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ABB IRB 640, Product Manual

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ABB IRB 640 Product Manual Download Page 16

On-Site Installation

Installation and Commissioning

14

Product Manual IRB 640

2.6.2    Axes 2 and 3

The working range of axes 2 and 3 is limited by mechanical stops and can be reduced 
by adding fixed mechanical stops.

The stops are mounted on the inside of the frame to each axis.

Extra stops must be mounted in a row, starting at the fixed stop.

Figure 10  Mechanically limiting axes 2 and 3.

NB!
The robot is always delivered with one extra mechanical stop mounted for axis 3. 
It is not allowed to remove it.

Holes for extra stops

Summary of Contents for IRB 640

Page 1: ...Product Manual 3HAC 7579 1 IRB 640 M2000 ...

Page 2: ... this document or of the software and hardware described in this document This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB s written permission and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be prosecuted Additional copies of this document may be obtained from ABB Robotics Produ...

Page 3: ...0 2 4 Amount of space required 11 2 4 1 Manipulator 11 2 5 Manually engaging the brakes 12 2 6 Restricting the working space 13 2 6 1 Axis 1 13 2 6 2 Axes 2 and 3 14 2 7 Mounting holes for equipment on the manipulator 15 2 7 1 Quality of screws for fitting extra equipment 15 2 8 Loads 16 3 Customer connections on manipulator 19 3 1 Connection of extra equipment to the manipulator 23 3 1 1 Connecti...

Page 4: ...Installation and Commissioning Page 2 Product Manual IRB 640 ...

Page 5: ...it has not been damaged during transport or while unpacking Operating conditions Ambient temperature 5 to 45 C manipulator Relative humidity Max 95 at constant temperature Storage conditions If the equipment is not going to be installed straight away it must be stored in a dry area at an ambient temperature between 25 C and 55 C When air transport is used the robot must be located in a pressure eq...

Page 6: ...hows the positions where there is a risk of tipping and refers to fig ures in chapter 3 8 in Product Specification IRB 640 for definition of position 0 and 5 no stable yes risk of tipping 1 2 System diskettes The diskettes in the box fixed to the shelf for the teach pendant should be copied in a PC before they are used Never work with the original diskettes When you have made copies store the orig...

Page 7: ...eached the manipulator must be reoriented to the sync position The best way to lift the manipulator is to use lifting straps and a traverse crane Attach the straps to the integrated lifting eyes on both sides of the frame see Figure 2 The lifting strap dimensions must comply with the applicable standards for lifting It is also possible to use two lifting devices option for use with a fork lift tru...

Page 8: ...On Site Installation Installation and Commissioning 6 Product Manual IRB 640 Figure 2 Lifting the manipulator using a traverse crane Length 1150 Length 950 Crane lift 240 700 ...

Page 9: ...ation and Commissioning On Site Installation Product Manual IRB 640 7 Figure 3 Lifting the manipulator with the arm system in the calibration position Crane lift in calibration position Length 1150 Length 950 ...

Page 10: ... Installation Installation and Commissioning 8 Product Manual IRB 640 Figure 4 Lifting the manipulator using a fork lift truck Crane lifting is not permitted using the fork lift arrangement Fork lift 1120 400 ...

Page 11: ...lting down the manipulator dimensions in mm The manipulator is fixed with three M30 bolts tightened alternately Suitable bolts M30x160 8 8 Socket screw with washer Tightening torque 1000 Nm Two guide sleeves can be added to two of the bolt holes to allow the same manipulator to be re mounted without program adjustment see Figure 5 When bolting a mounting plate or frame to a concrete floor follow t...

Page 12: ...the founda tion with the robot weight must be higher than 22 Hz TuneServo can be used for adapting the robot tuning to a non optimal foundation 2 3 2 All versions Endurance load Max load In operation Emergency stop Force xy 12 000 N 18 000 N Force z 21 000 5 500 N 21 000 10000 N Torque xy 32 000 Nm 39 000 Nm Torque z 6 000 Nm 13 000 Nm Force xy and torque xy are vectors that can have any direction...

Page 13: ... the manipulator and controller is illustrated in Figure 7 The working range for axis 1 is 180 NB There are no software or mechanical limits for the working space under the base of the manipulator 2 4 1 Manipulator Figure 7 The working space required for the manipulator IRB 640 All dimensions refer to TCP 0 mm 1 1 1220 2905 2 2 3 3 2 3 6 6 TCP 0 2310 599 ...

Page 14: ...nected according to Figure 8 Incorrectly connected power can release all brakes causing simultaneously movement of all axes When the controller or the voltage device is connected illustrated above the brakes can be engaged separately by means of the push buttons on the brake release unit on the exterior of the axis 3 gear box The push buttons are marked with the appropriate axis name The names of ...

Page 15: ...are Installation of an optional extra stop for the main axes 1 2 and 3 is described below Limiting the working space using software is described in the chapter System Param eters in the User s Guide 2 6 1 Axis 1 The range of rotation for axis 1 can be limited mechanically by fitting extra mechanical stop arms Instructions for doing this are supplied with the kit IMPORTANT The mechanical stop pin a...

Page 16: ...ps and can be reduced by adding fixed mechanical stops The stops are mounted on the inside of the frame to each axis Extra stops must be mounted in a row starting at the fixed stop Figure 10 Mechanically limiting axes 2 and 3 NB The robot is always delivered with one extra mechanical stop mounted for axis 3 It is not allowed to remove it Holes for extra stops ...

Page 17: ...mm Figure 12 The mechanical interface mounting flange ISO 9409 dimensions in mm 2 7 1 Quality of screws for fitting extra equipment When fitting tools on the manipulator s mounting flange see above use only screws with quality of 12 9 When fitting other equipment standard screws with quality 8 8 can be used M10 2x 200 60 69 220 411 486 80 depth 25 99 126 Limit for M10 surfaces Limit for M10 surfac...

Page 18: ...ition of centre of grav ity and inertia factor in order to avoid jolting movements and unnecessary stops due to overloaded motors For more information see chapter 3 4 in Product Specification IRB 640 Technical specification for load diagrams permitted extra loads equipment and their positions The loads must also be defined in the software see User s Guide ...

Page 19: ...Installation and Commissioning On Site Installation Product Manual IRB 640 17 ...

Page 20: ...On Site Installation Installation and Commissioning 18 Product Manual IRB 640 ...

