ABB IRB 930 Product Manual Download Page 25

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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 - OmniCore C30

•

Product manual - OmniCore C90XT

Product manual - IRB 930

3HAC086009-001 Revision: A

1 Safety

1.3 Robot stopping functions

Summary of Contents for IRB 930

Page 1: ...ROBOTICS Product manual IRB 930 ...

Page 2: ...Trace back information Workspace 23B version a11 Checked in 2023 06 20 Skribenta version 5 5 019 ...

Page 3: ...Product manual IRB 930 12 0 85 IRB 930 12 1 05 IRB 930 22 1 05 IRC5 Document ID 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

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: ... commissioning 47 3 1 Introduction to installation and commissioning 48 3 2 Unpacking 48 3 2 1 Pre installation procedure 49 3 2 2 Risk of tipping stability 51 3 2 3 Transportation bracket 54 3 3 On site installation 54 3 3 1 Brief installation procedure 55 3 3 2 Test run after installation maintenance or repair 56 3 3 3 Lifting the robot 56 3 3 3 1 Lifting robot with lifting accessories 58 3 3 4 ...

Page 6: ... harness 119 5 3 1 Replacing the process hub 129 5 3 2 Replacing the SMB unit and battery unit 136 5 3 3 Replacing the main harness 171 5 4 Base 171 5 4 1 Replacing the base 216 5 5 Inner arm 216 5 5 1 Replacing the inner arm 269 5 5 2 Replacing the axis 1 oil tank 277 5 6 Outer arm 277 5 6 1 Replacing the mechanical stopper 283 5 6 2 Replacing the pulley on the ball screw upper position 295 5 6 3...

Page 7: ... calibration 576 6 5 Calibrating the robot 576 6 5 1 Calibration position 577 6 5 2 Calibrating axis 1 and axis 2 578 6 5 3 Calibrating axis 3 and axis 4 583 6 6 Verifying the calibration 584 6 7 Checking the synchronization position 585 7 Decommissioning 585 7 1 Introduction to decommissioning 586 7 2 Environmental information 588 7 3 Scrapping of robot 589 8 Reference information 589 8 1 Introdu...

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Page 9: ...e 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 personnel rep...

Page 10: ...6 001 Operating manual OmniCore 3HAC066554 001 Application manual Controller software OmniCore 3HAC030421 001 Application manual CalibWare Field 3HAC066553 001 Technical reference manual Event logs for RobotWare 7 3HAC042927 001 Technical reference manual Lubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters i This manual contains all safety instructions from the pro...

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 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Product documentation Continued ...

Page 13: ...lso 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 differ...

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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: ...nfluence 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 930 3HAC086009 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 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Page 19: ...escription 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 xx090...

Page 20: ...0000815 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 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety sy...

Page 21: ...tip over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 930 21 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 22: ...31 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 930 3HAC086009 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 930 23 3HAC086009 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 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continu...

Page 25: ...and emergency stops are described in the product manual for the controller For more information see Product manual OmniCore C30 Product manual OmniCore C90XT Product manual IRB 930 25 3HAC086009 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: ...o protect people working with the robot system are designed and installed correctly When integrating the robot 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 s...

Page 28: ...rop Dump valves should be used in case of emergency Shot bolts should be used to prevent tools etc from falling due to gravity All pipes hoses and connections have to be inspected regularly for leaks and damage Damage must be repaired immediately Verify the safety functions Before the robot system is put into operation verify that the safety functions are working as intended and that any remaining...

Page 29: ...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 930 29 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 5 Safety during operation ...

Page 30: ...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 31: ...viously been drained from the gearbox Specified amount de pends on drained volume Hazards related to batteries Under rated conditions the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the outside There is a hazard in case of abuse mechanical thermal electrical which leads to the activation of safety valves and or the rupture of the battery container As a...

Page 32: ...rious injuries on users and may damage equipment Related information See also the safety information related to installation and operation 32 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 6 1 Safety during maintenance and repair Continued ...

Page 33: ...equire 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 34: ...ad is maximized maximum static load 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 w...

Page 35: ...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 36: ...ement 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 36 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 8 Safety during decommiss...

Page 37: ...en structure that is especially adapted for flexible use and can communicate extensively with external systems The IRB 930 contains the following variants IRB 930 12 0 85 IRB 930 12 1 05 IRB 930 22 1 05 Note Without any specific statement IRB 930 represents all variants under this product Product manual IRB 930 37 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator descr...

Page 38: ...able 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 For details see Technical reference manual System parameters Continues on next page 38 Product manual IRB 930 3HAC086009 0...

Page 39: ...bot during different kinds of operation Note These forces and torques are extreme values that are rarely encountered during 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 Continues on next page Product manual IRB 930 39 3HAC086009 001 Revision A Copyright 2023 ABB All rights r...

Page 40: ...wer reson ance frequency than recommended Minimum resonance frequency Due to foundation stiffness consider robot mass including equipment i For information about compensating for foundation flexibility see the description of Motion Process Mode in the manual that de scribes the controller software option see References on page 10 150 MPa Minimum foundation material yield strength i The minimum res...

Page 41: ... to be run with the robot Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity Protection classes robot The table shows the available protection types of the robot with the corresponding protection class Protection class i Protection type IP30ii Manipulator protection type Standard i According to IEC 60529 ii The protect...

Page 42: ...44 140 193 3 xx2300000161 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 560 mm 560 mm 360 mm 360 mm X 530 mm 530 mm 330 mm 330 mm Y 1 004 2 mm 854 2 mm 1 004 2 mm 854 2 mm Z 42 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 3 Robot dimensions ...

Page 43: ...the robot 145 D C B E 145 A P Axis 4 rotation center P H F G xx2300000163 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 450 mm 300 mm 450 mm 300 mm A Axis3 1 050 mm 850 mm B 560 mm 360 mm C Continues on next page Product manual IRB 930 43 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 4 Working range ...

Page 44: ...5 0 85_0 3 Variants 490 mm D 322 7 mm 284 1 mm E 145 F Axis1 145 G Axis2 400 H Axis4 44 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 4 Working range Continued ...

Page 45: ...0167 ABB logo A IRB 930 logo B Rating label C Calibration label D UL label E Read manual and caution F Brake release label G Extra O ring fitting label H Product manual IRB 930 45 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 5 Information labels ...

Page 46: ...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 47: ...nstallation 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 page15 before performing any installation work Note Always connect the IRB 930 and the robot to protective earth and residual ...

Page 48: ... lifting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 38 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 41 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 41 7 Before taking ...

Page 49: ...position This figure shows the robot in its transportation position X 201 5 Y 366 8 493 8 3 5 A 854 2 Z xx2300000583 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 560 mm 360 mm X 862 2 mm 662 2 mm Y 124 2 mm 274 2 mm 124 2 mm 274 2 mm Z 0 Axis1 145 Axis2 150 mm 0 mm 150 mm 0 mm Axis3 Note The robot might be positioned in a different position at delivery due to actual configurations and options fo...

Page 50: ...oved before conducting any service work How to use the transportation bracket is described further in Transportation bracket on page 51 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 50 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 2 Risk of tipping stability Continued ...

Page 51: ...on during shipping and transport The transportation brackets cannot be removed until the robot is secured to the foundation Note Keep the brackets every time when it s removed from the robot for further use Continues on next page Product manual IRB 930 51 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket ...

Page 52: ...xx2300000584 Continues on next page 52 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket Continued ...

Page 53: ...on bracket Note Action Remove the screws 1 Remove the bracket 2 Product manual IRB 930 53 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket Continued ...

Page 54: ...ing the ro bot on page 60 See Product manual OmniCore C30 Product manual OmniCore C90XT Connect the manipulator to the controller 4 See Product manual OmniCore C30 Product manual OmniCore C90XT Configure the safety settings 5 See Product manual OmniCore C30 Product manual OmniCore C90XT How to start and run the robot is described in the product manual for the controller 6 Install required equipmen...

Page 55: ...rict 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 opera...

Page 56: ...ecommended C Lifting eye M8 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 Required tools and equipment Note Article number Equipment Overhead crane Length 0 6 m Lifting capacity 70 kg Roundsling 0 6 m Lifting eye M6 Lifting eye M8 Continues on next page 56 Product manual IRB 930 3HA...

Page 57: ...g capacity for the lifting chain is specified in Required tools and equip ment on page 56 Attach the lifting roundslings to the robot 4 A B C xx2300000164 Carefully stretch the roundslings by lifting the crane slowly 5 This prevents the robot from falling down when it is unfastened Do not overstretch the round slings if the robot is fastened because there is a risk of the robot being damaged Screw...

Page 58: ...uipped with a brake release unit Note Action 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 59 1 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpec ted ways Make sure no personnel is near or beneath the ro bot 2 Continues on nex...

Page 59: ...er to enable 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 xx2300000169 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...

Page 60: ... on page 38 1 The hole configuration of the base is shown in the figure in Hole con figuration base on page 61 Prepare the installation site with attachment holes The foundation surface must be clean and un painted 2 3 CAUTION When the robot is put down after being lifted or transported there is a risk of it tipping if not properly secured 4 See Lifting the robot on page 56 Lift the robot 5 2 pcs ...

Page 61: ...lustration for rear outlet cable version 190 190 100 73 4x 18 5 THRU 10 H7 0 015 0 100 73 5 5 A xx2300000165 Continues on next page Product manual IRB 930 61 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 5 Orienting and securing the robot Continued ...

