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ABB IRB 2600ID, Product Manual

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ROBOTICS

Product manual

IRB 2600

Summary of Contents for IRB 2600ID

Page 1: ...ROBOTICS Product manual IRB 2600 ...

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

Page 3: ...65 IRB 2600 12 1 85 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 IRC5 OmniCore Document ID 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved Specifications subject to change without notice ...

Page 4: ...ty 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 obtained f...

Page 5: ...Lifting robot with roundslings 60 2 3 2 Lifting and turning a suspended mounted robot 61 2 3 3 Setting the system parameters for a suspended or tilted robot 65 2 3 4 Manually releasing the brakes 68 2 3 5 Orienting and securing the robot 72 2 3 6 Fitting equipment on robot 86 2 3 7 Loads fitted to the robot stopping time and braking distances 87 2 4 Restricting the working range 87 2 4 1 Axes with...

Page 6: ...gearboxes 183 3 4 8 Replacing SMB battery 188 3 5 Cleaning 188 3 5 1 Cleaning the IRB 2600 IRB 2600 ID 191 4 Repair 191 4 1 Introduction 192 4 2 General procedures 192 4 2 1 Performing a leak down test 193 4 2 2 Mounting instructions for bearings 195 4 2 3 Mounting instructions for sealings 198 4 2 4 Cut the paint or surface on the robot before replacing parts 199 4 2 5 The brake release buttons m...

Page 7: ... Axis Calibration 417 5 4 3 Installation locations for the calibration tools 421 5 4 4 Axis Calibration Running the calibration procedure 427 5 4 5 Reference calibration 429 5 5 Calibrating with Calibration Pendulum method 430 5 6 Calibrating with Wrist Optimization method 432 5 7 Verifying the calibration 433 5 8 Checking the synchronization position 435 6 Decommissioning 435 6 1 Introduction to ...

Page 8: ...This page is intentionally left blank ...

Page 9: ...issioning from lifting the product to its work site and securing it to the foundation to making it ready for operation maintenance work repair work decommissioning work Note It is the responsibility of the integrator to conduct a risk assessment of the final application It is the responsibility of the integrator to provide safety and user guides for the robot system Who should read this manual Thi...

Page 10: ...65036 001 Operating manual OmniCore 3HAC065041 001 Technical reference manual System parameters IRC5 robots Document ID Reference 3HAC035959 001 Product specification IRB 2600 3HAC021313 001 Product manual IRC5 IRC5 with main computer DSQC 639 3HAC047136 001 Product manual IRC5 IRC5 with main computer DSQC1000 3HAC050941 001 Operating manual IRC5 with FlexPendant 3HAC16578 1 Operating manual Calib...

Page 11: ...ndry from table with protection classes See Protection classes robot on page 48 Text added for the maximum levelness See Requirements foundation on page 47 Length of roundslings for lifting the robot is changed from 4 m to 2 m See Lifting robot with roundslings on page 57 Note about fan cabling added in the cable list See Robot cabling and connection points on page 104 Minor editorial changes made...

Page 12: ...pdates and changes have been made in this revision C Added instructions for how to measure the play of axis 5 and 6 of an ID upper arm See sections Measuring the play axis 5 ID upper arm on page 278 and Required equipment on page 281 Deleted the spare part number for harnesses in Spare parts lower arm and instead inserted a reference to the Electrical connections Corrected the spare part numbers f...

Page 13: ...rs on page 320 Complete process wrist for IRB 2600ID is added to the spare part list and to the service instructions see Spare partsand Replacing motor axis 6 and wrist unit IRB 2600ID on page 348 also the section Wrist unit is deleted from the spare part list since the wrist unit spare part number already is specified in the upper arm spare part list Added instructions for adjusting the play on m...

Page 14: ...r corrections The following updates have been made in this revision G Information about removing the mech stop bracket added in section 2 4 1 Illustrations of cable harness and motors in upper arm improved throughout the manual The following updates have been made in this revision H Turning disk fixture is removed from special tools for Levelmeter calib ration Valid serial numbers changed to type ...

Page 15: ...is revision N Information added about fatigue to Axis Calibration tool see Calibration tools for Axis Calibration on page 415 Added sections in General procedures on page 192 Illustration updated in dimension mounting surface and guide bushing Safety restructured Added information about harness customer ethernet connection Updated spare parts number for Brake release boards Note added to calibrati...

Page 16: ...62326 001 to 3HAC074119 001 Added information about Wrist Optimization in calibration chapter Published in release 20C The following updates are made in this revision X Added note about differences in type of oil pre filled in axis 4 gear compared to recommended oil for field maintenance Clarified information regarding brake release on motor connectors when removing motors Updated section about cu...

Page 17: ...The following updates are done in this revision AC Added support for OmniCore V250XT Updated information about Gleitmo treated screws see Screw joints on page 448 Published in release 23B The following updates are done in this revision AD Added axis positions for most stable transport position and removed information about shipping position Updated the tightening torque for axis 5 oil plug Product...

