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1.3 Robot stopping functions

Protective stop and emergency stop

The protective stops and emergency stops are described in the product manual
for the controller.

For more information see:

Product manual - IRB 6710

3HAC085695-001 Revision: A

1 Safety

1.3 Robot stopping functions

Summary of Contents for IRB 6710

Page 1: ...ROBOTICS Product manual IRB 6710 ...

Page 2: ...Trace back information Workspace 23B version a13 Checked in 2023 06 21 Skribenta version 5 5 019 ...

Page 4: ...ranty by ABB for losses damage to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtaine...

Page 5: ... 3 2 2 Risk of tipping stability 53 3 3 On site installation 53 3 3 1 Brief installation procedure 54 3 3 2 Installing a base plate 62 3 3 3 Lifting the robot 62 3 3 3 1 Lifting robot with lifting accessory recommended lifting method 64 3 3 3 2 Lifting the robot with fork lift 65 3 3 3 3 Lifting the robot with roundslings 69 3 3 4 Orienting and securing the robot 72 3 3 5 Manually releasing the br...

Page 6: ...e 173 4 6 Cleaning activities 173 4 6 1 Cleaning the IRB 6710 177 5 Repair 177 5 1 Introduction 178 5 2 General procedures 178 5 2 1 Performing a leak down test 179 5 2 2 Mounting instructions for bearings 181 5 2 3 Mounting instructions for sealings 185 5 2 4 Cut the paint or surface on the robot before replacing parts 186 5 3 Balancing device 186 5 3 1 Replacing the balancing device 204 5 3 2 Re...

Page 7: ...ools 601 6 4 4 Axis Calibration Running the calibration procedure 605 6 4 5 Reference calibration 607 6 5 Verifying the calibration 608 6 6 Checking the synchronization position 609 7 Troubleshooting 609 7 1 Introduction to troubleshooting 611 7 2 Oil and grease stains on motors and gearboxes 612 7 3 Mechanical noise or dissonance 613 7 4 Manipulator collapses on power down 615 8 Decommissioning 6...

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Page 9: ...it to the foundation to making it ready for operation maintenance work repair work decommissioning work Note It is the responsibility of the integrator to conduct a risk assessment of the final application It is the responsibility of the integrator to provide safety and user guides for the robot system Who should read this manual This manual is intended for installation personnel maintenance perso...

Page 10: ...essPack IRB 6710 3HAC084692 001 Product manual OmniCore V250XT Type A 3HAC086333 001 Circuit diagram IRB 6710 IRB 6720 IRB 6730 IRB 6740 3HAC065041 001 Technical reference manual System parameters 3HAC050944 001 Operating manual Service Information System Tip All documents can be found via myABB Business Portal www abb com myABB Revisions Description Revision First edition A 10 Product manual IRB ...

Page 11: ...ation Troubleshooting Decommissioning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and...

Page 12: ...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 12 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved Product documentation Continued ...

Page 13: ...so include specific safety information when dangerous steps are to be performed Read more in the chapter Safety on page 15 Illustrations The product is illustrated with general figures that does not take painting or protection type in consideration Likewise certain work methods or general information that is valid for several product models can be illustrated with illustrations that show a differe...

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Page 15: ...obot when the safety devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed as intended Non authorized design modifications of the robot Repairs on the robot and its spare parts carried out by in experienced or non qualified personnel Foreign objects Force majeure Spare parts and equipment ABB supplies o...

Page 16: ...fluence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot 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 16 Product manual IRB 6710 3HAC085695 001 Revis...

Page 17: ...ided will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a potentially hazardous situation related to electrical hazards which if not avoided could result in serious injury ELECTRICAL SHOCK Signal word used to indicate a potentially hazardous situation which if ...

Page 18: ...used to indicate where to find additional information or how to do an operation in an easier way TIP 18 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Page 19: ...scription Symbol Warning xx0900000812 Warns that an accident may occur if the instructions are not followed that can lead to serious injury possibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc Caution xx0900...

Page 20: ...000815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will release the brakes This means that the robot arm can fall down Continues on next page 20 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety sy...

Page 21: ...ip over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 6710 21 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 22: ...1 1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page 22 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 23: ...xx1000001242 Lifting of robot xx0900000822 Oil xx0900000823 Can be used in combination with prohibition if oil is not allowed Mechanical stop xx0900000824 Continues on next page Product manual IRB 6710 23 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 24: ...that this part is pressurized Usually contains additional text with the pressure level Shut off with handle xx0900000827 Use the power switch on the controller Do not step xx1400002648 Warns that stepping on these parts can cause damage to the parts 24 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Contin...

Page 25: ...cy stop The protective stops and emergency stops are described in the product manual for the controller For more information see Product manual IRB 6710 25 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

Page 26: ...le impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot motion in the product specification for the respective manipulator Consider exposure to hazards such as slipping tripping and falling Hazards due to the working position and posture for a person working...

Page 27: ...obot with external devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocked in accordance with applicable standards Other hazards A robot may perform unexpected limited movement WARNING Manipulator movements can c...

Page 28: ...ment of robot arm WARNING 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 28 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 5 Safety during operation...

Page 29: ...ns are working as intended Hot surfaces Surfaces can be hot after running the robot and touching these may result in burns Allow the surfaces to cool down before maintenance or repair Allergic reaction Elimination Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn When working with lubricants there is a risk of an allergic reac tion Allergic reaction...

Page 30: ...uctions Al ways use the type of oil specified for the product Mixing types of oil may cause severe damage to the gearbox Do not mix types of oil Make sure that protective gear like goggles protective visor gloves and arm protection are always worn during this activity Oil residues might be present in a drained gearbox and spilled when separating a motor and gearbox during repair Put oil absorbent ...

Page 31: ... recharge puncture incinerate crush immerse force discharge or expose to temperatures above the declared operating temperature range of the product Risk of fire or explosion Operating temperatures are listed in Operating conditions robot on page 39 See safety instructions for the batteries in Material product safety data sheet Battery pack 3HAC043118 001 Unexpected movement of robot arm WARNING Ha...

Page 32: ...quire using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the manipulator does not result in additional hazards for example even more severe injuries on a trapped person DANGER 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 ...

Page 33: ... 2 Switch the motor to the MOTORS OFF 3 Inspect and verify that the axis maintains its position If the manipulator does not change position as the motors are switched off then the brake function is adequate Note It is recommended to run the service routine BrakeCheck as part of the regular maintenance see the operating manual for the robot controller For robots with the option SafeMove the Cyclic ...

Page 34: ...ld engineers A risk assessment must be done to address both robot and robot system specific hazards WARNING 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 Related information See also the safety inform...

Page 35: ...ment of robot arm WARNING 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 6710 35 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 8 Safety during decommiss...

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Page 37: ... robot The weight includes the weight of the DressPack for LID variants Mounting positions The table shows valid mounting positions and the installation mounting angle for the manipulator Installation angle Mounting position 0 Floor mounted Note The actual mounting angle must always be configured in the system parameters otherwise the performance and lifetime is affected Continues on next page Pro...

Page 38: ... operation The values also never reach their maximum at the same time WARNING The robot installation is restricted to the mounting options given in following load table s Floor mounted Maximum load emergency stop Endurance load in operation Force 19 4 kN 7 4 kN Force xy 14 1 16 3 kN 14 1 4 2 kN Force z 35 8 kNm 19 5 kNm Torque xy 12 3 kNm 5 kNm Torque z Continues on next page 38 Product manual IRB...

Page 39: ... the resonance frequency of the building floor etc For example if the equivalent mass of the floor is very high it will not affect robot movement even if the frequency is well below the stated frequency The robot should be mounted as rigid as possibly to the floor Disturbances from other machinery will affect the robot and the tool accuracy The robot has resonance frequencies in the region 10 20 H...

Page 40: ...nipulator protection type Foundry Plus 2 i According to IEC 60529 Environmental information The product complies with IEC 63000 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances 40 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 1 Technical dat...

Page 41: ...ows the unrestricted working range of the robot 2660 1914 277 1188 926 3125 A xx2200001961 Path intersect with axis 5 center A Continues on next page Product manual IRB 6710 41 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range ...

Page 42: ...icted working range of the robot A 2960 2213 1429 1010 576 3424 xx2200001962 Path intersect with axis 5 center A Continues on next page 42 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Page 43: ...stricted working range of the robot A 2660 1914 277 926 3125 1477 xx2200001963 Path intersect with axis 5 center A Continues on next page Product manual IRB 6710 43 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Page 44: ...tricted working range of the robot A 2960 2213 1010 576 3424 1744 xx2200001964 Path intersect with axis 5 center A Continues on next page 44 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Page 45: ...10 210 2 65 IRB 6710 175 2 65 LID R2660 R926 2x 170 xx2200001985 Continues on next page Product manual IRB 6710 45 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Page 46: ...5 LID IRB 6710 175 2 95 LID 160 70 300 Axis 4 IRB 6710 210 2 65 IRB 6710 200 2 95 130 Axis 5 IRB 6710 175 2 65 LID IRB 6710 175 2 95 LID 120 iii IRB 6710 210 2 65 IRB 6710 200 2 95 360 Axis 6 IRB 6710 175 2 65 LID IRB 6710 175 2 95 LID 220 iii i Option Extended Working Range Axis 1 3324 1 Not valid with DressPack SW ii 160 if lower arm DressPack is installed Continues on next page 46 Product manua...

Page 47: ...can be reduced by altering the parameter values Installation of additional mechanical stops is recommended See Working range alterations on page 85 Product manual IRB 6710 47 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Page 48: ...estroy sensitive electronics Safe handling Use one of the following alternatives Use a wrist strap Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use an ESD protective floor mat 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 ...

Page 49: ...dards and regulations The technical data is detailed in section Technical data on page 37 Safety information Before any installation work is commenced all safety information must be observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page1...

Page 50: ... lifting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 37 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 39 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 39 7 Before taking ...

Page 51: ... before securing it to the foundation Transportation position This figure shows the robot in its transportation position 34 39 2 0 913 62 615 62 7 0 xx2200001841 Note The robot might be positioned in a different position at delivery due to actual configurations and options for example DressPack Angle of axis Axis number 0 Axis 1 34 to 39 Axis 2 70 Axis 3 0 Axis 4 Continues on next page Product man...

Page 52: ...NG The robot is likely to be mechanically unstable if not secured to the foundation 52 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 2 Risk of tipping stability Continued ...

Page 53: ...he plat form foundation 3 See Orienting and securing the ro bot on page 69 See Product manual OmniCore V250XT Type A Connect the manipulator to the controller 4 See Product manual OmniCore V250XT Type A Configure the safety settings 5 See Product manual OmniCore V250XT Type A How to start and run the robot is described in the product manual for the controller 6 Install required equipment if any 7 ...

Page 54: ...ening the robot base directly onto The base plate has a greater number of fastening points to the foundation and makes a larger footprint which reduces the load on each fastening point to reduce surface pressure on the foundation contact points which minimizes the risk of wearing down an uneven surface and thereby causing changes in the robot fastening tightening torque to be able to prepare the i...

Page 55: ... 2x 12H7 0 0 018 2 x 1 x 4 5 2 x 1 8 1 H 7 2 0 1 2 3 2 1 M 5 0 1 A B D A B 0 2 Common Zone E F G H xx1500000246 Description Pos Hole for guide pin cylindrical see Guide pins on page 58 A B Common tolerance zone accuracy all over the base plate from one contact surface to the other E F G H Continues on next page Product manual IRB 6710 55 3HAC085695 001 Revision A Copyright 2023 ABB All rights rese...

Page 56: ... 0 0 0 7 0 0 1 8 D C L 2x R22 5 B 3 x R 1 3x 90 3 x 4 C C xx1500000247 Continues on next page 56 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Page 57: ... 9 2x 132 8 87 27 87 27 5x M16 16x 22 1020 950 0 0 0 0 2x 271 2x 774 41 123 358 175 538 721 773 855 896 923 1 933 1 2x 860 2x 726 2x 543 2x 363 2x 206 110 448 786 878 87 1 87 27 1 27 50 18 69 2x 904 50 3 1 xx1500000249 Continues on next page Product manual IRB 6710 57 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Con...

Page 58: ...ide pins on page 58 A Assembly of guide pins 800 B B B B A B A Description Pos Cylindrical guide pin x2 A M5 x 40 Tightening torque 6 Nm x2 B Continues on next page 58 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Page 59: ...s for leveling bolts in the base plate A A A B B B B xx1500000312 Orienting grooves 3 pcs A Levelling bolts attachment holes 4 pcs B Continues on next page Product manual IRB 6710 59 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Page 60: ...Base plate guide sleeve holes The illustration below shows the guide sleeve holes in the base plate A xx0300000045 Guide sleeve holes 2 pcs A Continues on next page 60 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Page 61: ...in figure Base plate orienting grooves and leveling bolts on page 59 Fit the base plate and use the levelling bolts to level the base plate 6 If required fit strips of sheet metal underneath the base plate to fill any gaps 7 Secure the base plate to the foundation with screws and sleeves 8 Maximum allowed deviation all over the base plate from one contact surface to the other 0 3 mm Recheck the fo...

Page 62: ...etailed instruction see the user instructions enclosed with the accessory Note The user manual may be out of date The latest revision is available for download via myABB Business Portal www abb com myABB xx2200002013 Required equipment Note Article number Equipment Includes user instructions 3HAC15971 2 3HAC15607 1 Lifting accessory robot Continues on next page 62 Product manual IRB 6710 3HAC08569...

Page 63: ...g accessory to the robot as de scribed in the enclosed instruction Go to the user instructions enclosed with the lifting accessory DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 3 CAUTION The IRB 6710 robot weighs IRB 6710 210 2 65 1 140 kg IRB 6710 200 2 95 1 150 kg IRB 6710 175 2 65 LID 1 200 kg IRB 6710 175 2 95 LID 1 210 k...

Page 64: ...ft pockets and all required hardware for installation on robot base User instructions are enclosed with the tool 3HAC047054 003 Fork lift accessory set Required documents Document number Document 3HAC048484 002 Directions for use Fork lift accessory set 3HAC047054 001 Lifting the robot Note Action Lift the robot according to the user instructions enclosed with the fork lift accessory 1 64 Product ...

Page 65: ...obot can also be lifted with roundslings as detailed in this section Illustration lifting position This figure shows the robot in its lifting and transportation position 34 39 2 0 913 62 615 62 7 0 xx2200001841 DANGER Attempting to lift a robot in any other position than the recommended lifting position may result in the robot tipping over causing severe damage or injury Continues on next page Pro...

Page 66: ...p during transport ii Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport CAUTION The weight of the IRB 6710 robot is IRB 6710 210 2 65 1 140 kg IRB 6710 200 2 95 1 150 kg IRB 6710 175 2 65 LID 1 200 kg IRB 6710 175 2 95 LID 1 210 kg All lifting accessories used must be sized accordingly Continues on next page 66 Product manual IRB 6710 3HA...

Page 67: ...lifting WARNING The robot is mechanically unstable if not se cured to the foundation 1 CAUTION The weight of the IRB 6710 robot is IRB 6710 210 2 65 1 140 kg IRB 6710 200 2 95 1 150 kg IRB 6710 175 2 65 LID 1 200 kg IRB 6710 175 2 95 LID 1 210 kg All lifting accessories used must be sized ac cordingly 2 Lifting eye M20 Fit four lifting eyes to the base of the robot 3 4x xx2100000718 Continues on n...

Page 68: ...pending on robot vari ant ii Roundsling C 4 pcs Lifting eye M20 D i Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport ii Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport WARNING Personnel must not under any circumstances be present under the suspended load 5 Raise the overhead c...

Page 69: ...equirements foundation on page 39 Securing a floor mounted robot Use this procedure to orient and secure the robot floor mounted Note Action Make sure the installation site for the robot con forms to the specifications in section Technical data on page 37 1 The hole configuration of the base is shown in the figure in Hole con figuration base on page 71 Prepare the installation site with attachment...

Page 70: ... the robot gently using the attachment screws while lowering it into its mounting position 7 Screws M24 x 100 8 pcs quality 8 8 Fit the securing screws and washers in the attach ment holes of the base 8 Washers 4 mm flat washer Tightening torque Tighten the bolts in a crosswise pattern to ensure that the base is not distorted 9 550 Nm screws lubricated with Molykote 1000 600 725 Nm typical 650 Nm ...

Page 71: ... 2 7 0 2 25 H8 R400 0 3 A B 2 x 2 0 25 H8 M M 0 3 A B A CLAxis 1 4x 90 4x 15 2x 7 5 K K Ref C 8x 49 5 4x 16 8 x 5 3 4x 45 H8 8x 30 0 5 K K 0 3 A B 0 12 0 3 A B xx2200001840 Product manual IRB 6710 71 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 4 Orienting and securing the robot Continued ...