Page 62: ...cable version 3 5 44 B 140 193 3 190 190 4 x 18 5 B xx2300000166 62 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 5 Orienting and securing the robot Continued ...

Page 63: ...stops 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 Product man...

Page 64: ..._0 3 0 85_0 45 0 85_0 3 560 mm 560 mm 360 mm 360 mm X 530 mm 530 mm 330 mm 330 mm Y Gravity for different arm loads Arm loads can be mounted on the axis 2 The center of gravity of the extra load shall be within the marked load areas The robot is supplied with holes for mounting of extra equipment See figures in Holes for mounting of extra equipment Note Maximum load on the frame must not be exceed...

Page 65: ... shaft An end effector can be attached to the lower end of the shaft of the ball screw spline unit The dimensions for fitting the end effector is shown in the following figure Note Mounting of other equipment on the IRB 930 may damage the gearboxes Continues on next page Product manual IRB 930 65 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 ...

Page 66: ...tting tools on the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application 66 Product manual IRB 930 3HAC086009 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 67: ... page 43 Mechanical stops on the manipulator Mechanical stops are and can be installed on the manipulator as limiting devices to ensure that the manipulator axis does not exceed the 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...

Page 68: ...0 via myABB Business Portal www abb com myABB Note Article number Spare part With bolt 3HAC081815 001 Rubber stop Used for axis 1 mechanical stop 3HAB3412 416 Hex socket head cap flange screw Replacement of the axis 1 mechanical stop For more details about replacing the axis 1 mechanical stop see Replacing the mechanical stopper on page 277 Continues on next page 68 Product manual IRB 930 3HAC0860...

Page 69: ...ww abb com myABB Note Article number Spare part Replace if damaged 3HAC084073 001 Damper Used for axis 2 mechanical stop 3HAB3412 412 Hex socket head cap flange Replacement of the axis 2 mechanical stop For more details about replacing the axis 2 mechanical stop see Replacing the mechanical stopper on page 277 Continues on next page Product manual IRB 930 69 3HAC086009 001 Revision A Copyright 202...

Page 70: ...IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper Replacement of the axis 3 mechanical stop For more details about replacing the axis 3 mechanical stop see Replacing the mechanical stopper on page 277 70 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installati...

Page 71: ...ent 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 The customer cables also include the air hose See the product manual for the controller see document number in References on page 10 The hose for compressed air is integrated with the manipu lator cable harness Air hoses R...

Page 72: ...46 002 Signal cable shielded 7 m 3HAC067446 003 Signal cable shielded 15 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 Customer cables CP CS cable Article number CP CS cable length 3HAC067449 001 3 m 3HAC067449 002 7 m 3HAC067449 003 15 m Customer cables Ethernet floor cable Arti...

Page 73: ...2300000175 Value Number Description Connection Position Air hose with outer diamet er 6 mm 4 pcs 4 Max 6 bar Air A 30 V 1 5 A 12 wires Customer power signal C1 B 30 V 1 A or 1 Gbits s 8 wires Customer power signal or ethernet C2 C Connector kits optional Connector kits base R1 C1 and R1 C2 connectors on the base are parts of the CP CS cable and Ethernet floor cable respectively For details about t...

Page 74: ...th the robot and must be well fitted to the connectors in any application requiring water and dust proofing Always remember to refit the protection covers after removing them Note If the protection covers are not refitted back with the connectors exposed the protection class will be lost D C C B A xx2300000176 Protection covers for air hose connector on the base A Protection covers for air hose co...

Page 75: ...tection cover for C1 connector on the base D Product manual IRB 930 75 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 5 2 Customer connections Continued ...

Page 76: ...be regulated with the RAPID instruction VelSet Start the robot with its normal program but with reduced speed 1 Adjusting the speed and acceleration during warm up Depending on how cold the environment is and what program is being used the speed might need to be ramped up until reached maximum The table shows examples of how to adjust the speed Speed velocity AccSet Work cycles v100 100 mm s 20 20...

Page 77: ...rict 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 opera...

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Page 79: ...rk 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 work The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional stand...

Page 80: ...ailable for estimating the service interval remaining lifetime of the gearboxes of a robot Such information of the ball screw spline unit of the IRB 930 is reported as axis 3 in the SIS system When a service message is reported for axis 3 of the IRB 930 an inspection on the ball screw spline unit is required For more information about the SIS function see Operating manual Service Information Syste...

Page 81: ... running means more frequent maintenance activities SIS specified by the robot s SIS Service Information System A typical value is given for a typical work cycle but the value will differ depending on how hard each part is run The SIS used in OmniCore is further described in the Operating manual OmniCore Robots with the functionality Service Information System activated can show active counters in...

Page 82: ...ing the robot harness Inspecting the information labels on page 85 x Inspecting the information labels Inspecting the ball screw spline unit on page 87 x Inspecting the ball screw spline unit Inspecting mechanical stops on page 90 x Inspecting the mechanical stop Inspecting timing belts on page 94 x Inspecting the timing belt Lubricating the ball screw spline unit on page 96 xiii Lubricating the b...

Page 83: ...tion or dry out or insufficiency is observed Alternatively lubricate the ball screw spline unit regularly depending on the application condition iv The battery is to be replaced at given maintenance interval or at battery low alert v Not needed separately if already included in the application vi Recommended test interval is within the range 8 48 hours Product manual IRB 930 83 3HAC086009 001 Revi...

Page 84: ... of normal 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...

Page 85: ... required Inspecting labels Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 1 Inspect the labels located as shown in the figures 2 Article numbers for the labels and plate set is specified in Spare parts on page 599 Replace any missing or damaged labels 3 Product manual IRB 930 85 3HAC086009 001 ...

Page 86: ... Action DANGER Turn off all electric power supply to the robot hydraulic pressure supply to the robot air pressure supply to the robot Before entering the robot working area 1 Visually inspect the control cabling between the robot and control cabinet the cabling to motors 1 and 2 Look for abrasions cuts or crush damage 2 Replace the cabling if wear or damage is detected 3 86 Product manual IRB 930...

Page 87: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081796 001 Ball screw 3HAC081797 001 Ball screw long stroke 3HAC081785 001 Ball screw flange 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper 3HAC081703 001 Pulley on the ball screw upper po sition Continues on next page Product manual IRB 930 87 3HAC086009 001 Revision A Copyright 2023 ABB...

Page 88: ...g brakes the robot axes may move very quickly and sometimes in unexpec ted ways Make sure the payload is disassembled or tooling is properly supported otherwise fast downward movements of axis 3 may cause severe hits 2 xx2300000168 Release the holding brake by pressing the button on the internal brake release unit 3 Move the outer arm to a position where the axis 3 can be moved in full stroke 4 xx...

Page 89: ...e amount on the shaft 6 See Lubricating the ball screw spline unit on page 96 Apply grease to the shaft if it is not enough 7 See Replacing the ball screw on page 308 Replace the ball screw spline unit if wear or dam age is detected 8 Product manual IRB 930 89 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 3 Inspecting the ball screw spline unit Continued ...

Page 90: ...l stops The mechanical stops on axis 1 2 and 3 are located as shown in the figures xx2300000173 Continues on next page 90 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops ...

Page 91: ...xx2300000174 xx2300000172 Continues on next page Product manual IRB 930 91 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops Continued ...

Page 92: ...r tools and procedures may be required if the spare part needs to be replaced These are specified in the replacement procedure Inspecting mechanical stops Use this procedure to inspect mechanical stops on axes 1 2 and 3 Information Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Continues on next p...

Page 93: ... if any mechanical stop is bent loose damaged Note The expected life of gearboxes can be reduced as a result of collisions with the mechanical stop 3 Product manual IRB 930 93 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops Continued ...

Page 94: ... N Axis 3 88 4 92 7 Hz 312 333 Hz 35 50 N 36 3 41 4 N Axis 4 Inspecting timing belts Use this procedure to inspect timing belts Information Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Gain access to each timing belt by removing the cover 2 Check the timing belts for damage or wear 3 Check the t...

Page 95: ...cing the battery pack is accessible after removing the SMB from the base see Replacing the SMB unit and battery unit on page 129 Product manual IRB 930 95 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 5 Replacement changing activities ...

Page 96: ...red tools and equipment Note Article number Equipment Used to release the motor brakes 24 VDC power supply Required consumables Note Article number Consumable THK AFA Grease Gastrol Spheerol EPL 1 3HAC077740 001 Grease Continues on next page 96 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Lubricating the ball screw spline unit ...

Page 97: ...ase the holding brake by pressing the button on the internal brake release unit 3 Move the outer arm to a position where the axis 3 can be moved in full stroke 4 Move the shaft manually to its upper limit while pressing the brake release button 5 Wipe off old grease from the shaft 6 Apply new grease and fill the grooves Wipe off excessive grease 7 Move the shaft manually to its lower limit while p...

Page 98: ...overs are fitted to the robot before cleaning Do not point the water jet at connectors joints sealings or gaskets Do not use compressed air to clean the robot Do not use solvents that are not approved by ABB to clean the robot Do not remove any covers or other protective devices before cleaning the robot Cleaning methods This following table defines what cleaning methods are allowed for ABB manipu...