Page 21: ... R 1 2 For connection of extra equipment on the manipulator there are cables integrated into the manipulator s cabling and two connectors one Burndy 23 pin UTG 018 23S and one Burndy 12 pin UTG 014 12S Number of signals without CanBus 23 signals 50 V 250 mA 10 power signals 250 V 2 A Number of signals with CanBus 12 signals 50 V 250 mA 5 power signals 250 V 2 A Figure 13 Location of customer conne...

Page 22: ... gland 3HAB 7283 1 DS 55 ZU DN 155D E155 Novum PG 29 AB 4 Socket 5217 1021 4 DIN 43 652 Harting 5 Socket 5217 1021 5 DIN 43 652 Harting Connector R3 CS Signals on the upper arm Regarding Item No see Figure 15 Item Name ABB art no Type Comments 1 Socket con 23p 3HAA 2613 3 UTO 018 23 SHT Burndy 2 Gasket 2152 0363 5 UTFD 16 B Burndy 3 Socket See Pin and Socket table below 4 Pin con 23p 3HAA 2602 3 5...

Page 23: ...01 2 5217 1038 3 UTG 14 ADT UTG 14 AD Burndy EMC Burndy 7 Cable clamp 5217 649 8 UTG 14 PG Burndy 8 Shrinking hose Shrinking hose 3HAA 2614 2 5217 1032 4 Bottled shaped Angled Connector R1 CPV Power signals on the manipulator base Regarding Pos see Figure 15 Pos Name ABB art no Type Comments 1 Pin connector 12p 3HAA 2599 2 UTO 614 12 PN04 Burndy 2 Gasket 5217 649 64 UTFD 13 B Burndy 3 Pin See belo...

Page 24: ... 24 26 16 20 Burndy Machine tooling Burndy Hand tooling Burndy Machine tooling Burndy Hand tooling Burndy Machine tooling Burndy Ground Burndy Ground Socket 5217 649 73 5217 649 26 5217 649 71 5217 649 69 5217 1021 4 5217 1021 5 24 26 24 26 20 22 16 18 DIN 43 652 DIN 43 652 Burndy Machine tooling Burndy Hand tooling Burndy Machine tooling Burndy Machine tooling Tin bronze CuSu 0 14 0 5mm2 AWG 20 2...

Page 25: ... Figure 16 Customer connections on upper arm Signal name Customer terminal controller see chapter 2 for Controler Customer contact on manipulator base R1 cable not supplied Customer contact on upper arm R3 Power supply CPA XT6 1 R1 CP CS A1 R3 CP A CPB XT6 2 R1 CP CS B1 R3 CP B CPC XT6 3 R1 CP CS C1 R3 CP C CPD XT6 4 R1 CP CS D1 R3 CP D CPE XT6 5 R1 CP CS A2 R3 CP E CPF XT6 6 R1 CP CS B2 R3 CP F C...

Page 26: ... XT5 2 13 R1 CP CS B8 R3 CS N CSP XT5 2 14 R1 CP CS C8 R3 CS P CSR XT5 2 15 R1 CP CS D8 R3 CS R CSS XT5 2 16 R1 CP CS A9 R3 CS S CST XT5 2 17 R1 CP CS B9 R3 CS T CSU XT5 2 18 R1 CP CS C9 R3 CS U CSV XT5 2 19 R1 CP CS D9 R3 CS V CSW XT5 2 20 R1 CP CS A10 R3 CS W CSX XT5 2 21 R1 CP CS B10 R3 CS X CSY XT5 2 22 R1 CP CS C10 R3 CS Y CSZ XT5 2 23 R1 CP CS D10 R3 CS Z Signal name Customer terminal contro...

Page 27: ...B CSC XT5 3 R1 CP CS 15 R3 CS C CSD XT5 3 R1 CP CS 16 R3 CS D CSE XT5 5 R1 CP CS 17 R3 CS E CSF XT5 6 R1 CP CS 18 R3 CS F CSG XT5 7 R1 CP CS 19 R3 CS G CSH XT5 8 R1 CP CS 20 R3 CS H CSJ XT5 9 R1 CP CS 21 R3 CS J CSK XT5 10 R1 CP CS 22 R3 CS K CSL XT5 11 R1 CP CS 23 R3 CS L CSM XT5 12 R1 CP CS 24 R3 CS M CanBus DRAIN R1 CB 1 R3 CB 1 24VCAN R1 CB 2 R3 CB 2 0VCAN R1 CB 3 R3 CB 3 CAN_H R1 CB 4 R3 CB 4...

Page 28: ... 2 2 Checking the oil and grease levels 7 2 3 Lubricating the large diameter bearing axis 1 8 2 4 Lubricating gear box axis 1 9 2 5 Inspect and lubricate the bearings balancing units axis 2 10 2 6 Lubricating piston rod balancing unit axis 2 11 2 7 Lubricating gearboxes axes 2 and 3 12 2 8 Lubricating gear box axis 6 13 2 9 Checking mechanical stop axis 1 14 2 10 Changing the battery in the measur...

Page 29: ...Maintenance CONTENTS Page 2 Product Manual IRB 640 ...

Page 30: ...e must be carried out at specified periodic intervals as shown in the table below The exterior of the robot should be cleaned as required Use a vacuum cleaner or wipe it with a cloth Compressed air and harsh solvents that can damage the sealing joints bearings lacquer or cabling must not be used Check that the sealing joints and cable glands are really airtight so that dust and dirt are not sucked...

Page 31: ...g deflashing etc perform preventive maintenance more frequently to ensure proper reliability of the robot system See section 2 6 Large diameter bearing Greasing X Cabling X2 2 Inspect all visible cabling Change if damaged See section 1 2 Mechanical stop axis 1 X3 3 Check the mechanical stop devices for deformation and damage If the stop pin or the adjustable stop arm is bent it must be replaced Se...

Page 32: ...igure 1 Recommended interval for grease exchange axis 1 Figure 2 Approx estimate of operating life of gearbox axis 1 as a function of the cycle time 12 000 9 000 10 000 11 000 8 000 5 6 Cycle time s 4 Operation h 13 000 3 Cycle time s Life time operation h 40 000 30 000 20 000 10 000 3 4 5 6 0 ...

Page 33: ...ment of inertia Ja6 Ja6 according to the Product Specification chapter 3 1 2 Approx estimate of operating life of base cable Approx estimate of operating life of base cable is 4 million cycles 12 000 11 000 10 000 9 000 8 000 7 000 6 000 5 000 4 000 50 100 120 Operation h Moment of inertia Ja6 kgm2 Moment of inertia Ja6 kgm2 50 100 120 40 000 30 000 20 000 10 000 Life time operation h ...