Page 72: ... is equipped with buttons for controlling the axes brakes The buttons are numbered according to the numbers of the axes Note If the robot is not connected to the controller power must be supplied to the connector R1 MP according to the section Supplying power to connector R1 MP on page 73 1 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpec ted w...

Page 73: ...nable the brake release buttons Note Action DANGER Incorrect connections such as supplying power to the wrong pin may cause all brakes to be released simultaneously and instantly 1 xx0600002937 Supply 0V on pin 12 24V on pin 11 Note Do not interchange the 24V and 0V pins If they are mixed up damage can be caused to internal electrical components 2 Use the brake releasing button as described in Rel...

Page 74: ...tops or major damage to the robot Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Stopping time and braking distances The performance of the motor brake depends on if there are any loads attached to the robot See the product specification for the robot listed in References on page 10 74 Product m...

Page 75: ...ircumscribed radius around axis 4 R4 Measurements The measurements are given in mm R4 R3 R1b R1a G F E D C B A Variant 200 446 525 634 30 345 320 1 185 180 1 142 5 2 351 5 IRB 6710 210 2 65 200 446 525 634 30 345 320 1 185 180 1 445 5 2 351 5 IRB 6710 200 2 95 200 446 525 634 30 345 320 1 185 346 1 142 5 2 351 5 IRB 6710 175 2 65 LID Continues on next page Product manual IRB 6710 75 3HAC085695 001...

Page 76: ...oad Frame The table and figure shows allowed extra load on the frame Description JH 100 kgm2 Permitted extra load on frame JH JH0 M4 x R2 Recommended position see the fol lowing figure where JH0 is the moment of inertia of the equipment R is the radius m from the center of axis 1 M4 is the total mass kg of the equipment including bracket and harness 250 kg R xx2300000346 Continues on next page 76 ...

Page 77: ...oad up to maximum 200 kg in combination with the reduced payload use RobotStudio add in RobotLoad or contact ABB 200 400 200 C LAxis 3 C LAxis 4 xx2200002036 Continues on next page Product manual IRB 6710 77 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 78: ...6 M12 20 A A 80 190 4 x M12 24 min 2 x M12 18 min 2 x M8x1 25 24 2 x M10 15 min 2x 28 120 190 200 C L Axis 3 C L Axis 4 xx2200002039 Continues on next page 78 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 79: ...C L Axis 4 Axis 6 xx2200002040 Continues on next page Product manual IRB 6710 79 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 80: ... 16 min 2x 30 xx2200002055 Continues on next page 80 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 81: ...2200002056 Continues on next page Product manual IRB 6710 81 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 82: ...M10 20 min 30 4x 15 0 4 x M10 15 xx2200002057 Continues on next page 82 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 83: ...00 2 95 125 10 H7 15 11x M10 10 min 12x 30 0 02 A 0 04 A 0 2 A B B 160 h8 1 X 45 8 min 80 H7 1 X 45 A 80 H7 xx2300000940 IRB 6710 175 2 65 LID IRB 6710 175 2 95 LID Fastener quality Continues on next page Product manual IRB 6710 83 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 84: ... For other equipment use suitable screws and tightening torque for your application 84 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Page 85: ...e working range values set in the software parameters Note The mechanical stops are only installed as safety precaution to physically stop the robot from exceeding the working range set A collision with a mechanical stop always requires actions for repair and troubleshooting Movable mechanical stopii Fixed mechanical stopi Axis yes The working range can be reduced by altering the parameter values ...

Page 86: ...duction of working range Graduation of limited working range from 5 and 125 in both directions 15 Illustration reduced working range 5 5 5 0 5 0 125 125 A A xx2100000973 WARNING If the mechanical stop pin is deformed after a hard collision it must be replaced Deformed movable stops and or additional stops as well as deformed attachment screws must also be replaced after a hard collision Continues ...

Page 87: ...re parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Note Article number Spare part Screws and washers are en closed 3HAC048533 003 Movable mechanical stop set axis 1 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page ...

Page 88: ...re Location of the mechanical stops on page 87 Note Install the washer with the chamfer turned downwards A A xx2100000974 3 The system parameters that must be changed Upper joint bound and Lower joint bound are described in Technical reference manual System parameters Adjust the software working range limitations system parameter configuration to corres pond to the mechanical limitations 4 DANGER ...

Page 89: ...ded work range to limit the working range and before removing the mechanical stops For information about the option SafeMove see Application manual Functional safety and SafeMove If the mechanical stop is removed then the manipulator should have a marking for this for example a label If the robot is delivered with the option Extended work range then such a label is included on delivery Extending t...

Page 90: ...otion The Arm parameters Upper Joint Bound and Lower Joint Bound can be changed to the values corresponding to the actual installation 3 Related information The system parameters are described in detail in the reference manual see References on page 10 For more information about SafeMove see Application manual Functional safety and SafeMove 90 Product manual IRB 6710 3HAC085695 001 Revision A Copy...

Page 91: ...th equipment fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables The customer cables also handle databus communication See the product manual for the controller see document number in References on page 10 Robot cables These cables are included in the standard delivery They are completely pre manufactured and ready to plug in Conn...

Page 92: ...540 1 Signal cable shielded 22 m 3HAC2566 1 Signal cable shielded 30 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Continues on next page 92 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 5 1 Robot cabli...

Page 93: ... Harness CP CS 7 m 3HAC085739 002 Harness CP CS 15 m 3HAC085739 003 Harness CP CS 22 m 3HAC085739 004 Harness CP CS 30 m Customer cables Ethernet floor cable Article number Ethernet floor cable length 3HAC079476 001 Ethernet cable 7 m 3HAC079476 002 Ethernet cable 15 m 3HAC079476 003 Ethernet cable 22 m 3HAC079476 004 Ethernet cable 30 m Product manual IRB 6710 93 3HAC085695 001 Revision A Copyrig...

Page 94: ...ict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that all safety equipment is installed as designed for the application 5 Verify that no personnel are inside the safeguarded space 6 If maintenance or repair has been done verify the function of the part that was main tained 7 Verify the application in the operat...

Page 95: ... in different sections and divided according to the maintenance activity Safety information Observe all safety information before conducting any service work There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page 15 before performing any service ...

Page 96: ...pecified in months regardless of whether the system is running or not Operating time specified in operating hours More frequent running means more frequent maintenance activities Robots with the functionality Service Information System activated can show active counters in the device browser in RobotStudio or on the FlexPendant 96 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 AB...

Page 97: ...lly during the first running hours Wipe down affected areas with a dry cloth x Cleaning the seals Cleaning the IRB 6710 on page 173 x Cleaning the robot Inspecting the balancing device on page 102 x Inspecting the balancing device Inspecting the dampers on page 109 x Inspecting the dampers Inspecting the information labels on page 111 x Inspecting the information labels Inspecting the axis 1 mecha...

Page 98: ...is 5 gearbox Changing the oil in axis 6 gearbox on page 163 x Changing the oil in axis 6 gearbox Replacing the SMB battery on page 168 x iii Replacing the SMB battery pack Lubricating the spherical roller bearing balancing device on page 171 x iv Lubricating the balancing device bearings i Operating hours counted by the DTC Duty Time Counter ii Replace when damage or cracks is detected or life lim...

Page 99: ...rmal usage in regard to movement most material handling applications and limited use of bending backwards mode of axis 3 ii Severe chemical or thermal environments or similar environments can result in shortened life expectancy iii Examples of extreme usage in regard to movement press tending very severe palletizing applications major use of axis 1 movement and major use of bending backwards of ax...

Page 100: ...cated on each motor flange The figure shows axis 1 motor as an example xx1500001057 Plug in the evacuation hole New motors have a transparent plug sight glass installed in the evacuation hole Remove the plug or drill a drainage hole with diameter 3 mm if an open evacuation hole is required instead xx2200002188 Continues on next page 100 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2...

Page 101: ...s or if any oil has been spilled out from the evacuation hole replacement of the motor is recommended Note If oil is present in the evacuation it is an indication that the primary seal of the motor is leaking A secondary seal after the evacuation is keeping the oil out from the motor but it is still recommen ded to replace the motor at a suitable timing if oil is present in the evacuation 3 Replac...

Page 102: ...ng device is located at the top rear of the frame as shown in the figure The figure also shows the inspection points further described in the instructions xx2200001850 Piston rod inside balancing device A Link ear B Rear attachments of the balancing device rear bearing C Required tools Visual inspection no tools are required Continues on next page 102 Product manual IRB 6710 3HAC085695 001 Revisio...

Page 103: ...ck for dissonance from the balancing device a tap ping sound caused by the springs inside the cylinder 2 How to replace the device is detailed in section Repla cing the balancing device on page186 This section also specifies the spare part number If dissonance is detected wipe clean the piston rod Check for dissonance from the piston rod squeaking may indicate worn plain bearings internal contamin...

Page 104: ... power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Check the area around the o ring and radial sealings at the front ear for leakage 4 Maintenance set link ear 3HAC087168 001 Replace o ring and radial sealings if leaks are detected 5 Replacement of the complete bearing is described in section Replacing spherical roller bearing balancing...

Page 105: ...rded space 1 xx1300000423 Check that there are no obstacles inside the frame that could prevent the balancing device from moving freely Keep the areas around the balancing device clean and free from objects such as service tools 2 Product manual IRB 6710 105 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 2 Inspecting the balancing device Continued ...

Page 106: ...harness is located as shown in the figure xx2200001729 Required tools Visual inspection no tools are needed Continues on next page 106 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 3 Inspecting the cable harness ...

Page 107: ...f axis 2 and axis 3 movement shown in the fig ure Make sure the cabling is not damaged between the cable brackets in these areas 2 Check that all visible cable brackets velcro straps and attachments are properly se cured by following the cable harness from the base to the wrist 3 Check the motor cables visually for any damage 4 Check the connectors and cables at the base visually for any damage 5 ...

Page 108: ...ve any objects that may cause pos sible cable chafing Replace damaged cabling if any CAUTION Sharp debris might occur Always wear protective gloves 6 See Removing the cable harness on page 286 Replace the cable harness if wear cracks or damage is detected 7 108 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 3 Inspecting the cable harness ...

Page 109: ...d in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Note Article number Spare part Axis 2 3HAC046884 001 Damper Axis 3 3HAC12320 1 Damper Axis 5 3HAC054956 001 Damper Required equipment Visual inspection no tools are required Continues on next page Product manual IRB 6710 109 3HAC085695 001 Revision A Copyright 2023 ABB All right...

Page 110: ...k attachment screws for deformation 3 Attachment screws If any damage is detected the damper must be replaced with a new one 4 Axis 2 and axis 3 M6x60 8 8 A2F 9ADA624 65 Axis 5 M6x25 A2 70 9ADA619 58 Locking liquid Loctite 2400 or equi valent Loctite 243 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page...

Page 111: ...m myABB The figures show the location of the information labels to be inspected The symbols are described in section Safety symbols on manipulator labels on page 19 A A X X 102 102 15 28 SECTION A A A D E O P A B J L Q R G G R R F B S xx2200001845 Continues on next page Product manual IRB 6710 111 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 5 Inspecting the i...

Page 112: ...label Kyodo Yushi TMO 150 3HAC032726 001 B Lubrication label 3HAC032905 001 C Warning label Tipping robot 3HAC9191 1 D ABB logotype label 3HAC0453 5 3HAC077301 002 E Continues on next page 112 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 5 Inspecting the information labels Continued ...

Page 113: ...Warning label Stored energy 3HAC9526 1 Q Lubrication label Optimol longtime PD 0 3HAC021525 001 R ABB logotype label 3HAC0453 2 3HAC5127 1 S Instruction label Lifting of robot 3HAC046732 001 T Required tools and equipment Visual inspection no tools are required Inspecting labels Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before ...

Page 114: ...l electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 1 Mechanical stop pin 3HAC024014 001 Inspect the axis 1 mechanical stop pin If the mechanical stop pin is bent or damaged it must be replaced Note The expected life of gearboxes can be reduced after collision with the mechanical stop 2 Continues on next page 114 Product manual I...

Page 115: ...cified tightening torque 3 Locking liquid Loctite 2400 or equivalent Loctite 243 The attachment screw is accessed from the side xx2200001398 Make sure the mechanical stop pin can move in both directions 4 Product manual IRB 6710 115 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 6 Inspecting the axis 1 mechanical stop Continued ...

Page 116: ...e oil plug The oil plug for inspection is located as shown in the figure xx2200001754 Continues on next page 116 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 7 Inspecting the oil level in axis 1 gearbox ...

Page 117: ...uired consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6710 117 3HAC085695 001 Revisi...

Page 118: ... oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Make sure that the oil temperature is 25 C 10 C 3 xx2200001795 Open the oil plug If there is a risk of debris falling into the gear when opening the oil plug for inspec tion it is instead recommended to use the vent hole for oil level inspection xx2200002147 4 Continues on next page 118 Product manual IRB 6710 3HA...

Page 119: ...quired 6 Further information about how to drain or fill with oil is found in section Changing the oil in axis 1 gearbox on page 138 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 7 Tightening torque 24 Nm xx2200001795 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 8 Product manua...

Page 120: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page 120 Product manual IRB 6710 3HAC085695 001 Revision A Copy...

Page 121: ...mperature is 25 C 10 C 3 xx2100002059 Open the oil plug 4 Check the oil level 5 Required oil level is 0 10 mm below oil plug hole floor mounted robot Type of oil and total amount is detailed in Technical reference manual Lubric ation in gearboxes Add or drain oil if required 6 Further information about how to drain or fill with oil is found in section Chan ging the oil in axis 2 gearbox on page 14...

Page 122: ... DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 8 122 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 8 Inspecting the oil level in axis 2 gearbox Continued ...

Page 123: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6710 123 3HAC085695 001 Revision A Copy...

Page 124: ...ic pressure supply air pressure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2100002064 Open the oil plug 5 Turn on the power to the robot temporarily 6 Continues on next page 124 Product manual IRB 6710 3HAC085695 001 Revi...

Page 125: ... 8 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 9 Further information about how to drain or fill with oil is found in section Changing the oil in axis 3 gearbox on page 149 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 10 Tightening torque 24 Nm xx2100002064 Continues on next page Product manual IRB ...

Page 126: ...n performing the first test run See Test run after installation maintenance or repair on page 94 11 126 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 9 Inspecting the oil level in axis 3 gearbox Continued ...

Page 127: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6710 127 3HAC085695 001 Revision A Copy...

Page 128: ...ure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2200001796 Open the oil plug 5 Continues on next page 128 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 10 Inspec...

Page 129: ...n section Changing the oil in axis 4 gearbox on page 154 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200001796 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 9 Product manual IRB 6710 129 3HAC085695 001 Revision A Copyright 2023 ABB All rights rese...

Page 130: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page 130 Product manual IRB 6710 3HAC085695 001 Revision A Copy...

Page 131: ...ing the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2200002137 Open the oil plug 5 Check the oil level 6 Required oil level is 0 10 mm below oil plug hole Continues on next page Product manual IRB 6710 131 3HAC085695 001 Revision A Copyright 2023 ABB All rights ...

Page 132: ... gearbox on page 159 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200002137 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 9 132 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 11 Inspecting...

Page 133: ...e when refitting oil plug 3HAC061327 060 O ring G 1 4 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Inspecting the oil level in axis 6 gearbox Use this procedure to inspect the oil level in the gearbox The procedure includes two alternative positions for axis 5 where one of the positions makes it possible to use the filling plug...

Page 134: ...od 2 7 Rotate axis 5 to 75 Required oil level is oil is visible through the oil plug hole If the oil level is not visible rotate axis 5 up to additionally 5 to achieve visual check of oil level Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 8 Further information about how to drain or fill with oil is found in section Cha...

Page 135: ...DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 10 Product manual IRB 6710 135 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 12 Inspecting the oil level in axis 6 gearbox Continued ...

Page 136: ...of lubrication article number as well as the amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal www abb com myABB Location of gearboxes The figure shows the location of the gearboxes xx2200001901 Axis 1 gearbox A Axis 2 gearbox B Axis 3 gearbox C Axis 4 gearbox D Axis 5 gearbox E Axis 6 gearbox ...

Page 137: ...uggested dispenser or a similar one Orion OriCan article number 22590 pneumatic Nipple for quick connect fitting with o ring Product manual IRB 6710 137 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 1 Type of lubrication in gearboxes Continued ...

Page 138: ... The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on p...

Page 139: ...ce 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Make sure that the oil temperature is 25 C 10 C 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2200002147 Remove the plug from the venting hole WARNING Let the venting hole stay open ...

Page 140: ...8 Floor mounted robot Filling oil into the axis 1 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Continues on next page 140 Pr...