Page 18: ...on 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 sy...

Page 19: ...dling 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 Product manual IRB 2600 19 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved Product documentation Continued ...

Page 20: ...ompleted with a reference to the section where the equipment is listed with further information that is article number and dimensions The designation in the procedure for the component or attachment point corresponds to the designation in the referenced list The table below shows an example of a reference to a list of required equipment from a step in a procedure Note Illustration Action Art no is...

Page 21: ...t 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 orig...

Page 22: ...ence 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 22 Product manual IRB 2600 3HAC035504 001 Revision...

Page 23: ...d 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 not...

Page 24: ...d to indicate where to find additional information or how to do an operation in an easier way TIP 24 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Page 25: ...iption 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 xx0900000...

Page 26: ... not disassemble xx0900000815 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 26 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights rese...

Page 27: ...over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 2600 27 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 28: ... 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 28 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 29: ...1000001242 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 2600 29 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 30: ...t 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 30 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Con...

Page 31: ...e described in the product manual for the controller For more information see Product manual OmniCore V250XT Product manual IRC5 Product manual IRC5 Panel Mounted Controller Product manual IRB 2600 31 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

Page 32: ...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 wi...

Page 33: ... devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocked in accordance with applicable standards Other hazards A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injur...

Page 34: ...ts or objects to drop 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 ...

Page 35: ...t 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 2600 35 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 5 Safety during operat...

Page 36: ...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 Ge...

Page 37: ...ions Al ways use the type of oil specified for the product Mixing types of oil may cause severe damage to the gearbox Do not mix types of oil Make sure that protective gear like goggles protective visor gloves and arm protection are always worn during this activity Oil residues might be present in a drained gearbox and spilled when separating a motor and gearbox during repair Put oil absorbent clo...

Page 38: ...charge puncture incinerate crush immerse force discharge or expose to temperatures above the declared operating temperature range of the product Risk of fire or explosion Operating temperatures are listed in Operating conditions robot on page 48 See safety instructions for the batteries in Material product safety data sheet Battery pack 3HAC043118 001 Unexpected movement of robot arm WARNING Hazar...

Page 39: ...re 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 Pro...

Page 40: ...Switch the motor to the MOTORS OFF 3 Inspect and verify that the axis maintains its position If the manipulator does not change position as the motors are switched off then the brake function is adequate Note It is recommended to run the service routine BrakeCheck as part of the regular maintenance see the operating manual for the robot controller For robots with the option SafeMove the Cyclic Bra...

Page 41: ... hot surfaces that can cause burns 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 ...

Page 42: ...t 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 42 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 1 Safety 1 8 Safety during decomm...

Page 43: ...nformation 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 page21 before performing any installation work Note Always connect the IRB 2600 IRB 2600 ID and the robot to protective earth and residual current device RCD before con...

Page 44: ... if required is suitable to handle the weight of the robot as specified in Weight robot on page 45 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 48 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 48 7 Before taking the robot to its instal...

Page 45: ...uspended Contact ABB for further in formation about acceptable loads 0 15 Tilted i IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C is not available for suspended installation Note The actual mounting angle must always be configured in the system parameters otherwise the performance and lifetime is affected See Setting the system parameters for a suspended or tilted robot on page 61 Continues on ne...

Page 46: ...t 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 Floor mounted Max load emergency stop Endurance load in operation Force 5450 N 2330 N Force xy 2750 3970 N 2750 1420 N Force ...

Page 47: ... life time to have a lower resonance frequency than recommended Minimum resonance frequency Due to foundation stiffness consider robot mass including equipment i For information about compensating for founda tion flexibility see the application manual of the controller software section Motion Process Mode i The minimum resonance frequency given should be interpreted as the frequency of the robot m...

Page 48: ... 5 C Minimum ambient temperature 45 C Maximum ambient temperature 95 at constant temperature Maximum ambient humidity Protection classes robot The table shows the available protection types of the robot with the corresponding protection class Protection classi Protection type IRB 2600 IP 67 Manipulator protection type Standard IRB 2600ID upper arm IP 54 IP 67 Manipulator protection type Foundry Pl...

Page 49: ...working range for a floor mounted robot IRB 2600 Standard xx0900000194 Pos F Pos E Pos D Pos C Pos B Pos A Variant 1653 mm 1353 mm 469 mm 837 mm 993 mm 1948 mm IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 Type C 20 1 65 IRB 2600 Type C 12 1 65 1853 mm 1553 mm 506 mm 967 mm 1174 mm 2148 mm IRB 2600 12 1 85 Continues on next page Product manual IRB 2600 49 3HAC035504 001 Revision AD Copyright 2009 202...

Page 50: ...171 mm 2145 mm IRB 2600ID 15 1 85 2000 mm 1700 mm 539 mm 1051 mm 1321 mm 2295 mm IRB 2600ID 8 2 00 Continues on next page 50 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 2 3 Working range and type of motion Continued ...