Page 99: ...pread Minimum distance from nozzle to encapsulation 0 4 meters Maximum flow 20 liters minI I Typical tap water pressure and flow Cables Movable cables need to be able to move freely Remove waste material 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 1 See Cleaning methods on page 98 for exceptions Produc...

Page 100: ...s 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 Equipment Note Equipment Includes pump with outlet pipe Oil dispenser Use the suggested dispenser or a similar one Orion OriCan article number 22590 pne...

Page 101: ...ting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 100 Oil dispenser Content is defined in section Standard toolkit on page 596 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page100 Continues on next...

Page 102: ...re entering the safeguarded space 2 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 Lay down the robot to let the quick coupling facing the ground if ...

Page 103: ...ling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page Product manual IRB 930 103 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 8 2 ...

Page 104: ...x Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 xx2300000547 Open the oil plugs one for filling and the other for venting 3 Continues on next page 104 Product manual IRB 930 3HAC0...

Page 105: ...ion in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 1 Product manual IRB 930 105 3HAC086009 00...

Page 106: ... collecting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 100 Oil dispenser Content is defined in section Standard toolkit on page 596 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page100 Continues ...

Page 107: ...off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let...

Page 108: ...ng 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 7 Continues on next page 108 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 8 3 Changing o...

Page 109: ...es several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 xx2300000549 Open the upper oil plug Note The lower oil plug has to be closed other wise the oil may leak before required oil amount is filled 3 Continues on next page Product manu...

Page 110: ...led depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent Tightening torque 10 Nm Refit the oil plug 6 DANGER Make sure all safety requirements are met when performing the first test run 7 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation...

Page 111: ...placement 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 any service work Note The robot should be secured with the transportation brackets during removing from refitting to the foundation Note If the IRB 930 is connected to power always make s...

Page 112: ...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 113: ...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 114: ... 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 114 Product manual IR...

Page 115: ...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 116: ...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 116 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights re...

Page 117: ...s evenly when fastening the flange joint 4 O rings The following procedure describes how to fit o rings Note Action Ensure that the correct o ring size is used 1 Defective o rings including damaged or deformed o rings may not be used Check the o ring for surface defects burrs shape accuracy or deformation 2 Check the o ring grooves and mating surfaces 3 They should be free of pores contamination a...

Page 118: ...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 2 118 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Page 119: ...out of date See the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087326 001 Process hub Basic 3HAC087327 001 Process hub Basic C1 A 3HAC087328 001 Process hub Basic C1 C2 A 3HAC087313 001 Outer arm cover Continues on next page Product manual IRB 930 119 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 ...

Page 120: ...bration All external cable packages DressPack 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 c...

Page 121: ... supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Continues on next page Product manual IRB 930...

Page 122: ...DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cut the straps on the brackets Tip Take photos of the straps before cut them to have as a reference when reconnecting 2 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure a...

Page 123: ...ence when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues o...

Page 124: ... are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Take out the process hub CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in foll...

Page 125: ...leanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000542 For robots with C1 cabling Reconnect the connector R2 C1 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the conn...

Page 126: ...ion xx2300000545 Insert the female head of the PB connector to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000543 Reconnect ...

Page 127: ...r Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in fol...

Page 128: ...553 Recalibrate 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 55 2 128 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the process hub Continued ...

Page 129: ...abb com myABB Note Article number Spare part 3HAC063968 001 SMB unit Battery includes protection cir cuits Only replace with a spe cified spare part or an ABB ap proved equivalent 3HAC044075 001 Battery unit 3HAC087302 001 SMB cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product m...

Page 130: ... 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 Calibration in Reference calibration routine on page 565 If no previou...

Page 131: ...urned 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 46 2 For robots with protection class IP30 option 3350 300 Remove the screws on the SMB cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Continues on next page Product manual IRB 930 13...

Page 132: ...e photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Removing the SMB unit Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 ...

Page 133: ...sure 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 46 2 xx2100001035 Separate the battery unit from the SMB assembly by cutting the cable straps 3 Continues on next page Product manual IRB 930 133 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Page 134: ...tery unit with the cable strap 2 Screws Hex socket head cap screw M3x5 12 9 Lafre 2C2B FC6 9 4 pcs Refit the SMB package to the SMB cover with the screws 3 Tightening torque 0 8 Nm xx2100001036 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 4 Continues on next page...

Page 135: ...the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate 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 55 2 Product manual ...

Page 136: ...Basic C1 Air 3HAC087322 001 Main harness S Basic C1 C2 Air 3HAC087323 001 Main harness L Basic 3HAC087324 001 Main harness L Basic C1 Air 3HAC087325 001 Main harness L Basic C1 C2 Air Base bottom cover rear cable 3HAC0081803 001 Base plate rear outlet cable Base rear cover bottom cable 3HAC087318 001 Rear plate underneath outlet cable Base bottom cover bottom cable 3HAC081817 001 Base plate undern...

Page 137: ...ges DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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...

Page 138: ...rta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hyd...

Page 139: ...th protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 1...

Page 140: ...The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 140 Product manua...

Page 141: ...acket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 930 141 3HAC086009 00...

Page 142: ...ss requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 142 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Cont...

Page 143: ...lies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Pro...

Page 144: ...nd air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleann...

Page 145: ... 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 145 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 ...

Page 146: ...cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 pa...

Page 147: ...power hydraulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page Product manual IRB 930 147 3HAC086009 001 Revision ...

Page 148: ...ake sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 148 Product manual IRB 930 3HAC086009 001 Revision A...

Page 149: ...tor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000504 Disconnect the connectors R2 MP1 R2 FB1 2 xx2300000505 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferru...

Page 150: ...cket from the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 150 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Page 151: ...hen reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position 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 930 151 3HAC086009 001 Revision A Copyright 202...

Page 152: ...utlet cable version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page 152 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Page 153: ...on 3350 300 Remove the main harness 3 xx2300000509 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Continues on next page Product manual IRB 930 153 3HA...

Page 154: ...arm through the protection tube of the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page 154 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2...

Page 155: ...nectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure an...

Page 156: ...the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables...

Page 157: ...ng 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page Product manual IRB 930 157 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harne...

Page 158: ... version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all movin...

Page 159: ...tion class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure t...

Page 160: ...510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 160 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Page 161: ...masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 161 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Page 162: ...cs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natura...

Page 163: ...x2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables a...

Page 164: ...1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ar...

Page 165: ...xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables ...

Page 166: ...markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Co...

Page 167: ...r hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern ...

Page 168: ...m cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown ...

Page 169: ...m cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 169 3HAC086009 001 Revision A...

Page 170: ...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 55 2 170 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Page 171: ...t 3HAC087301 001 Base 3HAC087316 001 Airway cover 3HAC084080 001 Airway cover gasket Base bottom cover rear cable 3HAC0081803 001 Base plate rear outlet cable Base rear cover bottom cable 3HAC087318 001 Rear plate underneath outlet cable Base bottom cover bottom cable 3HAC081817 001 Base plate underneath outlet cable 3HAC074630 001 Quick coupling 3HAC081791 001 Base bracket Continues on next page ...

Page 172: ...ir work of the robot see the table Note Action Decide which calibration routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to crea...

Page 173: ...aintenance work remove the robot from the wall and place it on the maintenance bracket CAUTION Do not lay down the robot during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot befo...

Page 174: ...ressure out 2 Lay down the robot to let the quick coupling facing the ground if needed 3 xx2300000546 Place the oil collecting vessel underneath the quick coupling 4 xx2300000547 Remove the oil plugs and keep them opened to speed up the drainage 5 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 6 Continues on next page 174 Product manual IRB 930 3HAC086009 001 Revision...

Page 175: ...There will be some oil left in the gearbox after draining 9 Tightening torque 10 Nm Refit oil plugs 10 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Continues...

Page 176: ...rm and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page 176 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 ...

Page 177: ...Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page Product manua...

Page 178: ...e bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 178 Product manual IRB 930 3HAC08600...

Page 179: ...anness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page Product manual IRB 930 179 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continue...

Page 180: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page...

Page 181: ...re and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cl...

Page 182: ...over 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page 182 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Page 183: ...SMB cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 o...

Page 184: ...cal power hydraulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page 184 Product manual IRB 930 3HAC086009 001 Revis...

Page 185: ...re that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Disconnecting the connectors for axis 1 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 930 185 3HAC086009 ...

Page 186: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000503 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the b...

Page 187: ... bracket from the cable arm to release the cable 2 Removing the main harness from the cable arm position 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 930 187 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Page 188: ...ce when reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 188 Product manual IRB 930 3HAC086009 001 Revision A Copyright...

Page 189: ...ar outlet cable version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page Product manual IRB 930 189 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Page 190: ...utlet cable ver sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pre...

Page 191: ...c pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Removing the protection tube 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 930 191 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing t...

Page 192: ...ower hydraulic pressure and air pressure are turned off 1 xx2300000514 Remove the screws and washers on the inner to the axis 1 gear unit 2 Disconnect the axis 1 gear to the inner arm 3 xx2300000602 Remove the BassSwing gasket on the axis 1 gear unit 4 Continues on next page 192 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the bas...

Page 193: ...ng the base from the axis 1 gear unit sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000515 Remove the screws and washers on the base to the axis 1 gear unit 2 Remove the base 3 Continues on next page Product manual IRB 930 193 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1...