Page 141: ...lling process 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil with the oil dis penser Note The amount of oil to be filled depends on the amount previously being drained 5 Continues on next page Product manual IRB 6710 141 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 2 Changing the oi...

Page 142: ...ion xx2200002147 6 xx2200001754 Required oil level at vent hole is 24 mm 5 mm below the oil plug hole xx2300000001 CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level Remove the oil dispenser and refit the protective cap to the nipple 7 Continues on next page 142 Product manual IRB 6710 3HAC085695 001 Revision ...

Page 143: ...ipe the robot clean from all surplus oil The robot color can otherwise be discolored 9 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 10 Product manual IRB 6710 143 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 2 Changing the oil in axis 1 gearbox Continued ...

Page 144: ...ete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when ref...

Page 145: ... several safety risks see Gearbox lubricants oil or grease on page 29 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 3 xx2300000002 Remove the plug from the venting hole WARNING Let the venting hole stay open during draining and filling using the dispenser to avoid damaging vital parts in the gearbox...

Page 146: ...orma tion 7 Filling oil into the axis 2 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Continues on next page 146 Product manu...

Page 147: ...f oil to be filled depends on the amount previously being drained 5 Required oil level is 0 10 mm below oil plug hole Inspect the oil level at the ventilation hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 6 More information is found in Inspecting the oil level in axis 2 gearbox on page 121...

Page 148: ...00002059 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 9 148 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 3 Changing the oil in axis 2 gearbox Continued ...

Page 149: ...can be found in section Type of lubric ation in gearboxes on page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note D...

Page 150: ...x oil involves several safety risks see Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2100002064 Remove the plug from the ventilation hole WARNING Let the venting hole stay open during draining and filling using the dispenser to avoid damaging vital pa...

Page 151: ...ing on page 615 for more informa tion 9 Filling oil into the axis 3 gearbox Use this procedure to refill the gearbox with oil Note Action xx2200002136 Jog the robot into position Axis 1 no significance Axis 2 0 Axis 3 10 Axis 4 no significance Axis 5 no significance Axis 6 no significance 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before ...

Page 152: ...ce manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 6 More information is found in Inspecting the oil level in axis 3 gearbox on page 124 Inspect the oil level at the ventilation hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking be...

Page 153: ...064 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 10 Product manual IRB 6710 153 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Changing the oil in axis 3 gearbox Continued ...

Page 154: ...e of lubric ation in gearboxes on page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note Document number Document nam...

Page 155: ...Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Place the oil collecting vessel underneath the oil drain plug 5 xx2100002095 Remove the oil plug from the drain hole and let the oil run into the vessel 6 Continues on next page Product manual IRB 6710 155 3H...

Page 156: ...l plug for the drainage hole with a new o ring 9 Tightening torque 24 Nm xx2100002095 Filling oil into the axis 4 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page 156 Product manual IRB 6710 3HAC085695 001 Revision...

Page 157: ...ined 4 Required oil level is 0 10 mm below oil plug hole Inspect the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 See Inspecting the oil level in axis 4 gear box on page 128 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 6 Tightening torque 24 Nm xx2200001796 Continues on ne...

Page 158: ...t when performing the first test run See Test run after installation maintenance or repair on page 94 7 158 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 5 Changing the oil in axis 4 gearbox Continued ...

Page 159: ...e of lubric ation in gearboxes on page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note Document number Document nam...

Page 160: ...e gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2200002137 Remove the oil plug from the fill hole Note The oil plug hole is opened to speed up the drainage 5 Place the oil collecting vessel underneath the oil drain plug 6 xx2200002138 Remove the oil plug from the drain hole and let the oil run into the vessel...

Page 161: ...cedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 xx2200002137 Open the fill level plug 3 Continues on next page Product manual IRB 6710 161 3HAC0856...

Page 162: ...v ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 More information is found in Inspecting the oil level in axis 5 gearbox on page 131 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 6 Tightening torque 24 Nm xx2200002137 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation mainten...

Page 163: ...n page 136 Oil dispenser Content is defined in section Standard toolkit on page 628 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 136 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Required documents Note Document number Document name 3HAC042927 001 Technical refer...

Page 164: ...Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Place the oil collecting vessel underneath the oil drain plug 5 xx2100002101 Remove the oil plug from the drain hole and let the oil run into the vessel 6 Continues on next page 164 Product manual IRB 6710 3H...

Page 165: ...lug for the drainage hole with a new o ring 9 Tightening torque 20 Nm xx2100002101 Filling oil into the axis 6 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page Product manual IRB 6710 165 3HAC085695 001 Revision A ...

Page 166: ...nt previously being drained 4 See Inspecting the oil level in axis 6 gear box on page 133 Check the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 O ring G 1 4 3HAC061327 060 Refit the oil plug with a new o ring 6 Tightening torque 20 Nm xx2100002077 Continues on next page 166 Product manual IR...

Page 167: ...t when performing the first test run See Test run after installation maintenance or repair on page 94 7 Product manual IRB 6710 167 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 7 Changing the oil in axis 6 gearbox Continued ...

Page 168: ...Only replace with the specified spare part or an ABB approved equivalent 3HAC044075 001 Battery pack Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 628 Standard toolkit Removing the battery Use this procedure to remove the SMB battery Note Action This is done in order to facilitate updating of the revolution counter Jog the robot t...

Page 169: ... can cause shortage on the boards which can result in hazardous failures 4 Pull out the battery and disconnect the battery cable 5 Remove the SMB battery Note Battery includes protection circuits Only replace with a specified spare part or with an ABB ap proved equivalent 6 Refitting the battery Use this procedure to refit the SMB battery Note Action DANGER Turn off all electric power supply hydra...

Page 170: ...ector is assembled in the correct direction according to its keying 3 Tightening torque 6 Nm xx2100002131 Secure the SMB battery cover with its attachment screws 4 See Updating revolution counters on page 592 Update the revolution counters 5 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 6 170 Pro...

Page 171: ...bol GR 100 0 PD 50 ml 3HAA1001 294 Grease Lubricating the spherical roller bearing Use this procedure to lubricate the spherical roller bearing Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page Product manual IRB 6710 171 3HAC085695 001 Revision A Copyright 2023 ABB All ri...

Page 172: ... until new grease appears in the lower hole 2 xx2200001477 Use a grease nipple Refit the two screws and wipe clean from residual grease 3 172 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 5 1 Lubricating the spherical roller bearing balancing device Continued ...

Page 173: ...6 months 3 If the oil level is decreased replace the gearbox 4 Oil spills discolors painted surfaces Oil spills on painted surfaces of the robot can result in discoloration Note After all repair and maintenance work involving oil always wipe the robot clean from all surplus oil WARNING Turn off all electrical power supplies to the robot before starting the cleaning Special cleaning considerations ...

Page 174: ...aning agent to be tested on a small surface prior usage on complete manipulator Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard or Foundry Plus can be cleaned by rinsing with water water cleaner The following list defines the prerequisites Spray nozzle should be used with minimum 45 spread Minimum distance from nozzle to encapsulation 0 4...

Page 175: ...01055 Rotational sealings xx2300001056 Gaskets xx2300001057 Connectors Continues on next page Product manual IRB 6710 175 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Cleaning the IRB 6710 Continued ...

Page 176: ...rial such as sand dust and chips if it prevents cable movement Clean the cables if they have a crusty surface for example from dry release agents Cassette sealings Minor seepage of grease from the seals can occur Wipe down affected areas with a dry cloth 176 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Cleaning the IRB 6710 Continued ...

Page 177: ...by ABB Report replaced units Note When replacing a part on the IRB 6710 report to your local ABB the serial number the article number and the revision of both the replaced unit and the replacement unit This is particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 15 before commencing ...

Page 178: ...ure with the knob until the correct value is shown on the manometer CAUTION The pressure must under no circumstance be higher than 0 25 bar 20 25 kPa Also during the time when the pressure is raised 3 0 2 0 25 bar 20 25 kPa Disconnect the compressed air supply 4 If the compressed air is signific antly colder or warmer than the gearbox to be tested a slight pressure increase or decrease may occur T...

Page 179: ...be exposed to any stresses during the assembly work 3 Assembly of tapered bearings Follow the preceding instructions for the assembly of the bearings when mounting a tapered bearing on the robot In addition to those instructions the following procedure must be carried out to enable the roller elements to adjust to the correct position against the race flange Note Action Tension the bearing gradual...

Page 180: ... started During operation the bearing should be filled to 70 80 of the available volume Ensure that grease is handled and stored properly to avoid contamination Grease the different types of bearings as following description 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 180 Product manual IR...

Page 181: ...an workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Radial sealings A radial sealing consists of a flexible rubber lip bonded to a rigid metal case Only one side of the sealing is static with a metal insert xx2300000433 Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the...

Page 182: ...f the space between the dust lip and the main lip with grease If the sealing is without dust lip just lubricate the main lip with a thin layer of grease A xx2000000072 A Gap Mount the sealing correctly with a mounting tool Never hammer directly on the sealing as this may result in leakage 4 Continues on next page 182 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights r...

Page 183: ...r that can cause lubricant to seep out and in some cases produce minor residues of rubber particles This is normal behavior of the sealing and does not indicate a seal problem Wipe the surrounding surfaces after initial run time Flange sealings and static sealings The following procedure describes how to fit flange sealings and static sealings Action Check the flange surfaces They must be even and...

Page 184: ...ccuracy or deformation 2 Check the o ring grooves and mating surfaces 3 They should be free of pores contamination and obvious scratches damage Lubricate the o ring with grease 4 Tighten the screws evenly while assembling 5 Check that the o ring is not squashed outside the o ring groove 6 184 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 2 3 Mo...

Page 185: ...e White 3HAC067974 001 Touch up paint Standard Foundry Plus Removing Description Action xx2300000950 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid that the paint cracks 1 Carefully grind the paint edge that is left on the structure to a smooth surface 2 Product manual IRB 6710 185 3HAC085695 001 Revision A Copyright 2023 ABB All rights re...

Page 186: ...e 2 Remove the shaft in the front link ear 3 Replace the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC032124 003 Graphite White 3HAC032124 005 ABB Orange Balancing device Continues on next page 186 Product man...

Page 187: ...ructions are enclosed with the tool 3HAC074411 001 Hydraulic press equipment balan cing device Used for removing and fitting shaft and bearings User instructions are enclosed with the tool 3HAC028920 001 Dismantle and mounting tool To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa To be used wi...

Page 188: ...e weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page 188 Product manual IRB 6710 ...

Page 189: ...alancing device 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attac...

Page 190: ... accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 190 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the balancing device Continued ...

Page 191: ...instruc tions enclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Continues on next page Product manual IRB 6710 191 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repa...

Page 192: ... is a risk of damaging the bearing inside The damaged VK cover must be replaced with a new Remove the protection plug from the vent hole and use air pressure through the hole to blow out the cover The cover can be reused if not damaged 1 VK cover 100x10 3HAA2166 13 Position for screwdriver xx1300000662 Vent hole for air pressure xx2300000003 Wipe off any residual grease inside the re cess 2 Contin...

Page 193: ... make the balan cing device go free If this is not possible the shaft end must be pulled out a bit with the dismantle and mounting tool see Removing the shaft end cradle on page 223 5 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 6 Continues on next page Product manual IRB 6710 193 3HAC085695 001 Revision A Copyright 2...

Page 194: ...ing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 1 Lifting shackle SA 10 8 NA1 Fit a lifting shackle to the balancing device 2 Lifting accessory chain 3HAC15556 1 Fit the lifting accessory to the shackle 3 xx2200001915 Continues on next page 194 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Repla...

Page 195: ...o make the piston rod and front ear adjustable when pulling the shaft out 2 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Refitting the balancing device Perform this procedure on both sides Note Action DANGER Mak...

Page 196: ... cing device See the figure 2 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 3 xx2200001469 Lift the balancing device into position in the cradle 4 Continues on next page 196 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the balancing device Continued ...

Page 197: ...ews insert them on both sides and tighten by hand 7 Washer 3HAC047681 001 The screws are not possible to torque tighten at this point since the front ear is not fastened to the lower arm Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001475 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if n...

Page 198: ...00001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page 198 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Repla...

Page 199: ...ctly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page Product manual IRB 6710 1...

Page 200: ...Refit the two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Securing the shaft ends Note Action Tightening torque 280 Nm Secure both shaft end screws with tighten ing torque 1 xx2200001471 Continues on next page 200 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the balancin...

Page 201: ...adle to let go of overpressure if the VK covers are hard to fit xx2300000003 2 xx2200001464 Concluded refitting of the front shaft Note Action xx2200001332 Remove the locking screw M16x120 1 Continues on next page Product manual IRB 6710 201 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the balancing device Continued ...

Page 202: ...ool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 4 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Continues on next page 202 Product manual IRB 6710 3HAC085695 00...

Page 203: ...e met when performing the first test run See Test run after installation maintenance or repair on page 94 5 Product manual IRB 6710 203 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the balancing device Continued ...

Page 204: ...erformed 1 Unload the balancing device 2 Remove the shaft in the front link ear 3 Replace the spherical roller bearing 4 Restore the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Continues on next page 204 Product manual IRB 6710 3HAC085695 001 ...

Page 205: ...ss equipment 3HAC11731 1 Hydraulic cylinder To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa SA 10 8 NA1 Lifting shackle Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Content is defined in section Standard toolkit on page 628 Standard toolkit Required service par...

Page 206: ...re the weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page 206 Product manual IRB ...

Page 207: ... 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifting ac...

Page 208: ...he shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 208 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing spherical roller bearing balancing device link ear Continued ...

Page 209: ...nclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Continues on next page Product manual IRB 6710 209 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replac...

Page 210: ... to the link ear 1 xx2200001494 Unscrew the attachment screws securing the end cover remove end cover and radial sealing with a screwdriver 2 xx2200001495 Remove the o ring 3 Continues on next page 210 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing spherical roller bearing balancing device link ear Continued ...

Page 211: ...ed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Refitting the spherical roller bearing Refitting the spherical roller bearing link ear Note Action Wipe clean all contact surfaces from resid ual grease 1 xx2200001496 Refit the washer 2 Continues on next page Product manual IRB 6710 211 3HAC085695 001 Revis...

Page 212: ... ing to the figure 3 xx2200001497 xx2200001498 Use a plastic mallet or similar on the Press tool J and refit the radial sealing 4 Apply some grease on the surface for the bearing 5 Continues on next page 212 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing spherical roller bearing balancing device link ear Continued ...

Page 213: ...ad and follow enclosed user instructions for the tool xx2200001495 Refit the o ring 7 xx2200001494 Secure the end cover including the radial sealing ring with the screws 8 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if not already done 1 Lifting accessory chain 3HAC15556 1 Continues on next page Produ...

Page 214: ... front ear 4 xx2200001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page 214 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Page 215: ... serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page Product manual IRB 6710 215 3HAC085695 0...

Page 216: ...two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Removing the lifting accessory and locking screw Note Action Remove the lifting accessory from the bal ancing device 1 Continues on next page 216 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing spherical roller bearing balanci...

Page 217: ...72 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page Product manual IRB 6710 217 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing spherical roller bearing balancing device link ear Continued ...

Page 218: ...nstructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after i...

Page 219: ...cedure containing the major actions to be performed 1 Unload the balancing device 2 Replace the rear bearing 3 Restore the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Continues on next page Product manual IRB 6710 219 3HAC085695 001 Revision A...

Page 220: ...ecifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC11731 1 Hydraulic cylinder SA 10 8 NA1 Lifting shackle Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Content is defined in section Standard toolkit ...

Page 221: ... the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page Product manual IRB 6710 221 3HAC085695 ...

Page 222: ...evice 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifti...

Page 223: ...d raise to unload the weight 3 xx2200001459 Removing the shaft end cradle The procedure of removing the shaft end in the cradle is the same on both sides Note Remove one shaft end at a time Continues on next page Product manual IRB 6710 223 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the rear bearings on the balancing device Continued ...

Page 224: ...er must be replaced with a new Remove the protection screw from the vent hole and use air pressure through the hole to blow out the cover The cover can be reused if not damaged 1 VK cover 100x10 3HAA2166 13 Position for screwdriver xx1300000662 Vent hole for air pressure xx1700002189 Wipe off all residual grease inside the re cess 2 Continues on next page 224 Product manual IRB 6710 3HAC085695 001...

Page 225: ...001470 Before pulling out the shaft end put a big screw driver between the cradle and balan cing device and use it as a distance tool 5 Continues on next page Product manual IRB 6710 225 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the rear bearings on the balancing device Continued ...

Page 226: ...ese procedures to refit the bearing in the cradle Refitting the shaft end and rear bearings Note Action Wipe clean all contact surfaces from resid ual grease and other contamination inside the recess 1 A B C xx1400000367 A Mercasol red dotted lines B Balancing device C Shaft Foundry Plus Apply Mercasol on matching surfaces on the axis and balancing device See the fig ure 2 Apply some grease in the...