Page 34: ...ersonnel that the cabling between the control cabinet and robot is not damaged Cleaning Clean the robot exterior with a cloth when necessary Do not use aggressive solvents which may damage paint or cabling 2 2 Checking the oil and grease levels Axes 1 2 3 and 6 The level in the gearboxes is checked by adding new grease until grease comes out through the special draining holes See Chapter 2 7 Lubri...

Page 35: ... nipples Turn the axis 1 90o while greasing is in progress Continue greasing until new grease exudes from the rubber seal 2 Figure 5 Lubricating the large diameter bearing Remove excess grease with a cloth Type of grease ABB art no 1171 4013 301 quality 7 1401 301 ESSO Beacon EP 2 Shell Alvanina EP Grease SKF Grease LGEP 2 BP Energrease LS EP 2 Tools See Tool List A A 1 2 A A A A ...

Page 36: ...inue greasing until new grease exudes from the drain tube See Volume below Axis 1 should be slowly moved backwards and forwards while greasing Suck out any excess grease before replacing the plug Volume 1 3 litres 0 36 US gallon About 3 0 litres 0 82 US gallon should be used when changing the grease Type of grease ABB 3HAC 2331 1 Molywhite RE No 00 Tools See Tool list Figure 6 Lubricating axis 1 2...

Page 37: ... is quite normal for the bearing races to have a darker colour than the surrounding material 6 Inspect the support washers and sealing rings 7 Push in the cylinder make sure the inner support washers and sealing rings gets in correct position 8 Remove the auxiliary shafts Lubrication 8 Fit the lubricating tool 3HAC 4701 1 The tool should be tightened to the bottom position only by hand power 9 Gre...

Page 38: ...re in the horizontal position Wear Check the guiding ring for wear If there is a risk of metallic contact between the piston rod and the end cover the guiding ring must be replaced For replacement see Repairs The article number of the guiding ring is 3HAB 6176 1 Lubrication The piston rods should be lubricated Clean the piston rod and apply new grease when necessary Type of grease Castrol Spheerol...

Page 39: ...ain hole 2 See Volume below Move the axes backwards and forwards a couple of times before the plugs are replaced so that excess grease is pressed out This is to prevent over pressure in the gearbox with risks for leakage Volume 1 2 litres 0 33 US gallon About 2 0 litres 0 82 US gallon should be used when changing the grease Type of grease ABB 3HAC 2331 1 Molywhite RE No 00 Tools See Tool list Figu...

Page 40: ...e 1 See Volume below Move axis 6 backwards and forwards a couple of times before the plugs are replaced so that excess grease is pressed out This is to prevent over pressure in the gearbox with risks for leakage Volume 0 30 litres 0 085 US gallon About 0 4 litres 0 11 US gallon should be used when changing the grease Type of grease ABB 3HAC 2331 1 Molywhite RE No 00 Figure 8 Greasing axis 6 WARNIN...

Page 41: ...is not bent Adjustable stop arms that the arms are not bent WARNING 1 If the fixed stop arm is bent no attempt must be made to straightened it 2 If the pin is bent a collision between the swinging stop arm and the stop pin has probably occurred A bent stop pin must always be replaced by a new one 3 If any of the adjustable stop arms are bent they must be replaced by new ones Article number Stop pi...

Page 42: ...ew battery with two clasps and connect the terminals to the serial measuring board The Ni Cd battery takes 36 hours to recharge the mains supply must be switched on during this time and there must not be any interruptions in the power supply Figure 9 The battery is located in the front of the frame Alternative battery As an alternative to the Ni Cd battery a lithium battery of primary type can be ...

Page 43: ... for the fastening of the 3 cell battery on the board see Figure 10 Figure 10 Fastening of the 3 cell battery 2 11 Changing filter cooling of motor axis 1 Loosen the filter holder at the intake Insert the new filter and replace the filter holder The article number of the filter is 3HAA 1001 612 User type Exchange 3 cell Exchange 6 cell 1 Vacation 4 weeks power off every 5 years every 5 years 2 Wee...

Page 44: ...g the gearbox 14 2 4 Dismounting joint bearing 15 2 5 Dismounting cooling axis 1 16 3 Axis 2 17 3 1 Replacing motor 17 3 2 Replacing the gearbox 18 3 3 Replacing lower arm 19 3 4 Replacing bearing in lower arm 20 3 5 Dismounting balancing unit 21 3 6 Replacing guiding ring balancing unit 23 3 7 Replacing bearings balancing unit 24 3 8 Dismounting cables lower arm upper arm 25 4 Axis 3 27 4 1 Repla...

Page 45: ...r axis 6 40 7 3 Checking play in axis 6 41 8 Motor units 43 8 1 General 43 8 2 Checking brake performance 44 9 Calibration 45 9 1 General 45 9 2 Calibration procedure 45 9 3 Aligning the tilt housing 51 9 4 Setting the calibration marks on the manipulator 52 9 5 Checking the calibration position 55 9 6 Alternative calibration positions 55 9 7 Calibration equipment 57 10 Special Tools List 59 ...

Page 46: ...stem is routed through the entire robot and consists of two major sys tems power cabling and signal cabling The power cabling feeds the robot axes motor units The signal cabling feeds the various controlling parameters like axis positions motor revs etc The AC type Motor Units provide the motive power for the various robot axes via gears Mechanical brakes electrically released lock the motor units...

Page 47: ...tic control via an external air supply The signals to from the tool can be supplied via internal customer connections The Control Cabinet must be switched off during all service work on the robot Before doing any work on the robot measurement system measurement board cabling the accumulator power supply must always be disconnected When service work is finished the calibration position should alway...

Page 48: ...ools are required for various service jobs involving dismantling on the one hand conventional tools like socket and ratchet spanners etc on the other hand special tools may be necessary depending on what type of service is being car ried out The conventional tools are not dealt with in this manual based on the assump tion that the service personnel have sufficient technical basic competence Howeve...

Page 49: ...ments must under no circumstances be subjected to direct impact Also the roller elements must not be exposed to any stresses during the assembly work Tapered Bearings 4 The bearing should be tensioned gradually until the recommended pre tension is achieved 5 It is important to note that the roller elements must be rotated a specified number of turns before pre tensioning is carried out and also ro...

Page 50: ...cratches or damage are found that may result in future leakage the seal must be replaced 5 Seals should also be checked before mounting to ensure that there is no damage to the sealing edge feel with a fingernail the seal is of the correct type provided with cutting edge there is no other damage 6 Grease the seal just before fitting it but not too early as there is a risk of dirt and foreign parti...

