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Manipulator Circuit Diagram

3HAC 6816-3

IRB 140

No. of Sheets 8

Sheet no. 106

MOTOR AXIS 4 - 6

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Summary of Contents for M2000

Page 1: ...Product manual part 2 of 2 reference information Articulated robot IRB 140 M2000 M2000A M2004...

Page 2: ......

Page 3: ...Product manual part 2 of 2 reference information IRB 140 M2000 M2000A M2004 Document ID 3HAC023297 001 Revision A...

Page 4: ...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 no...

Page 5: ...on 13 1 4 Screw joints 14 1 5 Weight specifications 17 1 6 Document references 18 1 7 Standard toolkit 20 1 8 Performing a leak down test 21 1 9 Lifting equipment and lifting instructions 22 1 10 Moun...

Page 6: ...Table of Contents 3HAC023297 001 Revision A 4...

Page 7: ...ABB Robot must be trained by ABB and have the required knowledge of mechanical and electrical installation repair maintenance work Organization of chapters The manual is organized in the following cha...

Page 8: ...manual part 1 Repair manual part 2 Changes made in the material from the previous manuals Model M2004 implemented Section Document references added to the chapter Reference information Information abo...

Page 9: ...rocedures including spare parts Additional procedures if any calibration decommissioning Product manual reference information Reference information article numbers for documentation referred to in Pro...

Page 10: ...iptions of all recommended repair procedures including spare parts Additional procedures if any calibration decommissioning Product manual reference information Reference information article numbers f...

Page 11: ...ators programmers and trouble shooters The group of manuals include Operator s manual IRC5 with FlexPendant Operator s manual RobotStudioOnline Trouble shooting Manual for the controller and robot Mis...

Page 12: ...Product documentation M2004 3HAC023297 001 Revision A 10...

Page 13: ...1 Introduction 11 3HAC023297 001 Revision A 1 Reference information 1 1 Introduction General This chapter includes general information complementing the more specific information in the Product manua...

Page 14: ...the robot cell ISO DIS 11161 Industrial automation systems safety of integrated manufacturing systems Basic requirements prEN 999 1995 Standards robot cell The following standards are applicable when...

Page 15: ...ision A 1 3 Unit conversion Converter table Use the table below to convert units used in this manual Quantity Units Length 1 m 3 28 ft 39 37 in Weight 1 kg 2 21 lb Pressure 1 bar 100 kPa 14 5 psi Forc...

Page 16: ...d and replaced with a new one When handling screws treated with Gleitmo protective gloves of nitrile rubber type should be used Screws lubricated in other ways Screws lubricated with Molycote 1000 sho...

Page 17: ...ecifies the recommended standard tightening torque for oil lubricated screws with Allen head screws The table below specifies the recommended standard tightening torque for Molycote lubricated screws...

Page 18: ...ow specifies the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass Dimension Tightening torque Nm Nominal Tightening torque Nm Min Tight...

Page 19: ...mponents exceeding 22 kg 50 lbs are high lighted in this way To avoid injury ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg A wide range of lifting...

Page 20: ...operators manual contains instructions for daily operation of robot systems The table below specifies the article numbers of the operators manuals for different robot systems Calibration manuals Docu...

Page 21: ...1 Reference information 1 6 Document references 19 3HAC023297 001 Revision A Additional documentation Document name Document ID Note External axes 3HAC 9299 1...

Page 22: ...their instructions respectively This way the tools required are the sum of the Standard Toolkit and any tools listed in the instruction Contents Standard tool IRB 140 3HAC020812 001 contains Qty Art n...

Page 23: ...in the leakdown tester kit Art no is specified above 3 Apply compressed air and raise the pressure with the knob until the correct value is shown on the manometer Recommended value 0 2 0 25 bar 20 25...

Page 24: ...maintenance activities require different pieces of lifting equipment which are specified in each procedure The use of each piece of lifting equipment is not detailed in the activity procedure but in t...

Page 25: ...roller elements to adjust to the correct position against the race flange 1 Tension the bearing gradually until the recommended pre tension is achieved Note The roller elements must be rotated a spec...

Page 26: ...ver threads keyways etc Equipment etc Art no Note Grease 3HAB 3537 1 Used to lubricate the seals Step Action Note 1 Check the seal to ensure that the seal is of the correct type provided with cutting...

Page 27: ...ts may not be used beacuse leakage could occur 2 Clean the surfaces properly and in accordance with ABB ROBOTICS PRODUCTS recommendations 3 Distribute the sealing compound evenly over the surface pref...

Page 28: ...1 Reference information 1 11 Mounting instructions for seals 3HAC023297 001 Revision A 26...