Page 227: ...ions for the tool xx2300000006 Fit the retaining ring bore 5 Hex socket head cap screw M16x70 12 9 Gleitmo 603 Geomet 500 Apply locking liquid on the attachment screw 6 Washer 3HAC047681 001 Locking liquid Loctite 2400 or equivalent Loctite 243 Tightening torque 280 Nm While using the screw driver between the cradle and balancing device as a distance tool tighten the attachment screw com pletely 7...

Page 228: ...4 Remove both the screw and the protection plug then refill grease from the inner hole See figure 9 xx2300000004 xx2300000005 Refit the screw including washer and the protection plug 10 Wipe clean from residual grease 11 Continues on next page 228 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the rear bearings on the balancing dev...

Page 229: ... 1 xx2200001332 Remove the lock screw M16x120 2 xx1400000372 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page Product manual IRB 6710 229 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the rear bearings on the balancing device Continued ...

Page 230: ...er instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run aft...

Page 231: ...the upper arm 3 Remove the cable guide 4 Replace the arm house cover including the cassette sealing Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 Gasket and cassette sealing included 3HAC077945 003 Graphite White 3HAC07794...

Page 232: ...tte sealing Use these procedures to remove the arm house cover including the cassette sealing Preparations before removing the arm house cover Note Action See Draining the axis 4 gearbox on page 155 Drain the axis 4 gearbox 1 xx2200001615 Jog the robot to the specified position Axis 1 0 Axis 2 60 Axis 3 60 Axis 4 0 Axis 5 90 Axis 6 No significance Note The specified position is a recommended posit...

Page 233: ...ctrical power hydraulic pressure and air pressure are turned off 1 xx1400000355 If DressPack is installed Remove the bracket with the com plete ball joint housing still fitted as shown in the figure This is done to be able to reach the two hidden screws that secure the wrist cover 2 Continues on next page Product manual IRB 6710 233 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved ...

Page 234: ...3 Remove the wrist cover 4 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 234 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 235: ...nect the signal cable connector 4 xx2200001733 Disconnect the power cable connector by removing the attachment screw 5 Continues on next page Product manual IRB 6710 235 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 236: ...at all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000000376 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 236 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 237: ...Pushing out the axis 6 motor cables Note Action xx1300000484 Unscrew the attachment screws that hold the cable bracket 1 Continues on next page Product manual IRB 6710 237 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 238: ... the carrier CAUTION Assist by using a flat head screwdriver or similar to push out the carrier from the motor housing side to avoid damaging the cables by pulling them too hard xx2300000058 xx2300000057 xx2300000060 xx2300000059 3 Continues on next page 238 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover includi...

Page 239: ...Remove the cover Note Use caution not to damage the gasket 1 xx2100002677 DressPack If used loosen the insert Cable guard C is available for Foundry cable guard 2 Continues on next page Product manual IRB 6710 239 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 240: ...e to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 4 xx2300000031 Remove the side cover on the arm tube 5 Continues on next page 240 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sea...

Page 241: ...e screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page Product manual IRB 6710 241 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 242: ...ormed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 9 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pulled out a little the...

Page 243: ...screw to the part of the tool designed as a cross all the way until it bottoms 2 xx2100001253 xx2100001243 Fit the cross to the tube shaft with four M8 screws 3 xx2100001254 Fit the three armed tool part with three screws and wing nuts 4 Continues on next page Product manual IRB 6710 243 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover i...

Page 244: ...n the new cover WARNING Oil residues will drip out during removal Make sure that protective gear like goggles and gloves are always worn WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page29 8 WARNING Used oil is hazardous material and must be dis posed of in a safe way See Decommissioning on page 615 for more information Continues on next page 2...

Page 245: ...te Action Replacement tool for arm house cover 3HAC079878 001 Fit three holders to the arm house cover to hold the cassette sealing in place during refitting of cover 1 Use the holders marked with 2 xx2100001266 xx2100001267 Fit the three armed tool part with three screws 2 xx2100001265 Prepare the refitting tool by removing the middle screw from the part of the tool designed as a cross 3 Continue...

Page 246: ...rotating the screw Check that the guide pins are inserted in the arm house 6 Torx pan head screw M6x16 Stainless steel A2 70 Secure the cover with the attachment screws Use locking liquid 7 Locking liquid Loctite 2400 or equivalent Loctite 243 Ensure gap closure between cover and arm house Tightening torque 10 Nm xx2100001255 Remove the tool 8 Continues on next page 246 Product manual IRB 6710 3HA...

Page 247: ...steel A2 70 Fit the cable guide with attachment screws Use locking liquid 2 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2100001242 Refitting the cable harness to the upper arm Note Action Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 1 Tightening torque 10 Nm xx2200002142 Continues on next page Product manual IRB 6710 247 3HAC085695 001 Revision A Copyrigh...

Page 248: ... side hole of the arm tube and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable ha...

Page 249: ...her Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6710 249 3HAC085695 001 Revision A Copyright ...

Page 250: ...he insert that guides the DressPack cable package through the hole in the upper arm Cable guard C is available for Foundry cable guard 7 xx1400000092 If used refit the tube containing the DressPack into the insert 8 Continues on next page 250 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 ca...

Page 251: ...ndry Plus xx2100002636 DressPack xx2300001040 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page Product manual IRB 6710 251 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house c...

Page 252: ... screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next page 252 Product manu...

Page 253: ... 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page Product manual IRB 671...

Page 254: ...position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page 254 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Repla...

Page 255: ...h a screw Note The purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 Continues on next page...

Page 256: ... with care to avoid dam age to the cabling or the connector avoid any kind of tilt or skew 4 xx2000000375 xx2100001293 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Continues on next page 256 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover in...

Page 257: ... the cables inside will be dam aged 7 Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Refit the motor cover 8 Tightening torque 4 Nm xx2000000376 Continues on next page Product manual IRB 6710 257 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 258: ...he wrist cover and secure with screws 3 Tightening torque 10 Nm Foundry Plus xx2000000373 Fit all the screws first then torque tighten Concluded refitting of the cable harness Note Action See the product manual for the DressPack If the robot is equipped with DressPack cable package 1 Refit all parts that belong to the DressPack Continues on next page 258 Product manual IRB 6710 3HAC085695 001 Revi...

Page 259: ...on page 156 Refill oil to the axis 4 gearbox 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 2 Product manual IRB 6710 259 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Page 260: ... White 3HAC074235 003 ABB Orange Wrist Required tools and equipment Note Article number Equipment Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 User instructions are enclosed with the tool 3HAC081310 001 Brake release tool Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations Bit holder and hexagon bit SW10 Length 1 m Roundsling 1 m Content is defined in secti...

Page 261: ...tion routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis...

Page 262: ...significance Axis 2 jog axis 2 and 3 to a position where the upper arm is horizontal Axis 3 jog axis 2 and 3 to a position where the upper arm is horizontal Axis 4 90 Axis 5 90 Axis 6 no significance 4 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 5 Continues on next page 262 Product manual IRB 6710 3HAC0...

Page 263: ... plete ball joint housing still fitted as shown in the figure This is done to be able to reach the two hidden screws that secure the wrist cover 2 IRB 6710 xx LID If DressPack is installed 3 xx2100002733 Open the ball joint housing on the arm tube and remove the DressPack cable package IRB 6710 xx LID xx2100002709 Continues on next page Product manual IRB 6710 263 3HAC085695 001 Revision A Copyrig...

Page 264: ...t all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000000376 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 264 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 265: ...nect the motor cables 5 Pushing out the axis 6 motor cables Note Action xx1300000484 Unscrew the attachment screws that hold the cable bracket 1 Continues on next page Product manual IRB 6710 265 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 266: ...e motor and the other at the carrier CAUTION Assist by using a flat head screwdriver or similar to push out the carrier from the motor housing side to avoid damaging the cables by pulling them too hard xx2300000058 xx2300000057 xx2300000060 xx2300000059 3 Continues on next page 266 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the...

Page 267: ...ll supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page Product manual IRB 6710 267 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 268: ...le bracket by removing the screws 6 Remove the motor cables 7 Attaching the lifting accessories to the wrist Note Action CAUTION The weight of the wrist is 90 kg All lifting accessories used must be sized accordingly 1 Continues on next page 268 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 269: ...around the axis 5 gearbox 2 xx2100001290 Stretch the roundsling so it carries the weight of the wrist 3 Removing the wrist Note Action IRB 5710 70 2 7 LID If used remove the bracket with the part of the ball joint housing still fitted 1 xx2100002804 IRB 5710 90 2 3 LID xx2100002805 Continues on next page Product manual IRB 6710 269 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5...

Page 270: ...ng from the wrist unit CAUTION Make sure that the cabling does not get damaged 4 Bit holder dimension 5 16 14x18 mm xx2100001289 Lift away the wrist 5 Refitting the wrist These procedures describes how to refit the wrist Preparations before refitting the wrist Note Action Wipe clean all contact surfaces 1 Continues on next page 270 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 A...

Page 271: ...ase tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Roundsling 1 m Length 1 m Attach a roundsling and guide pins to the wrist as shown in the figure CAUTION The roundsling placement shown in the f...

Page 272: ...s and fit the re maining two screws Bit holder and hexagon bit SW10 Bit holder dimension 5 16 14x18 mm xx2300000020 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 Tighten the attachment screws 4 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Continues ...

Page 273: ... the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Continues on n...

Page 274: ...m aged 6 Torx pan head screw M5x12 Stainless steel A2 70 Refit the motor cover and the cable protec tion with its attachment screws 7 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid Tightening torque 6 Nm xx2100002495 Continues on next page 274 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Contin...

Page 275: ...the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 xx1300000667 Push the cable harness into the wrist re cess and up into the axis 6 motor Tip Moisten the rubber carrier slightly with water or grease around the contact surface to make it easier to fit into place 2 xx1300001113 Push the carrier carefully into position 3 Continues on next page Product manual IRB 6710 275 ...

Page 276: ...4 Torx pan head screw M6x16 A4 80 Secure the cable bracket with its attach ment screws 5 Tightening torque standard torque 10 Nm Tightening torque on page 625 xx1300000484 Connecting the axis 6 motor cables Note Action Connect the motor cables 1 Connect in accordance with the markings on the connectors Continues on next page 276 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB ...

Page 277: ...n boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 xx2200001920 Snap the signal connectors to each other in the bracket 3 Torx pan head screw M5x12 Stainless steel A2 70 Refit the connector bracket assembly to the motor CAUTION The cabling is sensitive to mechanical damage Handle it with care to avoid dam age to the cabling or the connector avoid any kind of tilt or ...

Page 278: ...ket tilt housing cover 3HAC074482 001 Inspect the gasket Replace if damaged 6 xx2100001287 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page 278 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 279: ...hat the cable harness is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC074181 002 Graphite White Inspect the gasket 3HAC074181 004 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Continues on next page Product manual IRB 6710 279 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the wrist Continued ...

Page 280: ...ection plugs See product manual for the DressPack If used refit the DressPack cable package on the wrist 2 See Calibration on page 585 Calibrate the robot 3 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 4 280 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved...

Page 281: ...e latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC077309 002 Turning disc L2 IRB 6710 175 2 65 LID IRB 6710 175 2 95 LID 3HAC070389 004 Process turning disc Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 628 Standard toolkit Continues on next page Product ma...

Page 282: ...leted for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibrated with fine calibration Remove all external ca...

Page 283: ... the turning disc 2 Refitting the turning disc Use these procedures to refit the turning disc Refitting the turning disc Note Action Wipe clean the contact surfaces 1 Continues on next page Product manual IRB 6710 283 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the turning disc Continued ...

Page 284: ...ization marks 3 Hex socket head cap screw M10x25 12 9 Gleitmo 603 Geomet 500 Secure the turning disc with its attachment screws and washers 4 Washer 3HAB4233 1 Tightening torque standard torque 70 Nm Tightening torque for lubric ated screws Molykote Gleitmo or equivalent with allen head screws on page 626 xx2100002167 Continues on next page 284 Product manual IRB 6710 3HAC085695 001 Revision A Cop...

Page 285: ...quirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 1 Product manual IRB 6710 285 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the turning disc Continued ...

Page 286: ...1729 Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Continues on next page 286 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness ...

Page 287: ...ignificance Note The specified position is a recommended position Orient axis 5 as close as possible to 90 to be able to open the axis 6 motor cover and to remove the axis 6 motor cables The axis 5 position is also important to avoid the spiral of the cable harness in the carrier being unwound or placed in wrong position Depending on what tool is used the other axes may need to be jogged to anothe...

Page 288: ...move the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 4 xx2200001433 Remove the metal clamp at the arm house 5 Continues on next page 288 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 289: ...emove the wrist cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1400000355 If DressPack is installed Remove the bracket with the com plete ball joint housing still fitted as shown in the figure This is done to be able to reach the two hidden screws that secure the wrist cover 2 Continues on next page Product manual IR...

Page 290: ...00002709 xx2000000373 Remove the wrist cover 4 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 290 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 291: ...2 xx2000000375 Remove the connector bracket 3 xx2200001919 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page Product manual IRB 6710 291 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 292: ...the cable bracket 1 xx1300000485 Unscrew the M4 screw that holds the carri er Note The screw is located at the bottom of the carrier 2 Continues on next page 292 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 293: ...similar to push out the carrier from the motor housing side to avoid damaging the cables by pulling them too hard xx2300000058 xx2300000057 xx2300000060 xx2300000059 3 xx1300001113 Lift out the carrier from its position 4 Continues on next page Product manual IRB 6710 293 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 294: ...ssure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 xx2200001734 Disconnect the signal cable connector 4 Continues on next page 294 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 295: ... Disconnecting the axis 3 and axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues on next page Product manual IRB 6710 295 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 296: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page 296 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 297: ...te Action xx2000000422 Foundry Plus DressPack Remove the cover Note Use caution not to damage the gasket 1 xx2100002677 DressPack If used loosen the insert Cable guard C is available for Foundry cable guard 2 Continues on next page Product manual IRB 6710 297 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 298: ...ady done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 4 xx2300000031 Remove the side cover on the arm tube 5 Continues on next page 298 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 299: ... the arm tube Note The screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page Product manual IRB 6710 299 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 300: ...his step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 9 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pu...

Page 301: ...ake sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 xx2100001109 Loosen the connectors R1 MP R1 SMB 3 xx1400000366 If used disconnect the DressPack hoses in the base 4 Continues on next page Product manual IRB 6710 301 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the ca...

Page 302: ... pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page 302 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 303: ...e the motor cables from the motor 6 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 6710 303 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 304: ... shortage on the boards which can result in hazardous failures 4 Disconnecting the SMB and brake release units Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 1 Disconnect all connectors from the SMB board 2 Disconnect the connectors R2 BU1 and R2 BU2 from the brake release ...

Page 305: ...1739 Loosen the cable inlet by cutting any seal ing compound and carefully knocking the inlet loose 3 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressPack cables through the protection tube 1 Continues on next page Product manual IRB 6710 305 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness ...

Page 306: ...rame recess Guide the SMB cables out from the SMB recess at the same time 2 xx2200001741 Place the cable harness over the balancing device 3 Continues on next page 306 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 307: ...lower arm by removing the attach ment screws Note The screws are reached from the outside of the lower arm 1 xx2100002183 xx2300000052 Use caution and pull the cable harness out 2 Product manual IRB 6710 307 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Removing the cable harness Continued ...

Page 308: ...d in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 IRB 6710 210 2 65 IRB 6710 175 2 65 LID 3HAC083039 001 CH31 Cable harness Continues on next page 308 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness ...

Page 309: ...ce if damaged On axis 5 motor 3HAC072863 003 Connection box cover with gasket Replace if damaged On axis 6 motor 3HAC074958 003 Graphite White 3HAC074958 004 ABB Orange Tilt housing cover with gasket Replace if damaged 3HAC074181 002 Graphite White 3HAC074181 004 ABB Orange Wrist cover Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB Orange Cover electronics 3HAC...

Page 310: ...e layout Refitting the cable harness in the lower arm Note Action xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the cable harness through the inside of the robot 1 xx2300000053 Run the upper part of the...

Page 311: ...ent screws Note The screws are reached from the outside of the lower arm 4 Tightening torque 6 Nm xx2100002182 Note Check that the cabling will stay a little bit twisted between the cable clamps Do not change the position of the brackets xx1300000595 xx2100002183 Continues on next page Product manual IRB 6710 311 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refit...

Page 312: ...ugh the base Make sure that the cables are not twisted Each cable must be in line with its position on the base plate Make sure that the R1 SMB cable will run on the correct side of the R1 MP1 see the figure 2 Make sure that the markings on the cables are facing the base cover when connected 3 Continues on next page 312 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All right...