Page 194: ...e base Use these procedures to refit the base Refitting the base to the axis 1 gear unit sub assembly Note Action Screws Hex socket head cap screw M6x65 12 9 Gleitmo 603 Geomet 500 11 pcs Refit the base to the axis 1 gearbox as the illustra tion 1 Refit the screws 2 Tightening torque 10 Nm 10 xx2300000515 Continues on next page 194 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 AB...

Page 195: ...b assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulley on the gear 2 Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the motor and refit the timing belt to the motor Ensure that the belt runs correctly in the grooves 3 Washers Spring washer conical 11x5 3x1 2 Steel 4 pcs Refit the screws and washers without fully tightened 4 Tighten...

Page 196: ...ustration 2 Refit the screws 3 Washers Spring washer conical 9ADA334 7 18x4x2 Steel 8 pcs Tightening torque 25 Nm 3 xx2300000514 Refitting the protection tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 196 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Page 197: ...ER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 5 pcs Refit the oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Continues on next page Product manual IRB 930 197 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved...

Page 198: ...f the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page 198 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Page 199: ... connectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressur...

Page 200: ...fit the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the ca...

Page 201: ...ecting 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page Product manual IRB 930 201 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base C...

Page 202: ...able version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all m...

Page 203: ...otection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secu...

Page 204: ...0000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 204 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Page 205: ...the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 205 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Page 206: ... 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a na...

Page 207: ...on xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cabl...

Page 208: ...ion 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cable...

Page 209: ...n 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cab...

Page 210: ...ber markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTIO...

Page 211: ...e air hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross patt...

Page 212: ...r arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as sh...

Page 213: ...e arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 213 3HAC086009 001 Revisi...

Page 214: ...rbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 T...

Page 215: ...ate 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 55 2 Product manual IRB 930 215 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Page 216: ...t spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087304 001 Inner arm 850 mm 3HAC087305 001 Inner arm 1 050 mm 3HAC087308 001 Axis 1 Cover Replace if damaged 3HAC081810 001 Oil tank Replace if damaged 3HAC081812 001 Oil tank cover Continues on next page 216 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights rese...

Page 217: ...001 Washer Used for inner arm and axis 1 gear 9ADA334 7 Spring washer conical Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calibration toolbox Axis Calibra tion Used for measuring ...

Page 218: ... requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 565 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 tools from the robot Removin...

Page 219: ...oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 Lay down the robot to let the quick coupling facing the ground if needed 3 Continues on next page Product manual IRB 930 219 3HAC086009 001 Revision A Copyright 2023 ABB ...

Page 220: ...coupling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page 220 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 R...

Page 221: ...ricants oil or grease on page 30 1 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 2 xx2300000548 Place the oil collecting vessel underneath the oil plug draining 3 Plug a clean pipe to the oil plug draining with the other end to the oil collecting ves sel 4 Continues on next page Product manual IRB 930...

Page 222: ... gearbox oil 7 Remove and clean the pipe after the oil is drained Note There will be some oil left in the gearbox after draining 8 Tightening torque 10 Nm Refit oil plugs 9 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 222 Product manual IRB 930 3HAC086009 001 Revis...

Page 223: ...ng and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 223 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 224: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 224 Product manu...

Page 225: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 930 225 3HAC086009 ...

Page 226: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 226 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Conti...

Page 227: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page P...

Page 228: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Page 229: ... 2 Removing the axis 1 cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Continues on next page Product manual IRB 930 229 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the ...

Page 230: ...ng the SMB cover Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 46 2 Continues on next page 230 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Page 231: ...ed 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 46 2 Cut the strips 3 xx2100000945 Disconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on next page Product...

Page 232: ...e the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the rear plate 6 For robots with protection class IP30 option 3350 300 Remove the rear plate 7 xx2300000608 Continues on next page 232 Product manual IRB 930 3HAC086009 00...

Page 233: ... base by unscrew the screw 2 Disconnecting the connectors for axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000504 Disconnect the connectors R2 MP1 R2 FB1 2 Continues on next page Product manual IRB 930 233 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner...

Page 234: ...rews on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the base from the SMB side 3 Removing the bracket of the cable arm Note Action DANGER Make sure that all supplies ...

Page 235: ...cable version Pull the main harness out of the outer arm from lower of the cable arm Tip Wrap the connectors with the masking tape 2 xx2300000507 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting For underneath outlet cable ver sion xx2300000612 Continues on next page Product manual IRB 930 235 3HAC086009 001 Revision A Copyright...

Page 236: ...electrical power hydraulic pressure and air pressure are turned off 1 xx2300000508 Remove the bracket from the inner arm to release the cable 2 Remove the screws on the cable ferrule to the bracket and take the bracket out 3 Continues on next page 236 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 237: ...ing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page Product manual IRB 930 237 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair...

Page 238: ...inside the inner arm 2 xx2300000517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 238 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Page 239: ...re turned off 1 xx2300000513 Remove the screws on the protection tube to the inner arm 2 Remove the protection tube 3 Removing the base from inner arm 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 930 239 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 ...

Page 240: ...4 Removing the rubber stop from the inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000551 Remove the screws 2 Remove the rubber stop from the inner arm 3 Continues on next page 240 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Co...

Page 241: ...rom the inner arm 3 Removing the A2 swing from the inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000554 Remove the screws 2 Remove the A2 swing from the inner arm 3 Continues on next page Product manual IRB 930 241 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the ...

Page 242: ...dures to refit the inner arm Refitting the A1 sealing ring to the inner arm Note Action Sealing press tool 3HAC087848 001 Install the holding part of the sealing press tool to the inner arm and locking with the screws 1 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs xx2300000585 Continues on next page 242 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All r...

Page 243: ...he A1 sealing ring to the inner arm by tightening the pressing part with the screw to the holding part 3 xx2300000587 Remove the pressing part by unscrewing the screw 4 Remove the holding part by unscrewing the screws 5 Continues on next page Product manual IRB 930 243 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 244: ...rque 2 8 Nm 3 xx2300000554 Refitting the damper to the inner arm Note Action Screws Torx pan head screw 9ADA625 34 M4x10 8 8 A2F 1 pcs Refit the damper back to the inner arm 1 Secure with the screws 2 Tightening torque 1 Nm 3 xx2300000552 Continues on next page 244 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continu...

Page 245: ... the inner arm 1 Secure with the screws 2 Tightening torque 1 Nm xx2300000551 Refitting the base to the inner arm Note Action xx2300000602 Refit the BassSwing gasket to the axis 1 gearbox 1 Continues on next page Product manual IRB 930 245 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 246: ...ction tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the protection tube 2 Secure the screws on the protection tube to the inner arm 3 Tightening torque 1 Nm xx2300000513 Continues on next page 246 Product manual IRB 930 3HAC086009 001 Revision A C...

Page 247: ... the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Refitting the outer arm to the inner arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 1 xx2300000603 Refit the gear gasket to the axis 2 gear unit 2 Continues on next page Product manual IRB 930 247 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Page 248: ...s 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inner arm and outer arm 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 8 pcs Secure the cable arm to the outer arm with the screws 3 Tightening torque 3 3 Nm2 4 Nm ...

Page 249: ...the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 249 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repai...

Page 250: ...onnectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure ...

Page 251: ...t the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cabl...

Page 252: ...ting 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page 252 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner ar...

Page 253: ...e version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all movi...

Page 254: ...ection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure...

Page 255: ...0510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page Product manual IRB 930 255 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 256: ...e masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page 256 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 257: ... pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natu...

Page 258: ... xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables...

Page 259: ...n 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ...

Page 260: ...1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cable...

Page 261: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Page 262: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Page 263: ...aulic pressure and air pressure are turned off 1 xx2300000550 Refit the protection cover back to the motor 2 Refitting the cover of the outer arm Note Action Screw Hex socket head cap screw M4x30 12 9 Lafre 2C2B FC6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Continues on next page Product manual IRB 9...

Page 264: ...tely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Refitting the axis 1 cover Note Action Screw Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 3 For robots with protection class IP30 option...

Page 265: ...on class IP30 option 3350 300 xx2300000499 Refilling oil to axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 Continues on next page Product manual IRB 930 265 3HAC0860...

Page 266: ... gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Refilling oil to axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug care...

Page 267: ...ference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent Tightening torque 10 Nm Refit the oil plug 6 DANGER Make sure all safety requirements are met when performing the first test run 7 Concluding procedure Note Action Calibration is ...

Page 268: ...s are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 268 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Page 269: ...pare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Replace if damaged 3HAC081810 001 Oil tank Replace if damaged 3HAC081812 001 Oil tank cover Replace if damaged 3HAC081814 001 Oil tank gasket Replace if damaged 3HAB3772 138 Oil tank O ring Continues on next page Product manual IRB 930 269 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Page 270: ... 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 Calibration in Reference calibration routine on page 565 If no p...

Page 271: ...ir pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 Lay down the robot to let the ...

Page 272: ...pling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page 272 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 Repl...

Page 273: ...rical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Removing the oil tank 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 930 273 3HAC086009 001 Revision A Copyright ...

Page 274: ... all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 5 pcs Refit the oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Continues on next page 274 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 R...

Page 275: ...andling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 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 2 xx2300000547 Open the oil plugs one for filling and the other for venting 3 Continues on next page Product manual IRB 930 275 3HAC086009 001 Revision A Co...

