbox
602
Replacing the Axis-3 Gearbox
642
Replacing the Axis-6 Gearbox
664
Calibration
673
Introduction to Calibration
673
Introduction and Calibration Terminology
673
Calibration Methods
674
When to Calibrate
676
Synchronization Marks and Axis Movement Directions
677
Synchronization Marks and Synchronization Position for Axes
677
Calibration Movement Directions for All Axes
679
Updating Revolution Counters
680
Calibrating with Axis Calibration Method
683
Description of Axis Calibration
683
Calibration Tools for Axis Calibration
686
Installation Locations for the Calibration Tools
688
Axis Calibration - Running the Calibration Procedure
689
Reference Calibration
694
Calibrating with Wrist Optimization Method
696
Verifying the Calibration
697
Checking the Synchronization Position
698
Decommissioning
699
Environmental Information
699
Scrapping of Robot
701
Decommissioning of Balancing Device
702
Reference Information
705
Introduction
705
Applicable Standards
706
Unit Conversion
708
Screw Joints
709
Weight Specifications
712
Standard Toolkit
713
Special Tools
714
Lifting Accessories and Lifting Instructions
719
Spare Parts
721
Spare Part Lists and Illustrations
721
Circuit Diagrams
723

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ABB IRB 6700I Product Manual (730 pages)

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