Page 313: ...bles through the protection tube in the base 6 If necessary lubricate the cables with grease to make them run more smoothly If used run the DressPack hoses through the protection tube in the base 7 Make sure that the hoses are running cor rectly and are not twisted xx1400000078 If used fit the bracket that hold the DressPack to the frame 8 Continues on next page Product manual IRB 6710 313 3HAC085...

Page 314: ...100000981 Refitting the SMB cabling Note Action xx2200001725 Refit and secure the cable inlet with the screws inside the SMB recess 1 Sealing compound 3HAC026759 002 Seal the cable inlet with sealing compound 2 Sikaflex 521 FC Continues on next page 314 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness Continued ...

Page 315: ...ling is used for 7th axis option refit the connector R1 SMB7 3 Connect the connectors R2 BU1 and R2 BU2 to the brake release board 4 Refitting the electronic box Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 1 Torx pan head screw M6x60 4 pcs Refit the electronic box with t...

Page 316: ...6 003 1 pcs Collect the cables for axis 1 and axis 2 motors and secure them at the frame with straps 2 xx2200001752 Reconnecting the axis 1 and axis 2 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page 316 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness Continued ...

Page 317: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6710 317 3HAC085695 001 Re...

Page 318: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Page 319: ... Action Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 1 Tightening torque 10 Nm xx2200002142 xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the cable harness through the ins...

Page 320: ...ot Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable harness into the DressPack tube Note Do not run the cable harness into the DressPack tube if one is fitted xx1300000820 Continues ...

Page 321: ...side the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6710 321 3HAC085695 001 R...

Page 322: ...2677 If used refit the insert that guides the DressPack cable package through the hole in the upper arm Cable guard C is available for Foundry cable guard 7 xx1400000092 If used refit the tube containing the DressPack into the insert 8 Continues on next page 322 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness Conti...

Page 323: ...sest to the outlet first shown in figure to avoid deformation Foundry Plus xx2100002636 DressPack xx2300001040 Reconnecting the axis 3 and axis 4 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6710 323 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness Continued ...

Page 324: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 324 Product manual IRB 6710 3HAC085695 001 Re...

Page 325: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Page 326: ...d routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page 326 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB...

Page 327: ... and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next p...

Page 328: ... Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page 32...

Page 329: ...rier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page Product manual IRB 6710 329 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved ...

Page 330: ...r to the bracket with a screw Note The purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 Co...

Page 331: ...cal damage Handle it with care to avoid dam age to the cabling or the connector avoid any kind of tilt or skew 4 xx2000000375 xx2100001293 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Continues on next page Product manual IRB 6710 331 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting th...

Page 332: ...ke sure that none of the cables inside will be dam aged 7 Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Refit the motor cover 8 Tightening torque 4 Nm xx2000000376 Continues on next page 332 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the cable harness Continued ...

Page 333: ...04 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Torx pan head screw M6x16 A4 80 Refit the wrist cover and secure with screws 3 Tightening torque 10 Nm Foundry Plus xx2000000373 Fit all the screws first then torque tighten Continues on next page Product manual IRB 6710 333 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Refitting the ca...

Page 334: ...d refit the DressPack cable package on the wrist 3 See Inspecting the cable harness on page 106 Make an overall inspection of the installed cable harness 4 See Updating revolution counters on page 592 Update the revolution counters 5 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 6 334 Product man...

Page 335: ...el Note Article number Spare part L2 3HAC073540 001 Brake release unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB Orange Cover electronics Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 628 Standard toolkit Continues on next page Product ...

Page 336: ...r pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Continues on nex...

Page 337: ... sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Disconnect all connectors from the SMB board 3 xx2200001723 Remove the screws that secure the SMB unit 4 Continues on next page Product ma...

Page 338: ...nnect the connectors R2 BU1 and R2 BU2 from the brake release board 3 xx2200001728 Remove the brake release unit by removing the screws Put the unit in an ESD bag 4 Refitting the brake release unit Use this procedure to refit the brake release unit Refitting the brake release unit Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety informat...

Page 339: ...d off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Cover electronics Check the electronic box gasket 3 3HAC081189 003 Graphite White Replace if damaged 3HAC081189 004 ABB Orange xx2200001724 Fit the SMB unit into the electronic box 4 Continues on next page Product manual IRB 6710...

Page 340: ...keying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Reconnecting the brake release unit Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 1 Continues on next page 340 ...

Page 341: ...e to ESD on page 48 1 Torx pan head screw M6x60 4 pcs Refit the electronic box with the attachment screws 2 Tightening torque 10 Nm xx2200001721 Concluding procedures Note Action See Updating revolution counters on page 592 Update the revolution counters if the battery has been disconnected 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after ins...

Page 342: ...cle number Spare part L2 3HAC043904 001 Serial measurement unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB Orange Cover electronics Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 628 Standard toolkit Continues on next page 342 Product man...

Page 343: ... pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Continues on next...

Page 344: ... Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Disconnect all connectors from the SMB board 3 xx2200001723 Remove the screws that secure the SMB unit 4 Continues on next page 344 P...

Page 345: ...HARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 2 Cover electronics Check the electronic box gasket 3 3HAC081189 003 Graphite White Replace if damaged 3HAC081189 004 ABB Orange xx2200001724 Fit the SMB unit into the electronic box 4 Continues on next page Product manual IRB 6710 345 3HAC085695 001 Revisi...

Page 346: ...g to its keying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Refitting the electronic box Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 48 1 Continues on next page 34...

Page 347: ... See Updating revolution counters on page 592 Update the revolution counters 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 2 Product manual IRB 6710 347 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 4 Replacing the SMB unit Continued ...

Page 348: ...Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC081261 003 Graphite White 3HAC081261 004 ABB Orange Motor unit including connection box and pinion Continues on next page 348 Product manual IRB 6710 3HAC085695 001 Revisio...

Page 349: ...de pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 User instructions are enclosed with the tool 3HAC081310 001 Brake release tool Used to rotate the motor pinion Add screw M4 3HAB7887 1 Rotation tool M4 Delivered as a set of calibration tools Required if Axis Calibration is the valid calibratio...

Page 350: ...ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibrated with fine calibration Remove all external cable packages DressPack and to...

Page 351: ...g the attachment screws 5 Floor mounted robot Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues on next page Product manual IRB 6710 351 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the ax...

Page 352: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page 352 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor Continued ...

Page 353: ...sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender to reach the screws Continues on next page Product manual IRB 6710 353 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor Continued ...

Page 354: ...pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 5 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for mo...

Page 355: ...r to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for c...

Page 356: ...d to the new spare part motor 4 Floor mounted robot Refitting the axis 1 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2200001819 CAUTION The weight of the motor is 19 kg 2 Rotation tool M4 3HAB7887 1 Fit the rotation tool 3 Continues on next page 356 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All right...

Page 357: ...d with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 5 xx2200001793 Lower the motor into position Make sure that the motor pinion is properly mated...

Page 358: ...he brake release tool 8 See Performing a leak down test on page 178 Perform a leak down test 9 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001738 Continues on next page 358 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserve...

Page 359: ...n ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6710 359 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Page 360: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Page 361: ... Refit the axis 1 cable protection plates with the attachment screws 1 Hex socket head cap screw M10x16 stainless steel A2 70 3 pcs xx2200001430 Concluding procedure Use this procedure for the concluding refitting Note Action O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 1 Tightening torque 24 Nm xx2200002147 See Calibration on page 585 Re calibrate the robot 2 Continues on next...

Page 362: ...are met when performing the first test run See Test run after installation maintenance or repair on page 94 3 362 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor Continued ...

Page 363: ...3 Replace the motor Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC081262 003 Graphite White 3HAC081262 004 ABB Orange Motor unit including connection box and pinion Continues on next page Product manual IRB 6710 363 3H...

Page 364: ...ser instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits 1 2 3HAC12342 1 Bits extender Always use guide pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 Used to rotate the motor pinion Add screw M4 3HAB7887 1 Rotation tool M4 Delivered as a set of calibration too...

Page 365: ...ues These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the ro...

Page 366: ...box on page 144 Drain the oil from the gearbox 4 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 5 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues ...

Page 367: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6710 367 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 motor Continued ...

Page 368: ... gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the lower arm will be movable and may fall down if not secured Verify that the lower arm is secured as previously de scribed before continuing 2 Continues on next page 368 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 motor Continued ...

Page 369: ... to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is sup...

Page 370: ...non threaded hole 7 Removal tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2300000043 CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the...

Page 371: ...tting the motor Use these procedures to refit the axis 2 motor Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts ...

Page 372: ...2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2100000593 CAUTION The weight of the motor is 21 kg 2 Continues on next page 372 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing ...

Page 373: ...7 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page Product manual IRB 6710 373 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 motor Continued ...

Page 374: ... may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 6 Rotation tool M4 3HAB7887 1 Apply the rotation tool 7 Use caution and fit the motor in its final position while at the same time rotating the motor pinion s...

Page 375: ...ve the guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 178 Perform a leak down test 12 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6710 375 3HAC085695 001 Revision A Copy...

Page 376: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 376 Product manual IRB 6710 3HAC085695 001 R...

Page 377: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Page 378: ... lock screw that secures the lower arm 1 xx2200001332 Remove the lock screw 2 See Filling oil into the axis 2 gear box on page 146 Refill the gearbox with oil 3 See Calibration on page 585 Re calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 5 378 Product manual IRB 6710 3HAC085...

Page 379: ...Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 3 motor 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Connection box cover FS180 with gasket Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 See Type of lubrication in ge...

Page 380: ... tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 001 axes 5 and 6 Calibration toolbox Axis Calibra tion Content is defined in section Standard toolkit on page 628 Standard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the motor Note Action Decide which calibration routine ...

Page 381: ...er arm onto 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 xx2200002142 Remove the cable bracket underneath the arm house 5 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by re...

Page 382: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page 382 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor Continued ...

Page 383: ...he gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the upper arm will be movable and falls down if not secured Verify that the upper arm is secured as previously de scribed before continuing 2 Continues on next page Product manual IRB 6710 383 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor Continued ...

Page 384: ... mechanical stop or installed lifting accessories before releasing the brakes 3 User instructions are enclosed with the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake re...

Page 385: ... is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 21 kg 11 xx2100002149 Remove the motor by sliding it out on the guide ...

Page 386: ...Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 3 motor Note Action Guide pin M10x150 3HAC15...

Page 387: ...e release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 second...

Page 388: ...e attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the screws xx2100002152 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Remove the guide pins and replace with the remaining attachment screws 8 xx2100002153 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 See Performing a leak down test on page 178...

Page 389: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6710 389 3HAC085695 001 R...

Page 390: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Page 391: ...A4 80 Refit the metal clamp beneath the arm house 2 Tightening torque 10 Nm xx2200002142 See Filling oil into the axis 3 gear box on page 151 Refill the gearbox with oil 3 See Calibration on page 585 Re calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 5 Product manual IRB 6710 ...

Page 392: ...t L2 3HAC082787 003 Graphite White 3HAC082787 004 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 4 motor 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange Connection box cover FS130 with gasket Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Loctite 5800 Flange sealant Continues on next page 3...

Page 393: ...ation toolbox Axis Calibra tion Content is defined in section Standard toolkit on page 628 Standard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the motor Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2200001812 Jog the robot into position Axis 1 no significance Axis 2...

Page 394: ...4 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page 394 Product manual IRB 6710 3HAC085695 001 Revision A...

Page 395: ...ve the motor cables from the motor 6 Removing the axis 4 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 6710 395 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor Continued ...

Page 396: ...guide pins in pairs xx2300000009 Removal tool motor M12 3HAC14631 1 Fit removal tools in the threaded holes 4 Used to push out the motor if ne cessary Always use removal tools in pairs xx2300000047 Continues on next page 396 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor Continued ...

Page 397: ...ith the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gearbox the gears may be damaged if ex...

Page 398: ... any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groo...

Page 399: ...t guide pins in opposite holes 1 Always use guide pins in pairs xx2100002201 CAUTION The weight of the motor is 12 kg 2 Rotation tool M4 3HAB7887 1 Apply the rotation tool 3 Continues on next page Product manual IRB 6710 399 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor Continued ...

Page 400: ...e the spe cified brake release tool to eliminate the risk xx2300000007 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear Use caution and fit the motor in its final position while at the same time rotating the motor pinion slightly using the rotation tool Make sure that the motor pinion is properly mated to the gear...

Page 401: ... the guide pins and replace with the remaining attachment screws 8 xx2300000011 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 See Performing a leak down test on page 178 Perform a leak down test 11 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6710 401 3HAC085695 001 Revision A C...

Page 402: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 402 Product manual IRB 6710 3HAC085695 001 R...

Page 403: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Page 404: ...See Filling oil into the axis 4 gear box on page 156 Refill the gearbox with oil if drained 1 See Calibration on page 585 Re calibrate the robot 2 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 3 404 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Page 405: ...nnection box and pinion Required service parts Note Article number Consumable Loctite 5800 Flange sealant Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Replace if damaged On axis 5 motor 3HAC072863 003 Connection box cover with gasket 3HAC057966 003 Cable strap outdoor Required tools and equipment Note Article number Equipment User instructions are enclosed with the tool 3HAC081310 001 B...

Page 406: ...tor Preparations before removing the axis 5 motor Note Action Decide which calibration routine to use and take actions accordingly prior to begin ning the repair procedure 1 xx2200001814 Jog the robot into position Axis 1 no significance Axis 2 suitable working position to replace axis 5 motor for example 25 Axis 3 suitable working position to replace axis 5 motor for example 35 Axis 4 90 Axis 5 n...

Page 407: ...ete ball joint housing still fitted as shown in the figure This is done to be able to reach the two hidden screws that secure the wrist cover 2 IRB 6710 xx LID If DressPack is installed 3 xx2100002733 Open the ball joint housing on the arm tube and remove the DressPack cable package IRB 6710 xx LID xx2100002709 Continues on next page Product manual IRB 6710 407 3HAC085695 001 Revision A Copyright ...

Page 408: ... for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page 408 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 5 Replacing the axis 5 motor Continued ...

Page 409: ...ble bracket by removing the screws 6 Remove the motor cables 7 Removing the axis 5 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 6710 409 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 5 Replacing the axis 5 motor Continued ...

Page 410: ...h the brake release tool 1 Turn off the brake release tool 2 Connect the tool to the motor power con nector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activation DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instruction...

Page 411: ...other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is us...

Page 412: ...lease tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor c...

Page 413: ...mov al Remove the guide pins 7 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 4 pcs Secure the motor with its attachment screws and washers 8 Tightening torque 24 Nm xx2100002204 See Performing a leak down test on page 178 Perform a leak down test 9 Disconnect the brake release tool 10 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Cont...

Page 414: ... position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Continues on next ...

Page 415: ...ed 6 Torx pan head screw M5x12 Stainless steel A2 70 Refit the motor cover and the cable protec tion with its attachment screws 7 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid Tightening torque 6 Nm xx2100002495 Continues on next page Product manual IRB 6710 415 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 5 Replacing the axis 5 motor Con...

Page 416: ...s is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC074181 002 Graphite White Inspect the gasket 3HAC074181 004 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Continues on next page 416 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 5 Replacing the axis 5 motor Continued ...

Page 417: ...essPack cable package on the wrist 1 See Filling oil into the axis 5 gearbox on page 161 Refill the gearbox with oil if drained 2 See Calibration on page 585 Re calibrate the robot 3 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 4 Product manual IRB 6710 417 3HAC085695 001 Revision A Copyright 20...

Page 418: ...HAC071374 003 Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 6 motor 3HAC074958 003 Graphite White 3HAC074958 004 ABB Orange Tilt housing cover with gasket Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Replace if damaged 3HAC074482 001 Gasket tilt housing cover Loctite 5800 Flange sealant Continues on next p...

Page 419: ...dard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the axis 6 motor Note Action Decide which calibration routine to use and take actions accordingly prior to begin ning the repair procedure 1 xx2200002146 Jog the robot to a position where axis 5 can be positioned with the axis 6 motor pointing straight up at an acceptable working position With axi...

Page 420: ...ure and air pressure are turned off 1 xx2000000376 Unscrew the attachment screws and re move the motor cover 2 xx2000000375 Remove the connector bracket 3 Continues on next page 420 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 6 Replacing the axis 6 motor Continued ...

Page 421: ...crew the motor attachment screws 1 Guide pin M8x150 Fit guide pins in the non threaded holes 2 Removal tool motor M10 Fit removal tools in the threaded holes 3 3HAC14972 1 Continues on next page Product manual IRB 6710 421 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 6 Replacing the axis 6 motor Continued ...