Page 276: ... oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate 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 55...

Page 277: ...atest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 277 3HAC086009 001 Revision A Copyright 2023 ABB...

Page 278: ...ne 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 Calibrati...

Page 279: ... turned off 1 xx2300000555 Remove the screws 2 Remove the mechanical stopper Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 3 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Continues on next page Product manual IRB 930 279 3HAC086009 001 Revision...

Page 280: ...ligned with the ball screw origin point CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm xx2300000555 Concluding procedure Note Action DANGER Make sure all safety requirements are...

Page 281: ... the safeguarded space 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Remove the mechanical stopper CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is ...

Page 282: ... ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Concluding procedure Note Action DANGER Make sure...

Page 283: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081703 001 Pulley on the ball screw upper po sition Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 283 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Page 284: ...sPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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 v...

Page 285: ... down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove...

Page 286: ...e that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000557 Loosen the screws of the axis 3 motor sub as sembly to let the axis 3 timing belt free 3 Continues on next page 286 Product manual IRB 930 3HA...

Page 287: ...ng belt be free 2 Release the timing belt 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page Product manual IRB 930 287 3HAC086009 001 Revision A Copyright 2023 ABB All rights rese...

Page 288: ...rned 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 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next page 288 Product m...

Page 289: ...ome thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw upper position Note Action DANGER Make sure that all supplies for electrical power hydraulic pr...

Page 290: ...ft the ball screw is destroyed Be careful when you do any work that may cause this 4 Refitting the pulley on the ball screw upper position Use these procedures to refit the pulley Refitting the pulley on the ball screw upper position 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 p...

Page 291: ...Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the ball screw with the flange Note Action IRB 930 auxiliary shaft 3HAC087847 001 Refit the ball screw assembly to the outer arm Tip Make sure the marked location is aligned with the ball screw shaft grooves 1 xx2300000564 CAUTION With the inserting of the ball screw shaft remove the special tool auxiliary shaft along wi...

Page 292: ...50 300 Refit the mechanical stopper to the ball screw at 52 mm position to the lower of the ball screw Tip Make sure that the limit block opening gap is aligned with the ball screw origin point 1 xx2300000561 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orien...

Page 293: ...6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Securing the process hub to outer arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Continues on next page Product manual IRB 930 293 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Page 294: ... 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate 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 55 2 294 Product manual IRB 930 3HAC086009 ...

Page 295: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081704 001 Pulley on the ball screw lower pos ition Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 295 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Page 296: ...ion External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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 cre...

Page 297: ... the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electric...

Page 298: ... are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Releasing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 298 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Page 299: ...elt 4 Releasing the axis 4 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000558 Loosen the six screws of the axis 4 motor sub assembly to let the axis 4 timing belt be free 2 Release the timing belt 3 Continues on next page Product manual IRB 930 299 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Page 300: ...stroyed Be careful when you do any work that may cause this 3 Removing the ball screw with the flange Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 46 2 Continues on n...

Page 301: ...l auxiliary shaft into the ball screw shaft 4 xx2300000562 xx2300000563 Mark the location of the ball screw shaft grooves on the ball screw lower nut 5 Continues on next page Product manual IRB 930 301 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 3 Replacing the pulley on the ball screw lower position Continued ...

Page 302: ...w nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read ...

Page 303: ...he unit read the safety information in section The unit is sensitive to ESD on page 46 1 Screws Hex socket head cap screw M5x25 12 9 Lafre 2C2B FC6 9 6 pcs Refit the pulley to the ball screw carefully CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 2 Tightening torque 6 Nm 3 xx230000056...

Page 304: ...ly xx2300000563 Screws Hex socket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 2 Tightening torque 6 Nm 3 xx2300000559 Continues on next page 304 P...

Page 305: ...f the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Continues on next page Produ...

Page 306: ...6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration...

Page 307: ...performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 307 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 3 Replacing the pulley on the ball screw lower position Continued ...

Page 308: ...IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081796 001 Ball screw 3HAC081797 001 Ball screw long stroke 3HAC081785 001 Ball screw flange 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper 3HAC081703 001 Pulley on the ball screw upper po sition Continues on next page 308 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ri...

Page 309: ...routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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 cal...

Page 310: ... lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Re...

Page 311: ...DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000557 Loosen the screws of the axis 3 motor sub as sembly to let the axis 3 timing belt free 3 Continues on next page Product manual ...

Page 312: ...the axis 4 timing belt be free 2 Release the timing belt 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page 312 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB ...

Page 313: ...ressure 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 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next page...

Page 314: ...ial tool with some thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical pow...

Page 315: ...ssure are turned off 1 IRB 930 auxiliary shaft 3HAC087847 001 Remove the screws on the lower nut to the outer arm Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 2 xx2300000568 Hold the ball screw lower nut with the special tool to take them out of the outer arm carefully Tip Hold the lower part of the ball screw to prevent it from dropping Or the ball screw ...

Page 316: ...rew nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 4 Removing the ball screw flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000590 Remove the screws 2 Remove the ball screw flange from the ball screw shaft CAUTION If the ball...

Page 317: ...he ball screw lower nut 1 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool into the ball screw shaft 2 xx2300000592 xx2300000593 Move the ball screw nut from the ball screw shaft to the special tool 3 Continues on next page Product manual IRB 930 317 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 4 Replacing the ball screw Continued ...

Page 318: ... the lower nut to the outer arm 3 Refitting the flange to the ball screw shaft Note Action Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Refit the ball screw flange to the ball screw shaft CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 1 Tightening torque 6 Nm xx23...

Page 319: ...crew shaft the ball screw is destroyed Be careful when you do any work that may cause this 2 Tightening torque 6 Nm 3 xx2300000567 Refit the screws Tip Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the pulley on the ball screw upper position Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in s...

Page 320: ...the screws Tip Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the ball screw with the flange Note Action IRB 930 auxiliary shaft 3HAC087847 001 Refit the ball screw assembly to the outer arm Tip Make sure the marked location is aligned with the ball screw shaft grooves 1 xx2300000564 CAUTION With the inserting of the ball screw shaft remove the special tool auxiliary...

Page 321: ... IP30 option 3350 300 Refit the mechanical stopper to the ball screw at 52 mm position to the lower of the ball screw Tip Make sure that the limit block opening gap is aligned with the ball screw origin point 1 xx2300000561 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful...

Page 322: ...9 Lafre 2C2B FC6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Securing the process hub to outer arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Continues on next page 322 Product manual IRB 930 3HAC086009 001 Revision A Copyrigh...

Page 323: ...ening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate 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 55 2 Product manual IRB 930 3...

Page 324: ...ee the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081705 001 Timing belt A3 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 324 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Page 325: ...the robot Fine calibration All external cable packages DressPack 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 rep...

Page 326: ...he robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class...

Page 327: ...er arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000490 Disconnect the connectors R2 MP2 R2 FB2 2 Continues on next page Product manual IRB 930 327 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 5 Repla...

Page 328: ...es for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 xx2300000494 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next ...

Page 329: ... arm cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in t...

Page 330: ...turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Releasing the ball screw with the flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Co...

Page 331: ...p the status When the special tool is totally inserted to the lower nut of the ball screw support the special tool with some thing Or the ball screw lower nut will be destroyed 4 Removing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The...

Page 332: ...1 xx2300000596 Screws Hex socket head cap flange screw 3HAB3412 520M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 3 Tightening torque 6 Nm 3 xx2300000559 Continues on next page 332 Pro...

Page 333: ...cket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page Product manual ...

Page 334: ...ex socket head cap screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align ...

Page 335: ...00000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are ...

Page 336: ...x2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are r...

Page 337: ...300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are...

Page 338: ...re 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action C...

Page 339: ...e met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 339 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 5 Replacing the axis 3 timing belt Continued ...

Page 340: ...ee the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081706 001 Timing belt A4 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 340 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Page 341: ...the robot Fine calibration All external cable packages DressPack 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 rep...

Page 342: ... transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical p...

Page 343: ...sure are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 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 930 343 3HAC086009 001 Revision A Copyright 202...

Page 344: ...ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 Continues on next page 344 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5...

Page 345: ... R2 FB4 1 xx2300000495 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned...

Page 346: ...plies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electri...

Page 347: ...sure that all supplies for electrical power hydraulic 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 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 Continues on next page Product manual IRB 930 347 3HAC086009 001 Revis...

Page 348: ...xis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 Remove the axis 3 timing belt 3 Removing the axis 4 timing belt Note Action DANGER Make sure that all supplies...

Page 349: ...crew with the flange assembly a little bit to let the timing belts can go in 1 Timing belt A4 Insert the timing belt to the pulley on the ball screw 2 3HAC081706 001 xx2300000604 Inserting the axis 3 timing belt through the ball screw flange Note Action Hold the ball screw with the flange assembly a little bit to let the timing belts can go in 1 Continues on next page Product manual IRB 930 349 3H...

Page 350: ...re tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 3 Tightening torque 6 Nm 3 xx2300000559 Refitting the axis 4 motor sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Continues on next page 350 Product manual IRB 930 3HAC086009 001 Revision...

Page 351: ...t fully tightened 3 xx2300000558 Used belt 312 333 Hz Use a sonic tension meter to measure the timing belt tension 4 New belt 88 4 92 7 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Continues on next page Product manual IRB 930 351 3HAC086009 ...