Page 51: ...e properly cleaned in accordance with ABB ROBOTICS PRODUCTS recommendations 14 Distribute the sealing compound evenly over the surface preferably with a brush 15 Tighten the screws evenly when fastening the flange joint O rings 16 Check the O ring grooves The grooves must be geometrically correct and free from pores and contamination 17 Check the O ring with regard to surface defects burrs shape a...

Page 52: ...er type should be used Screws treated with Gleitmo can be unscrewed and screwed in again 3 4 times before the slip coating disappears Screws can also be treated with Molycote 1000 When screwing in new screws that are not Gleitmo treated these should first be lubri cated with Molycote 1000 and tightened to the specified torque Assembly Lubrication with molybdenum disulphide grease Molycote 1000 sho...

Page 53: ... head 1 5 2 Screws with hexagon socket head Tightening torque Nm Dimension class 4 8 Dry M 2 5 0 25 M 3 0 5 M 4 1 2 M 5 2 5 M 6 5 0 Tightening torque Nm Dimension class 8 8 Dry class 10 9 Molycote 1000 Gleitmo 610 class 12 9 Molycote 1000 Gleitmo 610 M 5 6 M 6 10 M 8 24 28 35 M 10 47 55 70 M 12 82 95 120 M 16 200 235 300 ...

Page 54: ...eaded holes M8 on the motor flange to push out the motor from its attachment 6 Loosen screw 15 fit a 150 mm screw and pull off the pinion with the help of a puller Mounting 7 Mount a threaded pin in the motor shaft and press the gear on to the shaft with a nut and washer Mount screw 15 through the gear torque 70 Nm Loctite 243 Axial force through the bearings in the motor is prohibited 8 Ensure th...

Page 55: ...ng as possible Do not remove the screws 5 Loosen the base cabling at the bottom of the base 3 1 Do not remove the screws 6 Tighten all screws 3 6 again after the cabling has been removed To avoid that the base plate 3 2 rotates and to make dismounting and mounting of the cabling easier 7 Take out the cover 2 22 and disconnect the earth wire from the contact plate in the base 8 Loosen the base cabl...

Page 56: ... cables through the hole in the frame and pull out connectors to their correct positions 13 Mount the screws 2 1 25 with washers 2 1 26 which hold the cabling to the frame Add Loctite 243 and tighten 14 Connect all contacts inside the frame and at the brake release unit and serial meas urement board Mount the brake release unit and serial measurement board use Loctite 243 15 Connect the earth wire...

Page 57: ...st or any other equipment the positioning may be affected 4 Unscrew screws 2 43 45 for the gear Accessible through holes in the frame 5 Remove screws 2 6 holding the joint bearing 6 Lift the arm system straight up 7 Place the arm system on some kind of support Make sure that the arm system is properly supported so that the gearbox can be safely removed 8 Loosen screws 4 6 for the gearbox Mounting ...

Page 58: ...nd Chapter 2 2 Cabling axis 1 19 Calibrate the robot as described in Chapter 9 Calibration Tightening torque Screw joint gear base item 2 43 300 Nm Screw joint gear base item 2 45 120 Nm Screw joint gear frame item 4 6 120 Nm Screw joint bearing base item 2 6 120 Nm 2 4 Dismounting joint bearing Refer to foldout 4 Dismounting 1 Dismount the arm system as described in Chapter 2 3 Replacing the gear...

Page 59: ...nual IRB 640 2 5 Dismounting cooling axis 1 Refer to foldout 10 Dismounting 1 Dismount cover in the frame between axes 2 and 3 2 Disconnect fan cabling 12 R3 FAN 3 Loosen nuts 7 4 Remove the fan 1 Mounting 5 Mount in reverse order ...

Page 60: ...or The weight of the motor is 17 kg 6 Loosen the screws 1 31 for the motor 7 Pull out the motor In case of difficulty use the threaded M8 holes on the motor flange to push the motor out 8 Unscrew screw 1 30 and mount a screw with a length of 150 mm and pull off the gear with a puller Mounting 9 Fit a fully threaded pin in the motor shaft and press the gear on to the shaft with a nut and a washer M...

Page 61: ... 2 guide pins M12 8 Mount friction rings 1 16 1 37 and O ring 1 4 9 Put the gearbox 1 3 on the 2 guide pins and place the friction ring 1 16 on to the gearbox 10 Mount screws 1 5 and 1 7 lubricate with Molycote 1000 and tighten screw 1 7 with 300 Nm and screw 1 5 with 120 Nm 11 Mount O ring 1 14 12 Suspend the motor socket on the 2 guide pins Note the position of the magnetic plugs 13 Mount screws...

Page 62: ... described in Chapter 4 5 Dismounting upper arm complete 8 Dismount the balancing unit 1 1 1 as described in Chapter 3 5 Dismounting balancing unit or Chapter 3 6 Replacing guiding ring balancing unit 8 Attach a hoist to the under arm 9 Dismount motor and gearbox for axis 2 as described in Chapter 3 2 Replacing the gearbox 10 Dismount motor and gearbox for axis 3 as described in Chapter 4 2 Replac...

Page 63: ...s described in Chapter 3 5 Dismounting bal ancing unit or Chapter 3 6 Replacing guiding ring balancing unit Do not forget to remove the locking screws 24 Calibrate the robot as described in Chapter 9 Calibration Tightening torque Screw joint balancing weight parallel arm item 1 3 142 300 Nm 3 4 Replacing bearing in lower arm Refer to foldout no 6 1 Dismounting 1 Remove the lower arm as in Chapter ...

Page 64: ... 3HAB 6567 1 see Figure 2 7 Hang up the new balancing unit on the upper auxiliary shaft Adjust the length between the bearings by means of the M10 screw This length should preferable be 0 5 mm too short than 0 1 mm too long If the distance is too long the bearings may be damaged when erecting the balancing unit Carefully install the balancing unit on to the upper and lower shaft 8 Fit the lubricat...

Page 65: ...Axis 2 Repairs 22 Product Manual IRB 640 Figure 2 Mounting the balancing unit 1 2 Inner race 3 4 5 6 1 2 3 4 5 6 Loctite 243 50 Nm min 0 1 min 0 1 Aux shaft 3HAB 6558 1 7 ...