Page 422: ...structions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 5 Used to push out the motor if nece...

Page 423: ...rical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Continues on next page Product manual IRB 6710 4...

Page 424: ...ool 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 3 User...

Page 425: ...tor pinion is properly mated to the gear of the gearbox the motor pinion does not get dam aged Remove the guide pins 6 Hex socket head cap screw M8x30 12 9 Gleitmo 603 Geomet 500 4 pcs Secure the motor with its attachment screws 7 Tightening torque 10 Nm xx2000000377 See Performing a leak down test on page 178 Perform a leak down test 8 Continues on next page Product manual IRB 6710 425 3HAC085695...

Page 426: ...the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 xx2200001920 Snap the signal connectors to each other in the bracket 3 Continues on next page 426 Product manual IRB 6710 3HAC08...

Page 427: ...00001293 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Gasket tilt housing cover 3HAC074482 001 Inspect the gasket Replace if damaged 6 xx2100001287 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page Product manual IRB 6710 427 3HAC085695 001 Revision A Copyr...

Page 428: ...tion is described in Calibrating with Axis Calibration method on page 594 Re calibrate the robot 2 General calibration information is included in section Calibration on page 585 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 3 428 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 AB...

Page 429: ...ontaining the major actions to be performed 1 Drain the axis 1 gearbox 2 Remove the cabling from the base 3 Remove the axis 1 motor 4 Remove the complete arm system complete robot excluding the base and axis 1 gearbox as an assembly 5 Replace the axis 1 gearbox Continues on next page Product manual IRB 6710 429 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replaci...

Page 430: ...e if damaged xx2200001407 A 3HAB3772 164 B 3HAC061327 065 O ring Replace if damaged On axis 1 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Connection box cover FS180 with gasket On axis 1 protection ring 3HAB3772 58 O ring 3HAB3701 46 Radial sealing with dust lip Isopropanol Cleaning ag...

Page 431: ...ssory chain Always use guide pins in pairs 3HAC15521 2 Guide pin M10x150 Always use guide pins in pairs 3HAC13056 3 Guide pin M12x200 Always use guide pins in pairs 3HAC062397 001 3HAC062398 001 Guide pin M16x120 Guide pin M16x250 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 Bit holder dimension 5 16 14x18 mm Used for screw access in ...

Page 432: ...o be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous ref...

Page 433: ...the frame attachment screws Note Action xx2200001458 Jog the robot into calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 2 Continues on next page Product manual IRB 6710 433 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Cont...

Page 434: ... Remove six of the seven attachment screws under the balancing device Note Leave the screw closest to the axis 1 motor fitted 4 xx2200001402 Position for the floor mounted robot Note Action Turn on the power to the robot temporarily 1 Continues on next page 434 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Conti...

Page 435: ...ng the safeguarded space 3 Attaching the lifting accessories to the arm system Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION The weight of the complete arm system is 865 kg All lifting accessories must be sized accordingly 2 Continues on next page Product manual IRB 6710 435 3HAC085695 001 Revision A Copyright 2023 ...

Page 436: ...m Fit a roundsling to the lifting eye 4 xx2200001523 Roundsling 2 m Run a roundsling through the hole in the frame 5 xx2200001524 Continues on next page 436 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 437: ...hich risks to damage the gear 7 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 8 Lifting eye 3HAC16131 1 Fit a lifting eye in the arm house with a fender washer underneath 9 Fender washer Outer diameter minimum 26 mm maximum 30 mm hole diameter 13 mm thickness 3 mm xx1400002196 Fender washer xx2100002146 Co...

Page 438: ... chain a shorter than chain b Preparations before removing the axis 1 gearbox Use this procedure to do the necessary preparations before removing the gearbox Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 2 Continues ...

Page 439: ... 139 Begin draining the axis 1 gearbox Note There will be some oil left in the gear after draining 5 Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues on next page Product manual IRB 6710 439 3HAC085695 001 Revision A Copyright 2023 ...

Page 440: ...tachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page 440 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 441: ...ll supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender to reach the screws Continues on next page Product manual IRB 6710 441 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 442: ...ressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 5 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for mor...

Page 443: ...inion parted from the gear 9 Disconnect the brake release tool 10 Preparations before removing the cable harness in the base Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 Continues on next page Product manual IRB 6710 443 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5...

Page 444: ...0 Disconnect the earth cable 5 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressPack cables through the protection tube 1 Continues on next page 444 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 445: ...e the draining equipment 1 xx2200001610 Remove the protection ring from the frame 2 xx2200001611 Measure the distance from the edge of the frame to the radial sealing at three different locations and make notes The measurement is used as a verification after the arm system has been refitted 3 Continues on next page Product manual IRB 6710 445 3HAC085695 001 Revision A Copyright 2023 ABB All rights...

Page 446: ...ise the overhead crane to stretch all lifting accessories 4 Continues on next page 446 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 447: ...hment screws that hold the frame to the axis 1 gearbox 5 xx2200001405 xx2200001404 Continues on next page Product manual IRB 6710 447 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 448: ...ke the frame slide better 6 Always use guide pins in pairs xx2200001423 xx2200001424 CAUTION The weight of the complete arm system is 865 kg All lifting accessories must be sized accord ingly 7 Continues on next page 448 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 449: ...m on the floor 9 DANGER When the complete arm system is removed and resting by itself on the floor make sure it is resting completely stable before remov ing the lifting accessories Do not change the position of the axes from the position de scribed earlier 10 Continues on next page Product manual IRB 6710 449 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacin...

Page 450: ...1 Fit two lifting eyes manually in opposite holes in the gearbox CAUTION Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to damage the surface of the gearbox which is a sealing surface 3 xx2200001410 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly 4 Continues on next page...

Page 451: ...portant when refitting the arm system if it needs to be installed in the same orienta tion as removed 6 Lifting accessory chain 3HAC15556 1 Attach the lifting accessory chain to the lifting eyes and lift away the gearbox 7 xx2200001411 Continues on next page Product manual IRB 6710 451 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Cont...

Page 452: ...aged 1 Guide pin M12x200 3HAC13056 3 Fit guide pins in opposite holes in the base Tip Lubricate the guide pins with some grease to make the gearbox slide better 2 Always use guide pins in pairs xx2200001415 Wipe clean the contact surfaces on the base and the surfaces of the sealing tube from any contamination 3 Put grease on the sealing tube 4 Continues on next page 452 Product manual IRB 6710 3HA...

Page 453: ...N Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to damage the surface of the gearbox which is a sealing surface 2 xx2200001416 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly 3 Continues on next page Product manual IRB 6710 453 3HAC085695 001 Revision A Copyright 2023 A...

Page 454: ...17 O ring A 3HAB3772 164 B 3HAC061327 065 Grease Shell Gadus S2 3HAC042536 001 Check the o ring and lubricate Replace if damaged 5 xx2200001407 Continues on next page 454 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 455: ...69 Apply rust preventive to the inner surface of the hole as shown in the figure Refitting the axis 1 gearbox to the base Note Action Guide for reduction gear 3HAC043870 009 Fit the guide for the gear on top of the sealing tube 1 xx1700002037 It protects the tube from getting damaged when the gearbox is being fitted and later the radial sealing from getting damaged when the arm system is fitted Co...

Page 456: ... eyes 4 Attachment screws M12x60 12 9 Gleitmo 603 Geomet 500 16 pcs Fit the attachment screws and washers Tighten by hand 5 xx2200001408 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 Torque tighten all screws 6 Preparations before refitting the arm system Note Action Wipe clean the contact surfaces...

Page 457: ...ng interface on the gearbox both inside and outside of the screw holes Apply some grease on the edge of the sealing tube the edge around the gearbox 3 Continues on next page Product manual IRB 6710 457 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 458: ...in the gearbox Tip Lubricate the guide pins with some grease to make the frame slide better 4 Always use guide pins in pairs xx2200001419 xx2200001420 Continues on next page 458 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 459: ... all lifting accessories still is fitted correctly on the arm system 3 Lift the arm system up to reach the contact surfaces underneath the frame 4 Wipe clean the contact surfaces from any remaining contamination 5 Grease Shell Gadus S2 3HAC042536 001 Lubricate the radial sealing 6 Continues on next page Product manual IRB 6710 459 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 ...

Page 460: ...uiding pin in the gearbox is aligned with the pin hole in the frame xx2300000013 7 Lower the arm system to align the longest guide pin into the hole 8 xx2200001420 Lower the arm system to align the other guide pin into the hole 9 Continues on next page 460 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 461: ...from the front back that the frame is coming down completely level against the gearbox If the frame is somewhat tilted adjust the lifting position with the overhead crane Note While lowering the complete arm system check that the cylindrical pin is fitted cor rectly 11 xx1700002043 Lower the complete arm system into posi tion on top of the gearbox 12 Continues on next page Product manual IRB 6710 ...

Page 462: ...ignment of the sealing if needed 14 Hex socket head cap screw M16x50 12 9 Gleitmo 603 Geomet 500 Fit and tighten the accessible attachment screws to secure the frame to the axis 1 gearbox 15 Tightening torque standard torque 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 xx2200001421 Continues on next page 462 Product manual IRB 671...

Page 463: ...ews on page 626 Remove the two guide pins and refit remain ing attachment screws Tighten the remaining accessible attach ment screws 16 xx2200001403 xx2200001405 xx2200001404 Continues on next page Product manual IRB 6710 463 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 464: ...ontamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx...

Page 465: ...ease button on the tool The power for brake release is only applied for 180 seconds after activation DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use ...

Page 466: ...motor with its attachment screws and washers Use a bits extender to reach the screws 7 Bits extender 3HAC12342 1 Tightening torque 50 Nm xx2200001794 Disconnect the brake release tool 8 See Performing a leak down test on page 178 Perform a leak down test 9 Refilling oil in the gearbox Note Action See Changing the oil in axis 1 gearbox on page 138 Refill oil in the gearbox 1 Continues on next page ...

Page 467: ...te Make sure that the R1 SMB cable will run on the correct side of the R1 MP1 see the figure 2 Make sure that the markings on the cables are facing the base cover when connected 3 Screw dimension for R1 MP M6x25 A2 70 Connect connectors R1 MP and R1 SMB 4 Tightening torque for R1 MP 10 Nm Tightening torque for R1 SMB 10 Nm xx2100001109 Continues on next page Product manual IRB 6710 467 3HAC085695 ...

Page 468: ...othly If used run the DressPack hoses through the protection tube in the base 7 Make sure that the hoses are running cor rectly and are not twisted xx1400000078 If used fit the bracket that hold the DressPack to the frame 8 xx1200000052 If used connect the DressPack cable package on the base plate 9 Continues on next page 468 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All...

Page 469: ...les in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001738 Connect the motor cables Note Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IRB 6710 469 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Continued ...

Page 470: ...t is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 470 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gearbox Conti...

Page 471: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Page 472: ...cal stop Note Action Rust preventive 3HAC034903 001 Mer casol 3110 Waxcoat Recommended dry ing time is 24h Protection type Foundry Plus Apply rust preventive on the surfaces shown in the figure on stop pin and in the hole as shown in the figure 1 xx2100001139 Continues on next page 472 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing...

Page 473: ...top pin can move some millimeters in vertical direction This verifies that the screw is inserted in the groove and not against the flange 3 Tighten the screw with tightening torque xx2200001500 Refitting the covers for Foundry Plus and floor mounted robots Note Action Torx pan head screw M6x16 A4 80 4 pcs Protection type Foundry Plus Refit the axis 1 cable protection plates with the attachment scr...

Page 474: ... standard torque 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 xx2200001401 See Calibration on page 585 Calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 5 474 Product manual IRB 6710 3HAC085695 001 Revision A Co...

Page 475: ...terial nearby the robot If needed run axis 1 into a position that gives the required space The figure shows an example xx2300000026 Note Keeping the cable harness and DressPack fitted on the robot during gearbox replacement is only a recommendation If it is not possible to put the lower and upper arm close enough to the robot the cable harness and DressPack in the base and in the frame must be rem...

Page 476: ...kets inside the lower arm and on the frame 4 Remove the upper and lower arm mounted together as an assembly 5 Remove the axis 2 motor 6 Replace the axis 2 gearbox Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Continues on next page 476 Product manual IRB 6710 3H...

Page 477: ...M12 2 pcs 3HAC16131 1 Lifting eye SA 10 8 NA1 Lifting shackle Outer diameter minimum 26 mm maximum 30 mm hole diameter 13 mm thickness 3 mm Fender washer Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Length 1 5 m Roundsling 1 5 m Length 1 m Roundsling 1 m User instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits 1 2 3HAC12342 1 Bits e...

Page 478: ...g Replace if damaged On axis 2 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Connection box cover FS180 with gasket Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Isopropanol Cleaning agent Shell Gadus S2 3HAC042536 001 Grease Mercasol 3110 Waxcoat Re...

Page 479: ...w reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous reference values exist and no new reference values can be created then reference calibration is not pos...

Page 480: ...ocking position with the Hydraulic press equipment balancing device Use this procedure to unload and lock the balancing device in unloaded position with the Hydraulic press equipment balancing device 3HAC074411 001 Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 480 Product manual IRB 6710 3HAC085695 00...

Page 481: ...enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifting accessory to the balancing device Note Action CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingl...

Page 482: ...g accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 482 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 483: ...3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Note Action xx2200001462 Put down the balancing device and let it rest on the frame 1 Continues on next page Product manual IRB 6710 483 3HAC085695 001 Revision A C...

Page 484: ...rn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 See Draining the axis 2 gearbox on page 145 Begin draining the gearbox 4 Attaching lifting accessories to the lower and upper arm Note Action CAUTION The weight of the complete upper and lower arm together is 470 kg All lifting accessories used must be sized accord in...

Page 485: ... slide de pends on robot variant insert a M12x50 securing screw not more than 10 15 mm into the screw hole shown in the figure If DressPack cable package is installed use the ball joint housing instead in the same way xx2100001412 5 Example where securing screw is not needed xx2100001469 Stretch the roundsling between the wrist and the lower arm by slowly jogging the axis 3 Note Make sure the roun...

Page 486: ...s 3 mm xx2100002146 xx1400000355 If the robot is equipped with DressPack unscrew the attachment screws of the bracket that holds the ball joint housings on the wrist The DressPack can stay fitted in the ball joint housing 9 Move the DressPack cable package over to the other side of where the lifting accessory will be attached to the shackle on the arm house 10 Continues on next page 486 Product ma...

Page 487: ...between the wrist and the lower arm is stretched Loosening the cable brackets Use this procedure to lift the lower and upper arm mounted together with the cable harness and DressPack kept installed in the base and in the frame Note Keeping the cable harness and DressPack fitted on the robot during gearbox replacement is only a recommendation If it is not possible to put the lower and upper arm clo...

Page 488: ...ve the mounting plate from the arm house 2 xx2100001104 Unscrew the attachment screws that secure the axis 2 lower arm metal clamp and the axis 3 lower arm metal clamp located on the inside of the lower arm by removing the attachment screws 3 Continues on next page 488 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearb...

Page 489: ...t all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page Product manual IRB 6710 489 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing ...

Page 490: ...e screws 5 Remove the motor cables from the motor 6 Removing the axis 2 motor Note Action Before removing the motor make sure that the gearbox is completely drained 1 Continues on next page 490 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 491: ...th the tool xx2100000666 Release the brakes on the motor with the brake release tool to unload the weight 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the too...

Page 492: ...emoval tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2000000456 Bits extender 3HAC12342 1 Remove the remaining two screws 6 xx2200001150 Continues on next page 492 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Con...

Page 493: ...in re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 21 kg 11 xx2000000457 Remove the motor by sliding it out on the guide pins and lift it off Tip Make a note in which direction the cable gland hole is facing The motor shall be...

Page 494: ...ifting away the lower and upper arms un separated Step 2 Use this procedure for the second step to remove and lift the lower and upper arm un separated Note Action xx2300000026 Put two foam boards pallets or similar protective material on the floor somewhere close to the robot Put one higher foam block as protection for the wrist If needed move axis 1 into a position that gives the required space ...

Page 495: ...t to stretch any cabling CAUTION Use extreme caution when lifting away the arms The cable harness is still partly con nected xx2100001103 Lift the arm system and lay it down safely on the boards Use a higher block as support under the wrist unit when the arms are put down on the boards CAUTION Check that the cable bracket underneath the arm housing is not damaged 4 Continues on next page Product m...

Page 496: ... Lubricate the guide pins with some grease to make the lower arm slide better xx2000000465 Leave one of the upper attachment screws and remove the rest The remaining screw is used to prevent the gearbox from falling down 2 CAUTION The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly 3 Remove the remaining screw left in the gearbox 4 Continues on next page 496 P...