Page 352: ...cket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page 352 Product man...

Page 353: ...visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Refit the base bracket to the base and secure with the screws 3 Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the conn...

Page 354: ...s to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on th...

Page 355: ...stration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling be...

Page 356: ...re 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action C...

Page 357: ...e met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 357 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 6 Replacing the axis 4 timing belt Continued ...

Page 358: ...930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087307 001 Cable arm 3HAC081802 001 A2 sealing ring 3HAC087317 001 Cable arm cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 358 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Page 359: ...e calibration All external cable packages DressPack 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 ur...

Page 360: ...t straight If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with p...

Page 361: ... and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 361 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Page 362: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 362 Product manu...

Page 363: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 930 363 3HAC086009 ...

Page 364: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 364 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Conti...

Page 365: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page P...

Page 366: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Page 367: ... 2 Removing the axis 1 cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Continues on next page Product manual IRB 930 367 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the ...

Page 368: ...emove the cover 3 xx2300000499 Removing the bracket of the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000506 Remove the bracket from the cable arm to release the cable 2 Continues on next page 368 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replac...

Page 369: ...ip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page P...

Page 370: ...ed off 1 xx2300000601 Remove the screws locking the sealing ring to the cable arm 2 Remove the sealing ring 3 Refitting the cable arm Use these procedures to refit the cable arm Refitting the sealing ring Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 370 Product manual IRB 930 3HAC086009 001 Revision ...

Page 371: ... arm to the inner arm and outer arm 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 8 pcs Secure the cable arm to the outer arm with the screws 3 Tightening torque 3 3 Nm2 4 Nm 3 xx2300000516 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two b...

Page 372: ...0510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 372 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Page 373: ...e masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 373 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Page 374: ... pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natu...

Page 375: ... xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables...

Page 376: ...n 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ...

Page 377: ...1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cable...

Page 378: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Page 379: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Page 380: ...rm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown...

Page 381: ...rm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 381 3HAC086009 001 Revision ...

Page 382: ... 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 55 2 382 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Page 383: ...Spare part 3HAC087309 001 Outer arm 3HAC087313 001 Outer arm cover 3HAC087314 001 Outer arm bottom cover 3HAC081794 001 Outer arm bracket 3HAC081704 001 Pulley on the ball screw lower pos ition 3HAC081705 001 Timing belt A3 3HAC081706 001 Timing belt A4 Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Continues on next page Product m...

Page 384: ... to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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 calibratio...

Page 385: ...aight If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can...

Page 386: ...aining 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 7 Continues on next page 386 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing t...

Page 387: ... and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm 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 930 387 3HAC086009 001 Revision...

Page 388: ...ng and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page 388 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Page 389: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page Product manual I...

Page 390: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 390 Product manual IRB 930 3HAC086009 ...

Page 391: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page Product manual IRB 930 391 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Conti...

Page 392: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page 3...

Page 393: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Page 394: ...er 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page 394 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 ...

Page 395: ...acket from the cable arm to release the cable 2 Removing the main harness from the cable arm position 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 930 395 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Page 396: ...sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page 396 Product m...

Page 397: ...he inner arm 2 xx2300000517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the axis 2 motor sub assembly 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 930 397 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Page 398: ...crew is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 398 Product manual IRB 930...

Page 399: ...ub assembly 4 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page Product manual IRB 930 399 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing ...

Page 400: ...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 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next pag...

Page 401: ...rt the special tool with some thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraul...

Page 402: ...is 4 motor sub as sembly to let the axis 4 timing belt be free 2 Remove the timing belt 3 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 sen...

Page 403: ...n the lower nut to the outer arm Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 2 xx2300000568 Hold the ball screw lower nut with the special tool to take them out of the outer arm carefully Tip Hold the lower part of the ball screw to prevent it from dropping Or the ball screw may be destroyed 3 CAUTION If the ball screw nut or ball screw spline nut go out ...

Page 404: ...ar to the outer arm 2 Remove the gear unit 3 xx2300000606 Refitting the outer arm Use these procedures to refit the outer arm Refitting the axis 2 gear unit sub assembly to the outer arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 1 Continues on next page 404 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB Al...

Page 405: ...t Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Put the ball screw lower nut to the outer arm carefully CAUTION Make sure the ball screw nut works fluently 2 Tightening torque 6 Nm 3 xx2300000568 Secure the screws on the lower nut to the outer arm 3 Continue...

Page 406: ...2 xx2300000567 Remove the screws and washers 3 Remove the pulley carefully CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 4 Placing the axis 3 and axis 4 timing belts into the outer arm Note Action Place the axis 3 and axis 4 timing belts into the outer arm 1 Continues on next page 406...

Page 407: ...w shaft carefully xx2300000563 Screws Hex socket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 2 Tightening torque 6 Nm 3 xx2300000559 Continues on ...

Page 408: ... screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Refitting the axis 2 motor sub assembly Note Action Re...

Page 409: ...sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Timing belt A4 Refit the timing belt to the pulley on the ball screw and the motor Ensure that the belt runs correctly in the grooves 2 3HAC081706 001 xx2300000588 Continues on next page Product manual IRB 930 409 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Page 410: ...lt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Refitting the axis 3 motor sub assembly Note Action xx2300000594 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way Continues on next page 410 Product manual IRB 930 3HAC086009 ...

Page 411: ...ter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Tightening torque 6 Nm 10 Tighten the motor flange screws when the timing belt meets the requirement 5 Refitting the outer arm to the inner arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if e...

Page 412: ...0 12 9 Gleitmo 603 Geomet 500 3 pcs Tightening torque 10 Nm Refit the screws Note The two screw holes under the axis 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inner arm and outer arm 2 Continues on next page 412 Product manu...

Page 413: ...afre 2C2B FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two brackets in inner arm 1 Tightening torque 2 4 Nm 10 For rear outlet cable version Insert the main harness into the cable arm through the inner arm Tip Wrap the connectors with the masking tape 2 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 413 3HAC086009 001 ...

Page 414: ...the cable arm Note Action For rear outlet cable version Insert the main harness into the outer arm through the cable arm Tip Wrap the connectors with the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page 414 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Page 415: ...head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the bracket Tip Do not secure it with the screws before the cable ferrule installed well 2 Tightening torque 2 4 Nm 10 xx2300000497 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Continues on next page Product manual IRB 930 415 3...

Page 416: ...e not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force i...

Page 417: ...ectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings ...

Page 418: ...illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cablin...

Page 419: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Page 420: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Page 421: ...rm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown...

Page 422: ...rm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page 422 Product manual IRB 930 3HAC086009 001 Revision ...

Page 423: ...NG Overfilling of gearbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previou...

Page 424: ...n Calibration is detailed in section Calibration on page 553 Recalibrate 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 55 2 424 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Page 425: ... the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Includes o ring 3HAC061327 037 3HAC087303 001 Axis 1 motor Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 425 3HAC086009 001 Revision A Copyright 2023 A...

Page 426: ...calibration All external cable packages DressPack 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 ...

Page 427: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the SMB cover Note Action DANGER Make sure that all supplies for electrica...

Page 428: ...upplies for electrical power hydraulic 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 46 2 Cut the strips 3 xx2100000945 Disconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them ...

Page 429: ...rews on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the rear plate 6 For robots with protection class IP30 option 3350 300 Remove the rear plate 7 xx2300000608 Continues on next page Product manual IRB 930 429 3HAC086009 001 Revisi...

Page 430: ...e bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 430 Product manual IRB 930 3HAC086009 001 Revision A Cop...

Page 431: ...te Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Refitting the axis 1 motor sub assembly Use these procedures to refit the axis 1 motor sub assembly Refitting the axis 1 motor sub assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulle...

Page 432: ...ctors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000504 Reconnect the connectors R2 MP1 R2 FB1 Tip See the number markin...

Page 433: ...w M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the cable ferrule to the bracket Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tightening torque 2 4 Nm 10 xx2300000503 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Refit the base brack...

Page 434: ... routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Refitting the SMB cover Note Action xx2100000945 Reconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 1 Continues on next page 434 Product manual IRB 930 3HAC086009 001 Revision A Co...

Page 435: ...rew M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all moving area of the harness 1 Continues on next page Product manual IRB 930 435 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor sub assembly Continued ...

Page 436: ...or underneath outlet cable ver sion For robots with protection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553...

Page 437: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 437 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor sub assembly Continued ...

Page 438: ...latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087311 001 Axis 2 motor 3HAC060261 001 Resolver cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 438 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All...

Page 439: ...calibration All external cable packages DressPack 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 ...

Page 440: ...ing the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for elect...

Page 441: ...e are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 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 930 441 3HAC086009 001 Revision A Copyright 2023 A...

Page 442: ... isting inside the cable ferrule in the actual situ ation 3 Removing the axis 2 motor protection cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000550 Remove the protection cover on the motor 2 Continues on next page 442 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Page 443: ...edures to refit the axis 2 motor sub assembly Refitting the axis 2 motor sub assembly Note Action Replace the o ring if needed 1 Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the motor 2 Refit the screws and washers 3 Washers Spring washer conical 11x5 3x1 2 Steel 4 pcs Tightening torque 2 3 Nm 10 xx2300000605 Continues on next page Product manual IRB 930 443 3HAC0...

Page 444: ...ed if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors a...

