ABB OmniCore IRB 6740 Manuals

Manuals and User Guides for ABB OmniCore IRB 6740. We have 1 ABB OmniCore IRB 6740 manual available for free PDF download: Product Manual

ABB OmniCore IRB 6740 Product Manual (664 pages)

Brand: ABB | Category: Robotics | Size: 38.1 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
28
Safety During Maintenance and Repair
29
Emergency Release of the Robot Axes
32
Brake Testing
33
Safety During Troubleshooting
34
Safety During Decommissioning
35
Manipulator Description
37
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
50
Installation and Commissioning
51
Introduction to Installation and Commissioning
51
Unpacking
52
Pre-Installation Procedure
52
Risk of Tipping/Stability
53
On-Site Installation
55
Brief Installation Procedure
55
Installing a Base Plate
56
Lifting the Robot
64
Lifting Robot with Lifting Accessory (Recommended Lifting Method)
64
Lifting the Robot with Fork Lift
66
Lifting the Robot with Roundslings
67
Orienting and Securing the Robot
72
Manually Releasing the Brakes
75
Loads Fitted to the Robot, Stopping Time and Braking Distances
77
Fitting Equipment on the Robot (Robot Dimensions)
78
Working Range Alterations
87
Adjusting the Working Range
87
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
88
Extended Working Range, Axis 1 (Option)
91
Electrical Connections
93
Robot Cabling and Connection Points
93
Test Run after Installation, Maintenance, or Repair
96
Maintenance
97
Introduction
97
Maintenance Schedule and Expected Component Life
98
Specification of Maintenance Intervals
98
Maintenance Schedule
99
Expected Component Life
101
Inspection Activities
102
Inspecting the Motor Seal
102
Inspecting the Balancing Device
104
Inspecting the Cable Harness
108
Inspecting the Dampers
110
Inspecting the Information Labels
112
Inspecting the Axis-1 Mechanical Stop
115
Inspecting the Oil Level in Axis-1 Gearbox
117
Inspecting the Oil Level in Axis-2 Gearbox
120
Inspecting the Oil Level in Axis-3 Gearbox
123
Inspecting the Oil Level in Axis-4 Gearbox
126
Inspecting the Oil Level in Axis-5 Gearbox
129
Inspecting the Oil Level in Axis-6 Gearbox
132
Replacement/Changing Activities
135
Type of Lubrication in Gearboxes
135
Changing the Oil in Axis-1 Gearbox
137
Changing the Oil in Axis-2 Gearbox
142
Changing the Oil in Axis-3 Gearbox
147
Changing the Oil in Axis-4 Gearbox
152
Changing the Oil in Axis-5 Gearbox
157
Changing the Oil in Axis-6 Gearbox
162
Replacing the SMB Battery
167
Lubrication Activities
170
Lubricating the Spherical Roller Bearing, Balancing Device
170
Cleaning Activities
172
Cleaning the IRB 6740
172
Repair
177
Introduction
177
General Procedures
178
Performing a Leak-Down Test
178
Mounting Instructions for Bearings
179
Mounting Instructions for Sealings
181
Cut the Paint or Surface on the Robot before Replacing Parts
185
Axes 1 and 2
186
Replacing the Axis-1 Cassette Sealing
186
Balancing Device
211
Replacing the Balancing Device
211
Replacing Spherical Roller Bearing, Balancing Device Link Ear
230
Replacing the Rear Bearings on the Balancing Device
245
Axes 3 and 4
257
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
257
Wrist
282
Replacing the Wrist
282
Replacing the Turning Disc
301
Electronic Parts
306
Removing the Cable Harness
306
Refitting the Cable Harness
325
Replacing the Brake Release Unit
352
Replacing the SMB Unit
359
Motors
365
Replacing the Axis-1 Motor
365
Replacing the Axis-2 Motor
380
Replacing the Axis-3 Motor
396
Replacing the Axis-4 Motor
408
Replacing the Axis-5 Motor
422
Replacing the Axis-6 Motor
434
Gears
444
Replacing the Axis-1 Gearbox
444
Replacing the Axis-2 Gearbox
505
Replacing the Axis-3 Gearbox
547
Replacing the Axis-6 Gearbox
591
Calibration
609
Introduction to Calibration
609
Introduction and Calibration Terminology
609
Calibration Methods
610
When to Calibrate
612
Synchronization Marks and Axis Movement Directions
613
Synchronization Marks and Synchronization Position for Axes
613
Calibration Movement Directions for All Axes
615
Updating Revolution Counters
616
Updating Revolution Counters on Omnicore Robots
616
Calibrating with Axis Calibration Method
618
Description of Axis Calibration
618
Calibration Tools for Axis Calibration
621
Installation Locations for the Calibration Tools
623
Axis Calibration - Running the Calibration Procedure
625
Reference Calibration
629
Verifying the Calibration
631
Checking the Synchronization Position
632
Troubleshooting
633
Introduction to Troubleshooting
633
Oil and Grease Stains on Motors and Gearboxes
635
Mechanical Noise or Dissonance
636
Manipulator Collapses on Power down
637
Decommissioning
639
Introduction to Decommissioning
639
Environmental Information
640
Scrapping of Robot
642
Decommissioning of Balancing Device
643
Reference Information
645
Introduction
645
Applicable Standards
646
Unit Conversion
647
Screw Joints
648
Weight Specifications
651
Standard Toolkit
652
Special Tools
653
Lifting Accessories and Lifting Instructions
657

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ABB OmniCore IRB 6740 Product Manual (664 pages)

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