Page 497: ...Attach the lifting accessory to the gearbox 7 Remove the stoppers from the guide pins and remove the gearbox 8 Refitting the gearbox Use these procedures to refit the gearbox Preparations before refitting the axis 2 gearbox Note Action CAUTION The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly 1 Continues on next page Product manual IRB 6710 497 3HAC085695 00...

Page 498: ...ropanol Wipe clean the contact surfaces on both the gearbox and the frame from any con tamination Note Also wipe clean the o ring groove 4 O ring 3HAC061327 066 Check the o ring 5 xx2100001132 Replace if damaged Continues on next page 498 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 499: ... Apply rust preventive to the gearbox sur face shown in the figures 7 xx2100001105 Refitting the axis 2 gearbox Use this procedure to refit the gearbox Note Action CAUTION The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly 1 Continues on next page Product manual IRB 6710 499 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Repla...

Page 500: ...make the gearbox slide better xx2100002414 Lift the gearbox and let it rest on the guide pins CAUTION Use stoppers on the guide pins 3 Remove the lifting accessory DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 4 Continues on next page 500 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All...

Page 501: ... and fit the remain ing attachment screws and washers 6 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 Tighten the attachment screws 7 Continues on next page Product manual IRB 6710 501 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Conti...

Page 502: ...ide pins with some grease to make the lower arm slide better CAUTION The weight of the complete upper and lower arm together is 470 kg All lifting accessories used must be sized accordingly 2 Attach the lifting accessories to the arm assembly if not already fitted 3 xx2300000027 Use caution and slowly lift the lower and upper arm together Make sure not to stretch any of the cables that the arm pac...

Page 503: ... the hole pattern does not match use the adjustment tool in the axis 2 gear and ro tate until a matching hole pattern is achieved xx1300000819 xx2300000028 Slide the arms into position on the guide pins 6 Continues on next page Product manual IRB 6710 503 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 504: ...9 Remove the lifting accessories 10 Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant r...

Page 505: ...100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2100000593 CAUTION The weight of the motor is 21 kg 2 Continues on next page Product manual IRB 6710 505 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing t...

Page 506: ... Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page 506 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 507: ...may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 6 Rotation tool M4 3HAB7887 1 Apply the rotation tool 7 Use caution and fit the motor in its final position while at the same time rotating the motor pinion sl...

Page 508: ...he guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 178 Perform a leak down test 12 Connecting the axis 2 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page 508 Product manual IRB 6710 3HAC085695 001 Revision A C...

Page 509: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6710 509 3HAC085695 001 Re...

Page 510: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Page 511: ... arm 1 Torx pan head screw M6x16 A4 80 Secure the upper and lower cable clamps inside the lower arm with the attachment screws Note The screws are reached from the outside of the lower arm 2 Tightening torque 6 Nm xx2100001104 Note Check that the cabling will stay a little bit twisted between the cable clamps Do not change the position of the brackets xx1300000595 Continues on next page Product ma...

Page 512: ... the in side of the lower arm with attachment screws 4 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid xx2100002701 The dress pack cables between the upper and lower bracket may not be twisted more than 1 2 turn xx2100002702 Torx pan head screw M6x16 Stainless steel A2 70 2 pcs Continues on next page 512 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB ...

Page 513: ... all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if not already done 1 Lifting accessory chain 3HAC15556 1 Remove all residue of Loctite in the screw hole of the shaft 2 Wipe all co...

Page 514: ...e link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page 514 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gearbox Continued ...

Page 515: ...ectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page Product manual IRB 6710 ...

Page 516: ...ing the Hydraulic press equipment balancing device Note Action User instructions are enclosed with the tool Restore the balancing device and remove the press equipment according to instruc tions for the press equipment xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for t...

Page 517: ...kets of the ball joint housings on the wrist 1 Remove the lifting accessory from the balancing device 2 See Filling oil into the axis 2 gear box on page 146 Refill oil to the axis 2 gearbox 3 See Calibration on page 585 Calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 5 Product...

Page 518: ... prepared service area 5 Replace the axis 3 gearbox Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6710 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 Includes o ring 3HAC081174 003 Graphite White 3HAC081174 004 ABB Orange Gearbox Required service parts Note Article number C...

Page 519: ...ls in pairs 3HAC14631 1 Removal tool motor M12 Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 For lifting the gearbox 3HAC081585 001 Lifting accessory for gear Used to push out the gearbox if necessary Screws M8x75 fully threaded Used to rotate the gear for matching hole pattern with frame 3HAC080331 001 Adjustment tool for gear Used to rotate the motor pinion Add screw M4 3HAB7887 1...

Page 520: ...re to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 595 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibr...

Page 521: ... pressure supply to the robot before entering the safe guarded space 4 xx1200001331 A Attachment screw to be removed B Attachment screw not to be removed If robot is equipped with DressPack Unscrew the uppermost attachment screw that holds the bracket of the DressPack cable package and let it fall down See figure Note It is not needed to disconnect the lower end connectors of the DressPack as the ...

Page 522: ...he DressPack cable package 6 xx2200001432 Remove the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 7 xx2200001433 Remove the metal clamp at the arm house 8 Continues on next page 522 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 g...

Page 523: ...te ball joint housing still fitted as shown in the figure This is done to be able to reach the two hidden screws that secure the wrist cover 2 IRB 6710 xx LID If DressPack is installed 3 xx2100002733 Open the ball joint housing on the arm tube and remove the DressPack cable package IRB 6710 xx LID xx2100002709 Continues on next page Product manual IRB 6710 523 3HAC085695 001 Revision A Copyright 2...

Page 524: ... supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000000376 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 524 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 525: ... the motor cables 5 Pushing out the axis 6 motor cables Note Action xx1300000484 Unscrew the attachment screws that hold the cable bracket 1 Continues on next page Product manual IRB 6710 525 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 526: ...or and the other at the carrier CAUTION Assist by using a flat head screwdriver or similar to push out the carrier from the motor housing side to avoid damaging the cables by pulling them too hard xx2300000058 xx2300000057 xx2300000060 xx2300000059 3 Continues on next page 526 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis...

Page 527: ...upplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page Product manual IRB 6710 527 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 528: ...by removing the screws 6 Remove the motor cables 7 Disconnecting the axis 3 and axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 528 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 529: ...by first removing the attachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6710 529 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 530: ...e Action xx2000000422 Foundry Plus DressPack Remove the cover Note Use caution not to damage the gasket 1 xx2100002677 DressPack If used loosen the insert Cable guard C is available for Foundry cable guard 2 Continues on next page 530 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 531: ...dy done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 4 xx2300000031 Remove the side cover on the arm tube 5 Continues on next page Product manual IRB 6710 531 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 532: ...the arm tube Note The screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page 532 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 533: ...is step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 9 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pul...

Page 534: ...46 Lifting accessory chain 3HAC15556 1 Attach the Lifting accessory chain to an overhead crane or similar then to the lifting eye in the arm house and to a roundsling run through the wrist 3 Roundsling 1 m xx2100002145 Adjust the chain lengths to make the lift as level as possible The figure shows an example of lifting chain lengths Keep chain b shorter than chain a Raise the lifting accessories t...

Page 535: ... sure that the gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the upper arm will be movable and falls down if not secured Verify that the upper arm is secured as previously de scribed before continuing 2 Continues on next page Product manual IRB 6710 535 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearb...

Page 536: ...mechanical stop or installed lifting accessories before releasing the brakes 3 User instructions are enclosed with the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake rel...

Page 537: ...is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 21 kg 11 xx2100002149 Remove the motor by sliding it out on the guide p...

Page 538: ...3 Leave one of the remaining attachment screws fitted remove the other screws 2 Removing the upper arm Note Action xx1400002197 Note Make sure the lift is done completely leveled In case of necessary adjustments use the shortening loops on the lifting ac cessory chain and make sure to place the chain the right way through the loops 1 Continues on next page 538 Product manual IRB 6710 3HAC085695 00...

Page 539: ...g ure This is done in order to keep the axis 3 gearbox in a vertical position and to get the best position to replace the axis 3 gearbox if applicable 4 Removing the axis 3 gearbox Use this procedure to remove the gearbox Note Action Guide pin M10x150 3HAC15521 2 Remove two attachment screws in opposite holes and replace them with guide pins Tip Lubricate the guide pins with some grease to make th...

Page 540: ...r below the gearbox 4 xx2100002448 Remove the remaining attachment screw and loosen the gearbox with help of the removal tools Only pull out the gearbox a little bit on the guide pins DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 5 Continues on next page 540 Product manual IRB 6710 3HAC085695 001 Revision A Co...

Page 541: ...etting it slide out on the guide pins 8 xx2100002460 Remove the gearbox 9 Refitting the gearbox Use these procedures to refit the axis 3 gearbox Preparations before refitting the axis 3 gearbox Note Action CAUTION The weight of the gearbox is 45 kg All lifting accessories used must be sized accordingly 1 Continues on next page Product manual IRB 6710 541 3HAC085695 001 Revision A Copyright 2023 AB...

Page 542: ...eaning agent Isopropanol Wipe clean the contact surfaces of both the gearbox and the upper arm from any con tamination 4 O ring 3HAC061327 063 Check the o ring 5 xx2100001237 Replace if damaged Continues on next page 542 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 543: ...guide pins in pairs xx2100002462 Tip Lubricate the guide pins with some grease to make the lower arm slide better xx2100002460 Lift the gearbox and let it rest on the guide pins 2 Remove the lifting accessory DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 3 Continues on next page Product manual IRB 6710 543 3HA...

Page 544: ...r equivalent with allen head screws on page 626 Tighten the attachment screws 6 Preparations before refitting the upper arm Note Action Wipe clean all contact surfaces 1 Guide pin M12x150 3HAC13056 2 Fit two guide pins in opposite M12 holes in the axis 3 gearbox Tip Lubricate the guide pins with some grease to make the upper arm slide better 2 Always use guide pins in pairs xx2100002445 Continues ...

Page 545: ...01 Use the adjustment tool to rotate the axis 3 gearbox and find the correct position for the guide pins in the lower arm 4 xx2000000395 Fit the upper arm to the lower arm CAUTION Do not damage the cabling with the guide pins during refitting Hex socket head cap screw M12x40 12 9 Gleitmo 603 Geomet 500 26 pcs Insert all but two of the screws and wash ers 5 Washer Steel 13x19x1 5 26 pcs xx210000244...

Page 546: ...y old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove ...

Page 547: ...the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx21000...

Page 548: ...the correct way Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Fit two of the attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the screws xx2100002152 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Remove the guide pins and replace with the remaining attachment screws 8 xx2100002153 Tightening torque 50 Nm Tight...

Page 549: ...nd axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the cable harness through the inside of the robot 2 Continues on next page Product manual IRB 6710 549 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis ...

Page 550: ...t Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable harness into the DressPack tube Note Do not run the cable harness into the DressPack tube if one is fitted xx1300000820 Continues o...

Page 551: ...ide the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6710 551 3HAC085695 001 Re...

Page 552: ...677 If used refit the insert that guides the DressPack cable package through the hole in the upper arm Cable guard C is available for Foundry cable guard 7 xx1400000092 If used refit the tube containing the DressPack into the insert 8 Continues on next page 552 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Conti...

Page 553: ...sest to the outlet first shown in figure to avoid deformation Foundry Plus xx2100002636 DressPack xx2300001040 Reconnecting the axis 3 and axis 4 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6710 553 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 554: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 554 Product manual IRB 6710 3HAC085695 001 Re...

Page 555: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Page 556: ... routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page 556 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB ...

Page 557: ...and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next pa...

Page 558: ... Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page 55...

Page 559: ...rier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page Product manual IRB 6710 559 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved ...

Page 560: ... to the bracket with a screw Note The purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 Con...

Page 561: ...cal damage Handle it with care to avoid dam age to the cabling or the connector avoid any kind of tilt or skew 4 xx2000000375 xx2100001293 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Continues on next page Product manual IRB 6710 561 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing th...

Page 562: ...ke sure that none of the cables inside will be dam aged 7 Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Refit the motor cover 8 Tightening torque 4 Nm xx2000000376 Continues on next page 562 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 563: ... M6x16 A4 80 Refit the wrist cover and secure with screws 3 Tightening torque 10 Nm Foundry Plus xx2000000373 Fit all the screws first then torque tighten Refitting cable brackets Use this procedure to refit the cable brackets Note Action Remove the lifting accessories 1 Move the cable harness and DressPack back to the correct side of the robot 2 Continues on next page Product manual IRB 6710 563 ...

Page 564: ...rm 3 Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 4 Tightening torque 10 Nm xx2200001433 Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 5 Tightening torque 10 Nm xx2200002142 Continues on next page 564 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 565: ...t with a cable tie Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 7 Locking liquid Loctite 2400 or equivalent Loctite 243 If robot is equipped with DressPack Fit the mounting plate to the arm house 8 xx2300001036 Use locking liquid Hex socket head cap screw M10x16 8 8 A3F 2 pcs Continues on next page Product manual IRB 6710 565 3HAC085695 001 Revis...

Page 566: ...h the attachment screws 9 xx2100002703 Twist the dress pack cables between the upper and lower arm according to the pic ture xx1900001684 Hex socket head cap screw M10x16 8 8 A3F 2 pcs Continues on next page 566 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 gearbox Continued ...

Page 567: ...02701 The dress pack cables between the upper and lower bracket may not be twisted more than 1 2 turn xx2100002702 Torx pan head screw M6x16 Stainless steel A2 70 2 pcs Refitting DressPack cable packages Note Action xx1200001332 Fit the bracket of the DressPack cable package if one is fitted under the arm house with its screws 1 Continues on next page Product manual IRB 6710 567 3HAC085695 001 Rev...

Page 568: ...ures Note Action Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 1 Tightening torque 10 Nm xx2200001433 See Filling oil into the axis 3 gearbox on page 151 Refill oil in the gearbox 2 See Calibration on page 585 Calibrate the robot 3 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on pa...

Page 569: ...ts Note Article number Consumable Replace if damaged 3HAC061327 070 O ring Replace if damaged 3HAC074482 001 Gasket tilt housing cover Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Isopropanol Cleaning agent P 80 Emulsion IFC 3HAC074427 001 P 80 rubber lubration gel Loctite 5800 Flange sealant Mercasol 3110 Waxcoat Recom mended drying time is 24h 3HAC034903 00...

Page 570: ...Pack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Cr...

Page 571: ...k cable package from the process turning disk Note Use caution not to lose the two clamp jaws on either side of the DressPack cable package xx2100002712 5 Jog the robot into position Axis 1 no significance Axis 2 suitable working position to replace axis 6 gearbox for example 25 Axis 3 suitable working position to replace axis 6 gearbox for example 20 Axis 4 0 Axis 5 55 Axis 6 0 6 Continues on nex...

Page 572: ...screws and washers that se cure the turning disc 1 xx2100002168 Remove the turning disc 2 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 572 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 6...

Page 573: ... xx2000000375 Remove the connector bracket 3 xx2200001919 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page Product manual IRB 6710 573 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 6 gearbox Continued ...

Page 574: ...xx2300001096 Remove the synchronization plate axis 6 2 Guide pin M6x150 3HAC080345 001 Fit guide pins 3 Always use guide pins in pairs xx2100002228 Continues on next page 574 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 6 gearbox Continued ...

Page 575: ... follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 5 xx21000022...

Page 576: ...sopropanol Wipe clean the contact surfaces of both gearbox and wrist from any contamination 2 O ring 3HAC061327 070 Check the o ring 3 xx2100002258 Replace if damaged P 80 rubber lubration gel 3HAC074427 001 Lubricate the contact surface inside the wrist with grease 4 xx2100002791 Continues on next page 576 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 ...

Page 577: ...ds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 6 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk Refitting the axis 6 gea...

Page 578: ... pinion slightly using the rotation tool Make sure that the motor pinion is properly mated to the gear of the gearbox CAUTION Be careful not to damage motor pinion or gears Tip Verify that the oil plug is removed so the air can be pressed out during fitting of the gearbox 4 Continues on next page 578 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Page 579: ...crews on page 626 xx2100002227 Disconnect the brake release tool 6 See Performing a leak down test on page 178 Perform a leak down test 7 Jog axis 5 to horizontal position 8 See Filling oil into the axis 6 gearbox on page 165 Refill oil in the gearbox 9 xx2300001097 Refit the synchronization plate axis 6 10 Continues on next page Product manual IRB 6710 579 3HAC085695 001 Revision A Copyright 2023...

Page 580: ...he connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001919 xx2200001920 Snap the signal connectors to each other in the bracket 3 Continues on next page 580 Product manual IRB 6710 3HAC085...

Page 581: ...0001293 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Gasket tilt housing cover 3HAC074482 001 Inspect the gasket Replace if damaged 6 xx2100001287 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page Product manual IRB 6710 581 3HAC085695 001 Revision A Copyri...