Page 445: ...ction Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following s...

Page 446: ...alibrate 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 55 2 446 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 motor sub assembly Continued ...

Page 447: ...he latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087312 001 Axis 3 motor with pulley A3 3HAC081705 001 Timing belt A3 Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Continues on next page Product manual IRB 930 447 3HAC086009 001 Revision A Copyright 2023 ABB All ri...

Page 448: ... External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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...

Page 449: ...ht If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protectio...

Page 450: ...arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000490 Disconnect the connectors R2 MP2 R2 FB2 2 Continues on next page 450 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacin...

Page 451: ...or electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 xx2300000494 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page...

Page 452: ...m cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the ...

Page 453: ...f 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Separating the flange from axis 3 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1...

Page 454: ...assembly Note Action Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 4 pcs Install the flange to the motor and secure with screws 1 Washers Plain washer 11x5 3x1 2 Steel 4 pcs Tightening torque 2 3 Nm 10 3HAB3409 212 xx2300000607 Continues on next page 454 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor ...

Page 455: ... head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page Product manual IRB ...

Page 456: ...ocket head cap screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all ...

Page 457: ...00492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are rou...

Page 458: ...00000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are rout...

Page 459: ...000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are ro...

Page 460: ...2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Cali...

Page 461: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 461 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor sub assembly Continued ...

Page 462: ...BB Business Portal www abb com myABB Note Article number Spare part PMSM MT45 1 3HAC060157 001 Axis 4 motor 3HAC081706 001 Timing belt A4 3HAC081795 001 CPCS bracket Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Used for axis 4 pulley 3HAB3412 435 Hex socket head cap flange Continues on next page 462 Product manual IRB 930 3HAC086...

Page 463: ... External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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...

Page 464: ...ing the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for elect...

Page 465: ...e are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 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 930 465 3HAC086009 001 Revision A Copyright 2023 A...

Page 466: ...isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 Continues on next page 466 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Page 467: ...0000495 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Removing the outer arm cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure ar...

Page 468: ...ents of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may ca...

Page 469: ...ned off 1 Remove the bracket on the motor 2 xx2300000598 Remove the screws 3 Remove the adjusting block 4 Removing the pulley from axis 4 motor sub assembly 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 930 469 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repai...

Page 470: ... sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000600 Remove the screws 2 Separate the gearhead and motor 3 Continues on next page 470 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor sub assembly Continued ...

Page 471: ...rews 1 Tightening torque 2 8 Nm 3 xx2300000600 Refitting the pulley to the axis 4 motor sub assembly Note Action Screws Hex socket head cap flange screw 3HAB3412 435 M4x25 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the pulley to the axis 4 motor sub assembly and secure with screws 1 Tightening torque 4 3 Nm 10 xx2300000599 Continues on next page Product manual IRB 930 471 3HAC086009 001 Revisio...

Page 472: ...xx2300000598 Screws Hex socket head cap screw M3x5 12 9 Lafre 2C2B FC6 9 2 pcs Refit the bracket to the motor assembly 2 Tightening torque 1 2 Nm 10 Refitting the axis 4 motor sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Continues on next page 472 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB...

Page 473: ...ion meter to measure the timing belt tension 4 New belt 88 4 92 7 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Refitting the cable ferrule and bracket in the outer arm Note Action Lay the internal harness in a natural state without distortion...

Page 474: ...air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Note The harness are not visib...

Page 475: ...00492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are rou...

Page 476: ...00000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are rout...

Page 477: ...000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are ro...

Page 478: ...2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Cali...

Page 479: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 479 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor sub assembly Continued ...

Page 480: ... that are listed in the table can be out of date See the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Without tube bolt flange screw Gearbox NTS RV 27C 36 57 3HAC081648 001 Axis 1 gear unit sub assembly Continues on next page 480 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Rep...

Page 481: ... use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack 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 F...

Page 482: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves se...

Page 483: ...quick coupling 4 xx2300000547 Remove the oil plugs and keep them opened to speed up the drainage 5 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Continues on next page Product manual IRB 930 483 3HAC086009 001 Revision A Copyright 20...

Page 484: ... sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues ...

Page 485: ...cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 485 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 486: ...ctor clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 486 Product manual IRB 930...

Page 487: ...te The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 930 487 3HAC086009 001 Revisi...

Page 488: ...rements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 488 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub asse...

Page 489: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Product man...

Page 490: ...essure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleanness requi...

Page 491: ...0000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 491 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replac...

Page 492: ... the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic 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 46 2 ...

Page 493: ...raulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page Product manual IRB 930 493 3HAC086009 001 Revision A Copyrig...

Page 494: ...upplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Disconnecting the connectors for axis 1 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 494 Product manual IRB 930 3HAC086009 001 Revision ...

Page 495: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000503 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the base from the...

Page 496: ... the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 496 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 497: ...nnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position 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 930 497 3HAC086009 001 Revision A Copyright 2023 ABB Al...

Page 498: ...ble version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page 498 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 499: ...er sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are tur...

Page 500: ...off 1 xx2300000513 Remove the screws on the protection tube to the inner arm 2 Remove the protection tube 3 Removing the base from inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 500 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacin...

Page 501: ... Removing the axis 1 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Continues on next page Product manual IRB 930 501 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly C...

Page 502: ...itting the axis 1 gear unit sub assembly Use these procedures to refit the axis 1 gear unit sub assembly Refitting the base to the axis 1 gear unit sub assembly Note Action Screws Hex socket head cap screw M6x65 12 9 Gleitmo 603 Geomet 500 11 pcs Refit the base to the axis 1 gearbox as the illustra tion 1 Refit the screws 2 Tightening torque 10 Nm 10 xx2300000515 Continues on next page 502 Product...

Page 503: ...ration 2 Refit the screws 3 Washers Spring washer conical 9ADA334 7 18x4x2 Steel 8 pcs Tightening torque 25 Nm 3 xx2300000514 Refitting the axis 1 motor sub assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulley on the gear 2 Continues on next page Product manual IRB 930 503 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing t...

Page 504: ...00000512 Refitting the protection tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the protection tube 2 Secure the screws on the protection tube to the inner arm 3 Tightening torque 1 Nm xx2300000513 Continues on next page 504 Product manual IRB 930...

Page 505: ...oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Inserting the main harness through the axis 1 gearbox position Note Action xx2300000486 Make sure that the robot is at zero position 1 Continues on next page Product manual IRB 930 505 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit ...

Page 506: ...ting the connectors for axis 1 motor Note Action xx2300000505 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the ...

Page 507: ...n a natural state without distortion 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the cable ferrule to the bracket Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tightening torque 2 4 Nm 10 xx2300000503 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting ...

Page 508: ...outing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Refitting the SMB cover Note Action xx2100000945 Reconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 1 Continues on next page 508 Product manual IRB 930 3HAC086009 001 Revision A Copy...

Page 509: ... Note Action For rear outlet cable version For rear outlet cable version refit the main har ness to the base 1 For robots with protection class IP30 option 3350 300 Secure with the screws 2 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 1 2 Nm 10 xx2300000509 Continues on next page Product manual IRB 930 509 3HAC086009 001 Revision A Copyright 2023 ABB All rig...

Page 510: ...0 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all moving area of the harness 1 Continues on next page 510 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing t...

Page 511: ...ss IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure the cable...

Page 512: ...nderneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 512 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 513: ...tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 513 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 514: ...e the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natural bendin...

Page 515: ...492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are route...

Page 516: ...000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are routed...

Page 517: ...0490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are rout...

Page 518: ...on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Correct cab...

Page 519: ...ith the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern with the ...

Page 520: ...ote Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in follow...

Page 521: ...ote Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 521 3HAC086009 001 Revision A Copyrigh...

Page 522: ...t can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening tor...

Page 523: ... 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 55 2 Product manual IRB 930 523 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Page 524: ...ts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Without tube bolt flange screw Gearbox NTS RV 25N 63 3HAC081649 001 Axis 2 gear unit sub assembly Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 524 Product manual IRB 930 3HAC086009 001 Revision ...

Page 525: ...libration All external cable packages DressPack 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...

Page 526: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves se...

Page 527: ...lean pipe to the oil plug draining with the other end to the oil collecting ves sel 4 xx2300000549 Remove the oil plug draining 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Continues on next page Product manual IRB 930 527 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replac...

Page 528: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 52...

Page 529: ...cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 529 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Page 530: ...ctor clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 530 Product manual IRB 930...

Page 531: ...te The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 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 930 531 3HAC086009 001 Revisi...

Page 532: ...rements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 532 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub asse...

Page 533: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Product man...

Page 534: ...essure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleanness requi...

Page 535: ...0000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 535 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replac...

Page 536: ... the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 536 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Page 537: ...0000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page Product manual IRB 930 ...

Page 538: ...00517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the axis 2 gear unit sub assembly from the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 538 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights re...

Page 539: ... motor and gearbox the gears may be damaged if excessive force is used 1 Screws Hex socket head cap screw M5x25 12 9 Lafre 2C2B FC6 9 16 pcs Refit the gear unit according to the location screws Tip When the gear unit is in the right position you can hear a clear Click 2 Tightening torque 7 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000606 Refit the screws 3 Continues on next ...

Page 540: ... Tightening torque 55 Nm Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 3 pcs Tightening torque 10 Nm Refit the screws Note The two screw holes under the axis 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inn...