Page 66: ...e the worn out guiding ring and clean the piston rod See Figure 3 4 With the smallest outer diameter facing outwards force the new guiding ring over the piston rod Locate the ring in the end cover Use tool 3HAC 0879 1 See Figure 3 5 Install the circlip 6 Lubricate the piston rod see Maintenance Chapter 2 6 Lubricating piston rod balancing unit axis 2 Figure 3 Guiding ring balancing unit Circlip Gu...

Page 67: ...4 Dismounting of bearing 3 Turn the tool upside down Place the new bearing on the tool with the bearing number upwards facing the tool Push the new bearing down according to Figure 5 Figure 5 Mounting of bearing 4 Replace the guiding ring and the circlip according to Chapter 3 6 Replacing guid ing ring balancing unit 5 Mount the balancing unit according to Chapter 3 5 Dismounting balancing unit Pr...

Page 68: ...hrough the hole in the plate Loosen the air hose 4 Unscrew the holders for the cabling see foldouts for location Make a written note of the relative positions and order of the cables and air hose to facilitate refitting in the correct way Mounting 6 Mount in reverse order Adjust the length of the cable between the cable holders at the top of the lower arm and the holder on the upper arm at the lon...

Page 69: ...Axis 2 Repairs 26 Product Manual IRB 640 ...

Page 70: ...the top of motor 3 Remove the cover 3 Unscrew the 4 cable inlet cover screws 4 Disconnect connectors R3 MP3 and R3 FB3 5 Attach a hoist to the motor The weight of the motor is 17 kg 6 Unscrew the screws 1 31 for the motor 7 Pull out the motor 8 Loosen screw 1 30 and mount a screw with a length of 150 mm and pull off the gear with a puller Mounting 9 Mount a fully threaded pin in the motor shaft an...

Page 71: ...out the gear box 1 3 hanging on the guide pins Mounting 6 Clean the surfaces in the frame lower arm and gearbox 7 Mount 2 guide pins M12 8 Mount friction rings 1 16 1 37 and O ring 1 4 9 Put the gear box on the 2 guide pins and place the friction ring 1 16 on to the gearbox 10 Mount screws 1 5 and 1 7 lubricate with Molycote 1000 and tighten screw 1 7 with 300 Nm and screw 1 5 with 120 Nm 11 Mount...

Page 72: ...the rear 5 Lift the parallel arm away Mounting 6 Place the parallel arm in position 7 Press the parallel arm into the lower arm 8 Mount the lower arm as described in Chapter 3 3 Replacing lower arm 4 4 Replacing parallel bar with bearings Refer to foldout no 1 Dismounting IMPORTANT Secure axis 3 with two extra mechanical stops so that the balancing weight for axis 3 cannot fall down and secure the...

Page 73: ...tra mechanical stops so that the balanc ing weight for axis 3 cannot fall down 1 Dismount balancing unit as described in Chapter 3 5 Dismounting balancing unit or Chapter 3 6 Replacing guiding ring balancing unit 2 Remove the cables and air hose inside the lower arm as in Chapter 3 8 Dis mounting cables lower arm upper arm 3 Attach a hoist to the upper arm See Figure 6 Figure 6 Lifting the upper a...

Page 74: ... to torque 34 Nm 15 Insert the distance ring 1 1 138 on the shaft only on the left side 16 Mount the bearing 1 1 133 17 Insert the NILOS ring 1 1 135 and distance ring 1 1 139 18 Mount the KM nut Apply Loctite 243 and tighten the nut then loosen the nut again and tighten to a torque of 90 Nm 19 Then mount the right side paragraphs 12 18 similar to the left side except for the distance ring 1 1 138...

Page 75: ...Axis 3 Repairs 32 Product Manual IRB 640 Tightening torque Shafts item 1 1 203 300 Nm KM nut item 1 1 136 90 Nm Screws clamps item 1 3 142 1 3 160 300 Nm ...

Page 76: ... in balance 5 Remove the upper rod Lower rod The bearings can take a skew setting But be careful 6 Lock the tilt house 7 4 through the tilt house into the upper arm with a screw 7 Loosen the upper rod at the tilt house 8 Dismount cover 205 24 by deformation a new cover must be fitted 9 Remove KM nut 205 6 10 Secure the link 205 40 so it cannot rotate when the lower rod is removed 11 Remove screw 2...

Page 77: ...nt friction washer 205 32 support washer 205 28 and screw 205 29 use Loctite 243 19 Mount a new cover 205 24 Upper rod Note When changing bearing pushing a bearing is only allowed on its text side The other side is not hard enough 20 Place ring 205 4 support ring 205 5 sealing ring 205 3 and the inner races of the bearings on the front and rear shaft Grease the bearing 21 Mount the upper rod 205 1...

Page 78: ...per and lower arms does not rotate when unscrewing the KM nut The KM nut is locked with Loctite 243 3 Unscrew KM nut 205 6 4 Attach a hoist to the link 5 Pull out the link Mounting 6 Apply Loctite on the shaft before mounting the ring 205 47 Mount support ring 205 47 7 Mount the inner race of bearing 205 41 8 Mount the link 9 Mount KM nut 205 6 use Loctite 243 Tighten to a torque of 90 Nm 10 Swing...

Page 79: ...Link system Repairs 36 Product Manual IRB 640 ...

Page 80: ...ual IRB 640 37 6 Pushbutton unit for releasing brakes 6 1 Replacing pushbutton unit Refer to foldout no 2 Dismounting 1 Remove the pushbutton unit 3 located in the frame 2 Disconnect connectors R3 BU1 6 X8 R3 BU1 3 X9 R3 BU4 6 X10 Mounting 3 In reverse order ...

Page 81: ...Pushbutton unit for releasing brakes Repairs 38 Product Manual IRB 640 ...

Page 82: ...10 Mount the bearings 11 in the tilt housing Use tool 3HAC 3437 1 11 Apply a little grease in the hole for the shafts Apply grease also to both the shafts 12 Insert shaft 9 on the same side as the balancing unit left side of robot as seen from behind 13 Position the distance piece 3HAC 2984 1 between the upper arm and the tilt housing on the left side of the upper arm seen from behind Press the sh...

Page 83: ...o foldout nos 7 and 9 It is not necessary to remove the tilt housing from the upper arm Dismounting 1 Dismount cabling for axis 6 2 Drain the grease Open both magnetic plugs 3 Unscrew screws 13 Dismount shaft 5 with the help of pinscrews M8x65 4 Loosen screws 6 5 Free the drive unit and lift it out 6 Loosen screws 9 4 Dismount the gear with the help of 2 screws M8 holes in the motor flange 7 Loose...