Page 582: ... 001 Mercasol 3110 Waxcoat Recom mended drying time is 24h Protection type Foundry Plus Apply rust preventive to the surface shown in the figure 2 xx2100002232 xx2100002169 Fit the turning disc to the wrist Orient the disc according to the synchronization marks 3 Continues on next page 582 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Repla...

Page 583: ...leitmo or equivalent with allen head screws on page 626 xx2100002167 Concluding procedure Note Action See Calibration on page 585 Calibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 94 2 Product manual IRB 6710 583 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Page 584: ...This page is intentionally left blank ...

Page 585: ... generic term for all calibration methods that aim to move the robot to calibration position Standard calibration A calibration routine that generates a new zero posi tion of the robot Fine calibration A calibration routine that in the first step generates a reference to current zero position of the robot The same calibration routine can later on be used to re calibrate the robot back to the same ...

Page 586: ...ccuracy has the option information printed on its name plate OmniCore 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 Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 6710 It is the recommended ...

Page 587: ...s after replacements that do not include taking apart the robot structure standard calibration is sufficient The Absolute Accuracy option varies according to the robot mounting position This is printed on the robot name plate for each robot The robot must be in the correct mounting position when it is recalibrated for absolute accuracy References Article numbers for the calibration tools are liste...

Page 588: ... counter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 592 This will occur when The battery is discharged A resolver error occurs The signal between a resolver and measurement board is interrupted A robot axis is moved with the control system disconnected The revolution counters must also be updated after the robot and...

Page 589: ...the position of the synchronization marks and the synchronization position for each axis Synchronization marks IRB 6710 IRB 6720 IRB 6730 IRB 6740 xx2200002087 Continues on next page Product manual IRB 6710 589 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes ...

Page 590: ...xx2200002088 590 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes Continued ...

Page 591: ... in gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions xx2200002089 Product manual IRB 6710 591 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 2 Calibration movement dire...

Page 592: ...creen tap Calibrate 1 Select Calibration from the menu 2 The Mechanical Units page displays a list of available mechanical units Note This step is required only if you are not already in the Mechanical Unit page when you open Calibrate Note The Mechanical Unit page is displayed only if there are more than one mechanical unit available Otherwise the calibration summary page for the available mechan...

Page 593: ...ution counter for the selected axes is updated CAUTION If a revolution counter is incorrectly updated it will cause incorrect manipulator posi tioning which in turn may cause damage or injury Check the synchronization position very carefully after each update See Checking the synchronization position on page 608 10 Product manual IRB 6710 593 3HAC085695 001 Revision A Copyright 2023 ABB All rights...

Page 594: ...ovable calibration tool is inserted by the operator into a calibration bushing on the axis chosen for calibration according to instructions on the 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 ins...

Page 595: ...technical data about the tool installed 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 Follow the instructions given in the reference calibration routine on the FlexPendant to create reference values When reference calibration is performed t...

Page 596: ...s allowed to be jogged to other position than 0 degrees Axis must be put in position 0 degrees 0 System containing SafeMove SafeMove will lose its synchronization to the controller if a new calibration is done New calibration values have to be downloaded to SafeMove and a new SafeMove calibration has to be done Make sure that the user rights admit to change the safety settings and to synchronize S...

Page 597: ...damage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools Required if Axis Calibration is the valid calib ration method for the robot 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 001 axes 5 and 6 Calibration toolbox Ax is Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure that the tube inser...

Page 598: ...d solution Note Action It is possible to use any RFID solution with the correct dimensions ABB has verifed function on some suppliers fulfilling the requirements of NFC compatible devices 13 56 Mhz according to ISO 14443 or ISO 15693 Note The maximum dimensions on the RFID chip must not exceed Ø7 9 mm x 8 0 mm Ø5 9 mm x 8 0 mm or Ø3 9 mm x 8 0 mm depending on calibra tion tool size 1 There is a ca...

Page 599: ...pin and a bushing for the movable calibration tool are located on each axis as follows If there is not enough space on an axis to install a fixed calibration pin the axis is equipped with two bushings instead for installation of two calibration tools when calibration is carried out This is shown in the figure xx2300000257 Continues on next page Product manual IRB 6710 599 3HAC085695 001 Revision A...

Page 600: ...Replace damaged parts with new Note Article number Spare part Contains replacement calibration pin covers and protective plugs for the bushings 3HAC064875 001 axes 1 2 3 and 4 3HAC059487 001 axes 5 and 6 Protection cover and plug set 600 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 4 3 Installation locations for the calibration tools Cont...

Page 601: ...cover and plug set Overview of the calibration procedure on the FlexPendant The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Use the following list to learn about the calibration procedure before running the RobotWare program on the FlexPendant It gives you a...

Page 602: ...l affect the calibration value 2 Starting the calibration procedure Use this procedure to start the Axis Calibration routine on the FlexPendant Note Action Tap the calibration icon and enter the calibration main page 1 All mechanical units connected to the system are shown with their calibration status 2 Tap the mechanical unit in question Note For RobotWare 7 the mechanical unit page is displayed...

Page 603: ...calibration tool is in contact the robot axis needs to be jogged in order to release the calibration tool Jogging the axis in wrong direction will cause the calibration tool to break Directions of axis movement is shown in Calibration movement directions for all axes on page 591 Axis Calibration with SafeMove option To be able to run Axis Calibration SafeMove needs to be unsynchronized The Axis Ca...

Page 604: ...es 1 2 3 and 4 3HAC059487 001 axes 5 and 6 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not damaged Replace the plug and the sealing with new spare part if missing or damaged 3 Protection cover and plug set 3HAC064875 001 axes 1 2 3 and 4 3HAC059487 001 axes 5 and 6 604 Product manual IRB 6...

Page 605: ...ibration to save reference values for all axes that is to be replaced Make sure that the values are saved in RobotStudio or FTP program The files are located in Active system folder name HOME RefCalibFiles 7 Perform the repair 8 Make sure that the tooling and process equipment are the same as when creating the reference Use Reference calibration to update the system with new calibration offset val...

Page 606: ...ce ie 96 3 94 2 2 1 degrees 8 Manually jog axis 4 the calculated angle difference 2 1 NOTE The direction shall be the same direction as the direction used when axis 4 was manually jogged to coincide with the verification process In the example 2 1 degrees 9 Make a new manual fine calibration of axis 4 with axis in 2 1 degrees position 10 Check again against the verification position 11 Repeat the ...

Page 607: ...ition program twice Do not change the position of the robot axes after running the program 1 This is detailed in section Synchronization marks and synchronization position for axes on page 589 Adjust the synchronization marks when the calibration is done if necessary 2 Write down the values on a new label and stick it on top of the calibration label 3 The label is located on the lower arm Product ...

Page 608: ...rrectly If they do not update the revolu tion counters 6 Using the jogging window Use this procedure to jog the robot to the synchronization position of all axes Note Action Tap Jog 1 From the Mechanical unit list select a mechanical unit 2 From the Motion mode section select an axis set that need to be jogged 3 For example to jog axis 2 select the axis set Axis 1 3 Follow the screen instruction o...

Page 609: ...ms 2 Divide the fault chain in two 3 Check communication parameters and cables 4 Check that the software version is compatible with the hardware Work systematically 1 Take a look around to make sure that all screws connectors and cables are secured and that the robot and other parts are clean not damaged and correctly fitted 2 Replace one thing at a time 3 Do not replace units randomly 4 Make sure...

Page 610: ...ed Check all connections to the replaced part power supplies that the correct part has been fitted the last repair documents The robot has recently been repaired Check software versions compatibilities between hardware and software options and their configuration The robot recently had a software upgrade Check connections software versions The robot has recently been moved from one site to another...

Page 611: ...f the oil spill is small this step is sufficient Wipe off the oil or grease see Cleaning the IRB 6710 on page 173 2 Monitor the robot over time to see if new oil or grease occurs Check the gearbox oil level 3 Robots performing certain ex tremely heavy duty work cycles may be fitted with vented oil plugs These are not fitted to normal duty robots but can be purchased from your local ABB representat...

Page 612: ...parts If the noise is emitted from a gearbox the following can also apply Overheating Recommended actions The following actions are recommended Information Action CAUTION Allow hot parts to cool down 1 Verify that the service is done according to the maintenance schedule 2 If a bearing is emitting the noise determine which one and make sure that it has suffi cient lubrication 3 If possible disasse...

Page 613: ...ounding equipment Possible causes The symptom can be caused by Faulty brake Faulty power supply to the brake Recommended actions The following actions are recommended Information Action Determine which motor s causes the robot to collapse 1 See the circuit diagram Check the brake power supply to the col lapsing motor during the Motors OFF state 2 If found faulty the motor must be replaced as a com...

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Page 615: ...ry in which the robot and the control unit are installed If the robot or the control unit is partially or completely disposed of the various parts must be grouped together according to their nature which is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the robot and cont...

Page 616: ... and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Wrist house tilt house covers connection box mo tor housing Aluminium Serial measurement board Batteries Lithium Calibration protection cap and plug and couplings connectors and nuts in cable harness Brass zink alloys St...

Page 617: ... for oil and grease to be recycled Dispose of via an authorized person contractor in accordance with local regulations Do not dispose of oil and grease near lakes ponds ditches down drains or onto soil Incineration must be carried out under controlled conditions in accordance with local regulations Also note that Spills can form a film on water surfaces causing damage to organisms Oxygen transfer ...

Page 618: ...orch it will explode Always remove all oil grease in gearboxes If exposed to heat for example from a blow torch the oil grease will catch fire When motors are removed from the robot the robot will collapse if it is not properly supported before the motor is removed A used robot does not have the same performance as on delivery Springs brakes bearings and other parts might be worn or broken 618 Pro...

Page 619: ...se procedures in the step by step in structions below DANGER Do not under any circumstances deal with the balancing device in any other way than that detailed in the product documentation For example attempting to open the balancing device is potentially lethal Action on field decommissioning The procedure below details the actions to perform on field when the balancing device is to be decommissio...

Page 620: ... distance and somewhat from above 2 DANGER The hole must be cut as specified in the figure Pieces of the spring can be thrown out from the cylinder at high speed if the hole is cut larger than specified 3 Use a cutting torch with a long shaft Cut a hole in the housing as shown in the figure 4 The measurements shown below are maxim um values 400 m m 200 mm xx0700000391 Use a cutting torch with a lo...

Page 621: ...chapter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 6710 621 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 9 Reference information 9 1 Introduction ...

Page 622: ...f machines Part 1 General requirements normative reference from ISO 10218 1 IEC 60204 1 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61000 6 2 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments IEC 61000 6 4 Safety of machinery Safety related parts of control systems Part 1 Gen...

Page 623: ...y 39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume Product manual IRB 6710 623 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 9 Reference information 9 3 Unit conversion ...

Page 624: ...carded and replaced with a new one When handling screws treated with Gleitmo protective gloves of nitrile rubber type should be used Generally screws are lubricated with Gleitmo 603 mixed with Geomet 500 or Geomet 702 in proportion 1 3 Geomet thickness varies according to screw dimensions refer to the following Geomet thickness Lubricant Dimension 3 5 μm Gleitmo 603 Geomet 500 M6 M20 any length ex...

Page 625: ...is do not jerk Tighten the screw in a slow flowing motion Maximum allowed total deviation from the specified value is 10 Tightening torque for oil lubricated screws with slotted or cross recess head screws The following table specifies the recommended standard tightening torque for oil lubricated screws with slotted or cross recess head screws Note A special torque specified in the repair maintena...

Page 626: ... for screws lubricated with Molycote 1000 Gleitmo 603 or equivalent with allen head screws Note A special torque specified in the repair maintenance or installation procedure overrides the standard torque Tightening torque Nm Class 12 9 lubricated i Tightening torque Nm Class 10 9 lubricated i Dimension 8 M5 14 M6 35 28 M8 70 55 M10 120 96 M12 300 235 M16 550 460 M20 950 790 M24 i Lubricated with ...

Page 627: ...ccessory when handling components with a weight exceeding 22 kg A wide range of lifting accessories and devices are available for each manipulator model Example Following is an example of a weight specification in a procedure Note Action CAUTION The arm weighs 25 kg All lifting accessories used must be sized accord ingly Product manual IRB 6710 627 3HAC085695 001 Revision A Copyright 2023 ABB All ...

Page 628: ...r and hexagon bit SW10 Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations 1 xx2200001085 Socket head cap 2 5 17 mm 1 Torx socket no 10 30 1 Box spanner set 1 Torque wrench 10 100 Nm 1 Torque wrench 75 400 Nm 1 Ratchet head for torque wrench 1 2 1 Hexagon headed screw M10x100 2 Hexagon headed screw M16x90 1 Hex bit socket head cap no 14 socket 40 mm L 100 mm 1 To be shorte...

Page 629: ... toolkit on page 628 and of special tools listed directly in the instructions and also gathered in this section Special tools Note If the replacing procedure is not listed in the table below only standard tools are needed for the procedure Continues on next page Product manual IRB 6710 629 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 9 Reference information 9 7 Special tools ...

Page 630: ...ismantle and mounting tool 3HAC028920 001 2 2 2 2 2 2 2 2 Removal tool motor M12 3HAC14631 1 2 Removal tool motor M10 3HAC14972 1 Removal tool motor M8 3HAC080346 001 2 Screws M8x75 fully threaded 2 Screws M10x80 fully threaded 1 1 1 1 1 1 1 1 Bits extender 3HAC12342 1 1 1 xx2200001085 Bit holder and hexagon bit SW10 1 1 1 1 xx2000001376 Hydraulic press equipment balancing device 3HAC074411 001 1 ...

Page 631: ...undsling 2 m 1 1 xx2100002415 Lifting accessory for gear 3HAC081585 001 1 1 1 Fender washer 1 1 1 1 1 1 1 xx1200001241 Lifting accessory chain 3HAC15556 1 1 2 2 xx1200001242 Lifting eye 3HAC16131 1 1 1 1 1 1 xx1200001243 Lifting shackle Guide pins 2 Guide pin M6x150 3HAC080345 001 2 Guide pin M8x150 3HAC15520 2 2 2 2 2 2 2 2 2 Guide pin M10x150 3HAC15521 2 2 2 1 2 Guide pin M12x150 3HAC13056 2 1 G...

Page 632: ...se 1 1 1 1 1 1 1 1 1 1 1 xx2100000666 Brake release tool 3HAC081310 001 Calibration tools 1 1 1 1 1 1 1 1 1 1 Calibration toolbox Axis Calibration 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 001 axes 5 and 6 Adjustment and fixing tools 1 1 1 1 1 1 1 1 Rotation tool M4 3HAB7887 1 1 1 Rotation tool M3 3HAB7887 1 1 1 Adjustment tool for gear 3HAC080331 001 1 1 1 1 Lock screw M16x120 2 Screw M6 x minim...

Page 633: ...iece 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 6710 633 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved 9 Reference information 9 8 Lifting accessories and lifting instructions...

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Page 635: ...ake power supply faulty 613 brake release unit replacing 335 brake releasing 72 brakes testing function 33 C cabinet lock 27 cable harness inspecting 106 refitting 308 removing 286 cabling between robot and controller 91 calibrating robot 594 roughly 592 calibrating robot 594 calibration Absolute Accuracy type 586 rough 592 standard type 586 verification 607 when to calibrate 588 calibration Absol...

Page 636: ...75 installation procedure 53 instructions for assembly 49 integrator responsibility 26 intervals for maintenance 97 L labels robot 19 leak down test 178 leaking sealing 611 lifting robot 64 65 lifting accessory 627 lifting accessory robot 62 lifting robot with lifting accessory 62 limitation of liability 15 lithium disposal 616 Lithium disposal 616 loads on foundation 38 lock and tag 27 lubricants...

Page 637: ... 40 protection types 40 symbols 19 technical data 37 working range 41 S safety brake testing 33 ESD 48 fire extinguishing 27 release robot axes 32 signals 17 signals in manual 17 symbols 17 symbols on robot 19 test run 94 safety devices 27 safety signals in manual 17 safety standards 622 scales on robot 589 schedule of maintenance 97 screw joints 624 securing robot 69 securing the robot to foundat...

Page 638: ...189 193 194 196 207 222 481 complete arm system 435 448 459 robot 63 66 67 69 upper and lower arm 484 495 502 upper arm complete 534 545 wrist 268 working range 46 robot 41 wrist replacing 260 X xx replacing 51 Z zero position checking 608 638 Product manual IRB 6710 3HAC085695 001 Revision A Copyright 2023 ABB All rights reserved Index ...

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Page 640: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong New District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC085695 001 Rev A en Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

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Summary of Contents for IRB 6710

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Summary of Contents for IRB 6710

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