Page 29: ...2 Spare part part list 2 1 Introduction 27 3HAC023297 001 Revision A 2 Spare part part list 2 1 Introduction Definitions This chapter specifies all spare parts and replacement articles of the robot...

Page 30: ...M5x40 13 1 3HAC 10476 1 Control cable spare Std F L 3 m 14 1 3HAC 10477 1 Control cable spare Std F L 7 m 15 1 3HAC 7527 1 Damper axis 1 16 20 3HAB 3402 52 Hex socket head cap screw M10x35 8 8 Gleitm...

Page 31: ...89x8 5 61 3 3HAC 3785 6 Parallel pin D 6 m6 L 16 62 2 3HAB 3732 19 Sealing ring V ring 85x11 63 11 9ADA 618 55 Torx pan head screw M6x12 64 2 2166 2018 2 Clamp D 11 65 1 3HAC 10481 1 Connector bracket...

Page 32: ...ocket head cap screw M8x35 12 9 Gleitmo 610 158 6 9ADA 334 7 Spring washer conical 8 4x18x2 159 1 3HAB 3732 13 Sealing ring V ring 99x10 5 160 1 3HAC 7842 1 3HAC 021757 001 Rot ac motor with pinion 16...

Page 33: ...1 Hose nipple G 1 4 181 1 3HAB 8964 1 Damper axis 5 182 550 ml 3HAC 0860 1 Lubricating oil Optimol Opti gear BM 100 183 1 3HAC 10466 3 Upper arm spare CR 184 1 3HAC 10475 4 Wrist spare CR 185 1 3HAC...

Page 34: ...2 Spare part part list 2 2 Spare part part list 3HAC023297 001 Revision A 32...

Page 35: ...3 Foldouts 3 1 Introduction 33 3HAC023297 001 Revision A 3 Foldouts 3 1 Introduction Overview The foldouts in this chapter refer to the part list...

Page 36: ...1 15 18 27 8 13 21 R1 4 4 5 7 16 17 24 6 8 11 9 26 2 3 25 12 10 3 30 32 35 Nm Base complete 29 31 Inside of base 22 23 28 3 3 31 20 19 Inside of cover Foldout 1 33 34 36 35 37 38 39...

Page 37: ...Foldout 2 51 62 56 8 57 58 52 53 62 52 55 54 53 52 51 63 31 59 31 63 63 64 60 61 61 50 54 53 52 31 32 15 5 Nm 52 53 67 63 70 68 69 71 ax 1 1 2 litre ax 2 1 0 litre A 65 25 31 72 25 A 1 2...

Page 38: ...3 101 102 64 3 105 104 112 111 106 8 18 113 4 1 Nm 35 Nm Lower arm shown without cables Do not loosen these screws 0 4 litre 67 66 Lower arm complete with cables shown without cover Do not loosen thes...

Page 39: ...08 157 158 173 162 164 162 160 163 112 112 163 111 112 161 112 111 181 152 151 153 154 180 159 Upper arm shown without cables 4 1 Nm 35 Nm 6 Nm 4 1 Nm 4 1 Nm 6 Nm 4 1 Nm 3 Nm 182 28 Nm 0 30 litre oil...

Page 40: ...Upper arm with cables shown without cover 178 155 Upper arm complete Foldout 5 177 3 20 168 165 179 167 150 187 183...

Page 41: ......

Page 42: ...4 Circuit diagram 4 1 Introduction 35 3HAC023297 001 Revision A 4 Circuit diagram 4 1 Introduction Overview This chapter includes the circuit diagram for the robot...

Page 43: ...Circuit Diagram CONTENTS Page IRB 140 Manipulator diagram 3HAC 6816 3 Rev 0 101 108...

Page 44: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 101 LIST OF CONTENTS...

Page 45: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 102 CONNECTION POINT LOCATIONS...

Page 46: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 103 SERIAL MEASUREMENT BOARD...

Page 47: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 104 MOTOR AXIS 1 3...

Page 48: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 105 FEEDBACK AXIS 1 3...

Page 49: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 106 MOTOR AXIS 4 6...

Page 50: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 107 FEED BACK AXIS 4 6...

Page 51: ...Manipulator Circuit Diagram 3HAC 6816 3 IRB 140 No of Sheets 8 Sheet no 108 CUSTOMER CONNECTIONS...

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Page 54: ...ABB Automation Technologies AB Robotics S 721 68 V STER S SWEDEN Telephone 46 0 21 344000 Telefax 46 0 21 132592 3HAC 023297 001 part 2 Revision A en...

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