Page 84: ...nt shaft 7 5 screws 7 13 tightening torque 24 Nm 14 Pour grease into axis 6 as described in the Maintenance Manual IRB 640 15 Calibrate the robot as described in Chapter 9 Calibration Tightening torque Screw joint motor gear 9 4 35 Nm Screw joint drive unit shaft 7 13 24 Nm Screw joint tilt housing drive unit 7 6 70 Nm 7 3 Checking play in axis 6 Axis 6 1 Check the play in axis 6 with tool 6896 13...

Page 85: ...Axis 6 Repairs 42 Product Manual IRB 640 ...

Page 86: ...built into the motor unit in a similar way as the brake Power and signal connections to the motor units are via separate cables between connections points inside the manipulator and each motor The cables are connected to the motor units with connectors The feedback unit is fitted by the motor manufacturer and must never be sep arated from the motor The communication angle is 90 COMOFF 2048 The mot...

Page 87: ...B 8278 1 22 185 6 3HAB 5762 1 6 81 A check on the static brake torque for each motor unit can be done by applying a load on the moving arm or on the turning disc in some suitable way When calculating the brake torque the arm and gear reduction ratio must be taken into consideration The coefficient of efficiency for the gear is assumed to be 1 0 ...

Page 88: ...9 4 Setting the calibration marks on the manipulator This may happen when the battery is discharged a resolver error occurs the signal between a resolver and measurement board is interrupted a robot axis has been moved with the control system disconnected 9 2 Calibration procedure The axes must be adjusted in increasing sequence i e 1 2 3 5 6 1 Position the manipulator approximately in calibration...

Page 89: ...e s reference plane see Figure 11 9 Mount elbow fixture 6808 0011 LP on the lower arm s calibration plane see Figure 11 10 Mount sensor fixture 6808 0011 GM at the back of the upper arm see Figure 11 11 Mount sync fixture 3HAC 1904 1 on the frame for axis 6 and turning disc see Figure 12 12 Mount inclination instrument 6807 081 D One sensor should be mounted on the refer ence plane and the other o...

Page 90: ... IRB 640 47 Figure 11 Movement directions for calibration reference surface Axis 6 Reference Axis 2 Axis 3 Sync fixture axis 6 see Figure 12 Aligning the turning disc View from above Axis 3 Inclination instrument 6807 081 D Tilt housing ...

Page 91: ... until the digital levelling gauge indicates zero The gauge should read 0 12 increments 0 3 mm m The reason why the calibration position is always adjusted in the directions shown in the figure is that the friction and gravity forces then work together against the direction of the movement In this way adjustment is simplified Guide hole Front view From above Side view Inclination instrument 6807 0...

Page 92: ...ter 19 Select View Calibration The window in Figure 14 appears Figure 14 The window shows whether or not the robot system units are calibrated The calibration status can be any of the following Synchronised All axes are calibrated and their positions are known The unit is ready for use Not updated Rev Counter All axes are fine calibrated but one or more of the axes has a counter that is NOT update...

Page 93: ...xis and press the function key Incl the selected axis is marked with an x 22 Confirm by pressing OK The window in Figure 16 appears Figure 16 The dialog box used to start the calibration 23 Start the calibration by pressing OK An alert box is displayed during calibration The Status window appears when the fine calibration is complete The revolution counters are always updated at the same time as t...

Page 94: ... Aligning the tilt housing The tilt housing must be aligned after completed calibration of the robot axes see Figure 11 1 Mount sensor fixture 6808 0011 GM on the turning disc turn the screw around see Figure 11 2 Mount inclination instrument 6807 081 D 3 Untighten the screw joint for the tilt housing see Figure 11 4 Move the tilt housing so that the digital levelling gauge indicates zero The gaug...

Page 95: ...oved without the con troller being connected It takes 36 hours operation to recharge the battery unit without any power interrup tions If the resolver values must be calibrated this should be done as described in the chapter on Repairs in the IRB 640 Product Manual WARNING Working in the robot work cell is dangerous Press the enabling device on the teach pendant and using the joystick move the rob...

Page 96: ... Figure 20 appears Figure 20 The dialog box used to select axes whose revolution counter is to be updated 6 Press the function key All to select all axes if all axes are to be updated Otherwise select the desired axis and press the function key Incl the selected axis is marked with an x Robot Unsynchronized File Edit View Calib 1 1 Service Calibration Unit Status X 1 Rev counter not updated X 2 Re...

Page 97: ... it will cause incorrect positioning Thus check the calibration very carefully after each update Incorrect updating can damage the robot system or injure someone 9 Check the calibration as in Chapter 9 5 Checking the calibration position Figure 22 Calibration marks on the manipulator 10 Save the system parameters on a floppy disk Cancel OK Rev Counter Updating Robot The Rev Counter for all marked ...

Page 98: ...y axis Using the joystick move the robot so that the read out of the positions is equal to zero Check that the calibration marks for each axis are at the same level see Figure 17 If they are not the setting of the revolution counters must be repeated 9 6 Alternative calibration positions Before it can be calibrated in one of the two alternative positions the robot must have been calibrated with ca...

Page 99: ...the new calibration offset on the label located on the frame to the left of motor axis 1 remove the cover between axes 2 and 3 The new calibration offset values can be found as follows Select the window SYSTEM PARAMETERS Types Motor Select axis 1 Press Enter Note the Cal offset value 5 Change to the new calibration position on axis 1 as follows Select the window SYSTEM PARAMETERS Topics Manipulato...

Page 100: ...81 D 2 Calibration equipment 6808 011 GM Sensor fixture 6896 011 YM Sync fixture axis 1 6896 0011 YN Measuring rod 6808 0011 LP Angle bracket 3HAC 1904 1 Sync fixture axis 6 Calibration tools for TCP check Tool for TCP adjustment 3HAA 0001 UA X 15 mm Z 150 mm Calibration set for Opti Master 3HAA 0001 XR ...

Page 101: ...Calibration Repairs 58 Product Manual IRB 640 ...

Page 102: ...g gear axes 1 2 and 3 3HAC 0266 1 Lifting device for bearing axis 1 6896 134 XD Lifting tool motor axis 1 3HAB 7396 1 Axis 2 Auxiliary shaft 3HAB 6558 1 Auxiliary shaft 3HAB 6567 1 Screw for locking axis 2 M16x150 Tubular KM socket 4 KM 8 Pressing tool bearing lower arm 6896 134 FJ Lifting gear axes 2 and 3 chain hoist 6896 0011 YL Tool for guiding ring assembly 3HAC 0879 1 Axis 3 Hydraulic cylind...