Page 541: ...FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two brackets in inner arm 1 Tightening torque 2 4 Nm 10 For rear outlet cable version Insert the main harness into the cable arm through the inner arm Tip Wrap the connectors with the masking tape 2 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 541 3HAC086009 001 Revision A...

Page 542: ...arm Note Action For rear outlet cable version Insert the main harness into the outer arm through the cable arm Tip Wrap the connectors with the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page 542 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Cont...

Page 543: ...crew M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the bracket Tip Do not secure it with the screws before the cable ferrule installed well 2 Tightening torque 2 4 Nm 10 xx2300000497 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Continues on next page Product manual IRB 930 543 3HAC086009 ...

Page 544: ...ble due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Not...

Page 545: ...the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the con...

Page 546: ...on They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind t...

Page 547: ...on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Correct cab...

Page 548: ...ith the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern with the ...

Page 549: ...ote Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in follow...

Page 550: ...ote Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page 550 Product manual IRB 930 3HAC086009 001 Revision A Copyrigh...

Page 551: ...ling of gearbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being ...

Page 552: ...ion is detailed in section Calibration on page 553 Recalibrate 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 55 2 552 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Page 553: ...A 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 554: ...accuracy 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 930 It is the recommended ...

Page 555: ...es 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 list...

Page 556: ... counter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 560 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 557: ...xes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis Continues on next page Product manual IRB 930 557 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes ...

Page 558: ... marks IRB 930 4 3 1 2 xx2300000573 558 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes Continued ...

Page 559: ...h 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 xx2300000574 Product manual IRB 930 559 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 2 Calibration movement dire...

Page 560: ...ite i e axis 4 needs to be in synchronization position to update axis 3 IRB 930 Coupled axes x Axis 4 3 Step 1 Manually running the manipulator to the synchronization position Use this procedure to manually run the manipulator to the synchronization position Note Action Select axis by axis motion mode 1 See Synchronization marks and synchron ization position for axes on page 557 Jog the manipulato...

Page 561: ... power up before the revolution counters are updated If axis 4 is rotated one or more turns from its calibration position before updating the revolution counter the correct calibration position will be lost due to non integer gear ratio This will further affect the calibration position of axis 3 Continues on next page Product manual IRB 930 561 3HAC086009 001 Revision A Copyright 2023 ABB All righ...

Page 562: ...FlexPendant Note Revolution counters of axes 3 and 4 must be updated together Continues on next page 562 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 3 1 Updating revolution counters on OmniCore robots Continued ...

Page 563: ...t field calibration Tap Calibration Methods on the right pane 5 The calibration options are displayed Tap Revolution Counters 6 In the Selection column select the axes for which revolution counters need to be up dated 7 Tap Update A dialog box is displayed warning that the updating operation cannot be undone Tap Update to proceed with updating the revolution counters Tap Cancel to cancel updating ...

Page 564: ...movable 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 in...

Page 565: ... 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 ...

Page 566: ...ogged 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 SafeMove 566 Produ...

Page 567: ...hings may cause severe 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 3HAC074119 001 Calibration toolbox Ax is Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure that the tube insert the plastic protecti...

Page 568: ...ed 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 c...

Page 569: ... 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 xx2300000463 Spare parts When calibration is not being performed a protective cover and an o ring should always be installed on the fixed calibration pin as well as a protective plug included a sealing in the bushing Replace damaged parts with ne...

Page 570: ...n 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 brief overview of the calibration procedure ...

Page 571: ...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 572: ...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 559 Axis Calibration with SafeMove option To be able to run Axis Calibration SafeMove needs to be unsynchronized The Axis Ca...

Page 573: ...Protection cover and plug set 3HAC059487 001 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 Protective plug for bushing 3HAC053237 002 Product manual IRB 930 573 3HAC086009 001 Revision A Copyright 2023 A...

Page 574: ...s suitable and accurate so it can be used to validate the repair Use a position where a deviation in axis calibration gives a big deviation in positioning Note Check the position after each repair in one axis 6 Use Reference calibration 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 syst...

Page 575: ...s The requirement to do manual tuning is that there is a known accurate position that worked accurately before the repair step 5 see Brief introduction to Reference Calibration on page 574 Product manual IRB 930 575 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 4 5 Reference calibration Continued ...

Page 576: ...alibration position Calibration position The table below specifies the axis positions Axis 2 mm 3 0 4 576 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 1 Calibration position ...

Page 577: ... 1 and 2 of the IRB 930 are calibrated using the Axis Calibration method See Calibrating with Axis Calibration method on page 564 Product manual IRB 930 577 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 2 Calibrating axis 1 and axis 2 ...

Page 578: ...quipment Axes 3 and 4 are calibrated together The axis 3 calibration is done by moving the ball screw spline unit so that the upper surface of the lower mechanical stopper and the lower surface of the ball screw lower nut touch each other gently Continues on next page 578 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 3 Calibrating axis 3 ...

Page 579: ...robot before entering the robot working area 1 Remove the fitted extra equipment on the robot if it may cause a collision to the arm when push the ball screw to the calibration position 2 Turn on the electric power to the robot 3 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unex pected ways Make sure the payload is disassembled or tooling is proper...

Page 580: ... activate the brakes again 7 Performing the fine calibration procedure Note Action On the start screen 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 Cal ibrate Note The Mechanical Unit page is displayed only if there are more ...

Page 581: ...y displaying a dialog box announcing that the calibration pro cess has started The axis is calibrated and the system returns to the list of available mechanical units Tap OK 9 The fine calibration process is complete Checking and finalizing the calibration Note Action DANGER Always remember to remove the calibration tools from the robot before jogging axes to zero position during calibration 1 Rel...

Page 582: ...alibration Note Action Write down the new system parameters on a new label and stick on top of the calibration label on the robot 1 Note The calibration status of axis 3 may be changed to Not updated after a system reinstallation or warm restart In this case update the revolution counters for axis 3 and axis 4 axis 4 is coupled with axis 3 See Updating revolution counters on page 560 582 Product m...

Page 583: ...position 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 557 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 base Product ma...

Page 584: ...orrectly 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 ...

Page 585: ...try 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 con...

Page 586: ...ecifies some of the materials in the product and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Aluminium Serial measurement board Batteries Lithium Calibration protection cap and plug and couplings connectors and nuts in cable harness Brass zink alloys Cast iron nodular ...

Page 587: ...rains 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 could also be impaired Spillage can penetrate the soil causing ground water contamination Product manual IRB 930 587 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 7...

Page 588: ...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 588 Pro...

Page 589: ...chapter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 930 589 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 1 Introduction ...

Page 590: ...ral 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 General principles for de...

Page 591: ...ty 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 930 591 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 3 Unit conversion ...

Page 592: ...en 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 except M20x60 3 5 μm Gleitmo 603 Geomet...

Page 593: ...ghtening 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 maintenance or installation procedure overrides the standard torque Tightening torque for oil lubricated screws with allen head scr...

Page 594: ...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 Molycote 1000 Gleitmo 6...

Page 595: ...accessory 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 930 595 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Page 596: ...toolkit Rem Tool Qty Ring open end spanner 8 19 mm 1 Socket head cap 2 5 17 mm 1 Torx socket no 20 60 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 shortened to 12 mm Hex bit socket head cap no 14 socket 40 mm L 20 m...

Page 597: ...part number These tools can be ordered from ABB 24 VDC power supply Calibration toolbox Axis Calibration 3HAC074119 001 Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot Sonic tension meter Used for measuring the timing belt tension Dynamometer Used for measuring the timing belt tension IRB 930 auxiliary shaft 3HAC087847 001 Used to ...

Page 598: ...piece of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories should be stored for later reference 598 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 8 Lifting accessories and lifting instructions...

Page 599: ...al but delivered as a separate document for registered users on myABB Business Portal www abb com myABB Tip All documents can be found via myABB Business Portal www abb com myABB Product manual IRB 930 599 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 9 Spare parts 9 1 Spare part lists and illustrations ...

Page 600: ...This page is intentionally left blank ...

Page 601: ...il axis 1 101 axis 2 106 circuit boards disposal 586 cleaning 98 climbing on robot 30 Cold environments 76 connecting the robot and controller cabling 71 copper disposal 586 D dimensions robot 64 direction of axes 559 E environmental information 586 equipment robot 64 ESD damage elimination 46 sensitive equipment 46 expected life 84 extra equipment 64 F fire extinguishing 27 fitting equipment 64 F...

Page 602: ...top axis 1 68 xx 49 119 129 171 277 283 295 308 340 report replacements 111 requirements on foundation 40 responsibility and validity 15 revolution counters storing on FlexPendant 562 updating 560 risk of burns 30 robot dimensions 64 equipment fitting 64 labels 19 protection class 41 protection types 41 symbols 19 technical data 38 working range 43 robot cabling inspecting 86 rubber disposal 586 S...

Page 603: ...ng 586 updating revolution counters 560 users requirements 16 V validity and responsibility 15 velocity adjusting 76 verifying calibration 583 W weight 38 robot 57 working range robot 43 X xx replacing 49 119 129 171 277 283 295 308 340 Z zero position checking 584 Product manual IRB 930 603 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Index ...

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Page 606: ... 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 3HAC086009 001 Rev A en Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

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ABB IRB 930, Product Manual

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