Page 103: ...earing seal 6896 134 FR FP Pull rod 6896 134 FH Dismounting bearing and sealing p rod 3HAB 7806 1 Grease nipples R 1 8 2545 2021 26 Calibration tool for TCP check Tools for grease replacement axes 1 3 Axis 1 Socket 3HAB 1561 1 Nipple 3HAA 7601 090 Hose D 18 12 mm L 1000 mm Hose clip D 15 20 mm Socket Square 1 2 hexagon 10 mm Extender 1 2 L 250 mm Ratchet wrench Axis 2 3 6 Nipple 3HAA 7601 091 Hose...

Page 104: ... sealing 3HAC 2226 1 Pressing tool for sealing 3HAC 2227 1 Pressing tool for bearing 3HAC 4315 1 Pressing tool for sealing 3HAC 4316 1 Pressing tool for sealing 3HAC 4317 1 Tilthouse Upper arm Distance when mounting bearing 3HAC 2984 1 Wedge for adjustment of tilt house upper arm 3HAC 2347 1 Pressing tool for shaft 3HAC 3409 1 Ratchet wrench socket 4 KM8 graduated arc Tool for dismounting bearing ...

Page 105: ...Special Tools List Repairs 62 Product Manual IRB 640 ...

Page 106: ...1 2 Axis 1 complete 5 1 3 Base 7 1 4 Frame complete 8 1 5 Axes 2 and 3 9 1 6 Lower arm 11 1 7 Upper arm 12 1 8 Parallel rod 13 1 9 Drive unit axis 6 14 1 10 Cooling device axis 1 15 1 11 Cabling 15 1 12 Position switches axes 1 and 2 15 1 13 Signal lamp 16 1 14 Customer vacum set 16 ...

Page 107: ...g 3HAB 6254 1 50 3 2 Ring 3HAB 6275 1 50 4 4 Support washer 3HAB 6279 1 50 5 2 Lock nut 3HAB 6271 1 60 Lift device for fork lift 3HAA 0001 SY 8 Screw 3HAB 3409 93 M16x60 12 9 8 Washer 3HAA 1001 186 17x30x3 2 Lifting device 3HAB 4229 1 2 Lifting device 3HAB 4230 1 4 Instruction plate 3HAB 4232 1 70 Fan 3HAC 2306 1 See 1 10 109 10 Clip lock 5217 520 11 112 1 Cover with gasket 3HAA 0001 ZK 114 20 Dis...

Page 108: ...1300 ml 172 3 Torx pan head roll screw 9ADA 629 57 M6x20 176 2 Torx pan head roll screw 9ADA 629 63 M6x50 177 2 Washer 2151 2082 150 6 1x20x2 178 1 Guide for cabling 3HAA 1001 721 182 1 Cover 3HAA 1001 161 183 6 Torx pan head rol screw 9ADA 629 55 M6x12 202 1 Shaft 3HAA 1001 127 203 1 Shaft lower arm 3HAC 1208 1 620 1 Limited working range 3HAB 4224 1 option 621 1 Stop arm 3HAB 4533 1 4 Hexagon he...

Page 109: ...0014 410 Loctite 243 1 ml 205 8 Lubricating grease 1171 4012 201 1 g 205 20 1 Lower rod 3HAC 1050 1 205 21 2 Spherical roller bearing 3HAA 2167 11 205 22 2 Sealing without dust lip 3HAB 3702 14 205 24 1 VK cover 3HAA 2166 11 D 80 B 10 205 26 Lubricating grease 1171 4012 201 205 27 1 Sealing ring without dust lip 3HAB 3702 18 D 52 68 B 8 205 28 1 Support washer 3HAC 2627 1 205 29 1 Hex socket head ...

Page 110: ...on ring 3HAA 1001 613 15 1 Screw 3HAB 3409 62 M10x100 12 9 Gleitmo 610 16 Sealing compound 1236 0012 202 Permatex3 1 ml 18 13 Screw 9ADA 629 57 M6x20 19 5 Plain washer 9ADA 312 6 6 4x12x1 6 20 1 Symbol 3HAB 5617 1 Earth sign 21 1 Base cabling 3HAC 3766 1 CP CV CAN 1 Base cabling 3HAC 3880 1 SW2 CP CV CAN 22 1 Cover with gasket 3HAA 1001 700 23 1 Hex socket head cap screw 3HAB 3409 62 M10x100 12 9 ...

Page 111: ...3HAA 1001 668 43 3 Screw 3HAB 7700 94 M16x140 12 9 Unbrako 44 3 Spring washer 3HAA 1001 181 45 3 Screw 3HAB 7700 84 M12x140 12 9 Unbrako 46 3 Support washer 3HAA 1001 200 12 5x24x5 9 47 1 Axis 2 cabling 3HAC 0703 1 48 1 Axis 3 cabling 3HAB 8737 1 49 18 Screw 9ADA 618 55 M6x12 8 8 ...

Page 112: ...40 7 1 3 Base Itm Qty Name Art no Rem Base complete 3HAC 3806 1 1 1 Base 3HAC 0517 2 2 1 Bottom plate 3HAA 1001 695 3 1 Cable guide rail 3HAA 1001 691 5 1 Stop shaft 3HAB 4082 1 6 8 Screw 9ADA 618 56 M6x16 8 8 8 2 Angle 3HAA 1001 154 ...

Page 113: ... 1800 1 2 1 Bearing 3HAA 1001 1 3 15 Screw 3HAB 3409 73 M12x70 12 9 Gleitmo 610 4 23 Washer 3HAA 1001 632 5 1 Plug 2522 2021 113 KR 1 2 6 8 Hex socket head cap screw 3HAB 3409 75 M12x90 12 9 Gleitmo 610 11 1 O ring 2152 0431 15 245 0x3 0 12 1 Reduction gear 3HAC 0665 1 13 1 Friction ring 3HAA 1001 614 14 1 Cover 3HAB 6130 1 ...

Page 114: ...eitmo 610 1 31 8 Screw 9ADA 183 50 M10x25 8 8 1 32 8 Plain washer 9ADA 312 8 10 5x20x2 1 33 4 Magnetic plug 2522 122 1 1 4 1 34 Grease 3HAC 2331 1 Molywhite 1 35 4 Washer 2152 0441 1 13 5x18x1 5 1 37 2 Friction ring 3HAA 1001 613 1 38 Motor socket mtrl kit 3HAB 4193 1 1 38 1 2 Motor socket 3HAB 4056 1 1 38 2 16 Screw 3HAB 3409 74 M12x80 12 9 1 38 3 16 Washer 3HAA 1001 632 13x21x2 1 39 1 Sync plate...

Page 115: ...B 4259 1 2 119 1 1 Serial measurement board 3HAB 2213 1 DSQC 313 2 120 29 Screw 9ADA 629 56 M6x16 8 8 2 121 1 Cover 3HAA 0001 SZ 2 146 1 Battery pack 4944 026 4 2 163 1 Grease tube 3HAA 1001 716 2 167 2 Screw 9ADA 629 59 M6x30 2 172 3 Screw 9ADA 629 57 M6x20 2 178 1 Guide for cabling 3HAA 1001 721 ...

Page 116: ...B 4387 1 5 2 Set screw 2122 2765 99 M20x20 6 2 Damper 3HAA 1001 81 7 2 Damper 3HAA 1001 123 8 4 Screw 9ADA 183 37 M8x25 9 4 Washer 9ADA 312 7 8 4x16x1 6 10 1 Damper 3HAA 1001 90 11 1 Support plate 3HAA 1001 282 12 2 Screw 2121 2763 364 M6x10 13 2 Damper 3HAA 1001 622 14 4 Screw 9ADA 618 56 M6x16 15 4 Plain washer 9ADA 312 6 6 4x12x1 6 16 Sealant 1269 1907 1 Loctite 577 1 ml 17 Locking fluid 1269 0...

Page 117: ... cap screw 3HAB 3402 37 M8x25 8 8 Gleitmo 610 9 2 Shaft upper arm 3HAC 2887 1 10 2 Sealing ring without dust lip 3HAB 3701 23 D 48 62 B 8 11 2 Taper roller bearing 3HAB 3729 14 D 40 90 B 23 12 Lubricating grease 1171 4012 201 5 g 13 Locking liquid 1269 0014 410 Loctite 243 5 ml 14 2 Lock nut 2126 2851 108 M40x1 5 15 2 VK cover 3HAA 2166 17 D 19 B 6 16 2 VK cover 3HAA 2166 20 D 90 B 8 17 1 Cabling ...

Page 118: ...Art no Rem Parallel rod 3HAA 0001 ER 1 1 Parallel rod 3HAA 1001 71 2 2 Shaft 3HAA 1001 88 3 4 Ring 3HAA 1001 86 4 2 Spherical bearing 3HAA 1001 189 5 2 Adapter sleeve 2213 1905 21 6 2 Retaining ring 9ADA 137 33 7 Lubricating grease 1171 4012 201 40 g Both ends identical ...

Page 119: ...9 5 1 Hexagon cap screw 9ADA 183 21 M5x50 8 8 6 8 Washer 3HAA 1001 172 8 4x13x1 5 7 1 Magnetic plug 2522 122 1 R 1 4 8 1 Washer 2152 0441 1 13 5x18x1 5 9 1 Sync plate axis 5 3HAA 1001 77 10 1 Sync plate axis 6 3HAA 1001 78 11 1 Sync plate with nonie 3HAA 1001 174 12 4 Six point socket screw 9ADA 629 32 M4x8 13 4 Plain washer 9ADA 312 4 4 3x9x0 8 14 Grease 3HAC 2331 1 Molywhite 300 ml 15 Locking fl...

Page 120: ...ling 3HAA 0001 ACE 13 1 Cable gland 3HAB 6509 7 Pr 18 6 16 4 Air filter 3HAA 1001 612 17 1 Sealing plug 2522 253 2 Pr 18 6 1 11 Cabling 21 1 Base cabling 3HAC 3766 1 See section 1 2 CP CS 21 1 Base cabling 3HAC 3880 1 See section 1 2 CP CS CAN 47 1 Axis 2 cabling 3HAC 0703 1 See section 1 2 48 1 Axis 3 cabling 3HAB 8737 1 See section 1 2 17 1 Cabling upper front 3HAC 3953 1 See section 1 7 CP CS 1...

Page 121: ...1 Cust power vaccuum R1 R2 3HAC 2130 1 3 1 Sealing gasket 2152 0363 5 4 4 Torx pan head screw 9ADA 618 23 5 1 Dust cap 3HAA 1001 630 6 1 Contactholder 3HAB 4132 1 7 1 Cable straps outdoors 2166 2055 3 8 1 Earth symbol 3HAB 5617 1 9 5 Torx pan head roll screw 9ADA 629 42 10 3 Plain washer 9ADA 312 5 11 0 8 Single core cable 9ADA 103 35 12 2 Cable lug 9ADA 219 11 13 1 Cust power vaccuum R3 R4 3HAC 2...

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Page 141: ...age Product Manual S4Cplus 1 Circuit Diagram 3HAC 1352 1 Rev 00 Contents 3 Connection Point Location 4 Legend 5 Brake Unit 6 Axis 1 7 Axis 2 8 Axis 3 9 Axis 6 10 Customer Power Connection Option 11 Customer Signal Connection 12 ...

Page 142: ...Circuit Diagram Page 2 Product Manual S4Cplus ...

Page 143: ...Revision 00 No of sheets sheet 3 10 Circuit Diagram 3HAC 1352 1 Contents ...

Page 144: ...Revision 00 No of sheets sheet 4 10 Circuit Diagram 3HAC 1352 1 Connection Point Location ...

Page 145: ...Revision 00 No of sheets sheet 5 10 Circuit Diagram 3HAC 1352 1 Legend ...

Page 146: ...Revision 00 No of sheets sheet 6 10 Circuit Diagram 3HAC 1352 1 Brake Unit ...

Page 147: ...Revision 00 No of sheets sheet 7 10 Circuit Diagram 3HAC 1352 1 Axis 1 ...

Page 148: ...Revision 00 No of sheets sheet 8 10 Circuit Diagram 3HAC 1352 1 Axis 2 ...

Page 149: ...Revision 00 No of sheets sheet 9 10 Circuit Diagram 3HAC 1352 1 Axis 3 ...

Page 150: ...Revision 00 No of sheets sheet 10 10 Circuit Diagram 3HAC 1352 1 Axis 6 ...

Page 151: ...Revision 00 No of sheets sheet 11 10 Circuit Diagram 3HAC 1352 1 Customer Power Connection Option ...

Page 152: ...Revision 00 No of sheets sheet 12 10 Circuit Diagram 3HAC 1352 1 Customer Signal Connection ...

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