Page 51: ...0000195 Pos F Pos E Pos D Pos C Pos B Pos A Variant 1653 mm 1353 mm 469 mm 837 mm 993 mm 1948 mm IRB 2600 20 1 65 1653 mm 1353 mm 469 mm 837 mm 993 mm 1948 mm IRB 2600 12 1 65 1853 mm 1553 mm 506 mm 967 mm 1174 mm 2148 mm IRB 2600 12 1 85 Continues on next page Product manual IRB 2600 51 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 2 3 W...

Page 52: ... 2145 mm IRB 2600ID 15 1 85 2000 mm 1700 mm 539 mm 1051 mm 1321 mm 2295 mm IRB 2600ID 8 2 00 Continues on next page 52 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 2 3 Working range and type of motion Continued ...

Page 53: ...2 00 Robot motion The table specifies the types and ranges of motion in every axes Range of movement Type of motion Location of motion 180 Rotation motion Axis 1 155 95 Arm motion Axis 2 75 180 Arm motion Axis 3 400 Wrist motion Axis 4 IRB 2600 standard 175 Wrist motion Axis 4 IRB 2600ID 120 Bend motion Axis 5 400 Turn motion Axis 6 Product manual IRB 2600 53 3HAC035504 001 Revision AD Copyright 2...

Page 54: ... it to the foundation Transportation position This figure shows the robot in its transportation position The figure shows IRB 2600 but is also valid for IRB 2600ID Best position of IRB 2600ID axis 4 is 90 The position where part of the lower arm A is beginning to show in the hole is approximate 1 5 45 A 0 xx0900000211 Angle of axis Axis number 0 Axis 1 45 Axis 2 75 Axis 3 Continues on next page 54...

Page 55: ...at delivery due to actual configurations and options for example DressPack WARNING The robot will be mechanically unstable if not properly secured to the foundation Product manual IRB 2600 55 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 2 4 Risk of tipping stability Continued ...

Page 56: ...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 grounde...

Page 57: ... Lengths 2 m 1 5 m Roundslings 2 pcs Lifting Attach the roundslings as shown in the figure A B 1000 1 5 45 C xx0900000236 Roundsling length 2 m put folded in U shape around the upper arm A Roundsling length 1 5 m put folded in U shape around gearbox axis 3 B Lifting lug C Continues on next page Product manual IRB 2600 57 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Inst...

Page 58: ...bot versions IRB 2600ID The best pos ition of axis 4 is 90 4 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 5 See the figure in Lifting on page 57 Attach roundsling A to the lifting lug on the frame and put folded in a U shape on either side of the upper arm 6 See the figure in Lifting on page 57 Attach ro...

Page 59: ...the connec tion box at the base of the robot 9 A Area where the connection box can be damaged while lifting Lifting capacity See Required equipment on page 57 Lift the robot with an overhead crane 10 Product manual IRB 2600 59 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 1 Lifting robot with roundslings Continued ...

Page 60: ...essory and the instruction is specified in Special tools on page 453 Any additional equipment required is specified in the instruction for the lifting accessory Contact ABB for more information How to lift and turn the robot into position for wall position Contact ABB for more information How to lift and turn the robot into position for tilted position Contact ABB for more information Illustration...

Page 61: ...e The mounting angle must be configured correctly in the system parameters so that the robot system can control the movements in the best possible way An incorrect definition of the mounting angle will result in Overloading the mechanical structure Lower path performance and path accuracy Some functions will not work properly for example Load Identification and Collision detection Gravity Beta If ...

Page 62: ... the x axis Note The parameter is supported for all robots on track when the system parameter 7 axes high performance motion is set see Technical reference manual System parameters Gamma Rotation Gamma Rotation defines the orientation of the robot foot on the travel carriage track motion Mounting angles and values The parameter Gravity Beta or Gravity Alpha specifies the mounting angle of the robo...

Page 63: ... 0 0 Floor mounted 1 0 785398 45 Tilted 2 1 570796 90 Wall 3 1 570796 90 Wall 4 Note For suspended robots 180 it is recommended to use Gravity Beta instead of Gravity Alpha Continues on next page Product manual IRB 2600 63 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 3 Setting the system parameters for a suspended or tilted robot Conti...

Page 64: ...culate a new value is detailed in Mounting angles and values on page62 The system parameters are described in Technical reference manual System parameters The system parameters are configured in RobotStudio or on the FlexPendant 64 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 3 Setting the system parameters for ...

Page 65: ...m Using the push button when the robot is connected to the controller This procedure details how to release the holding brakes with push buttons when the robot is connected to the controller Note Action xx0800000272 The internal brake release unit is located at the base of the robot 1 The brake release unit is equipped with six buttons for controlling the axes brakes The buttons are numbered accor...

Page 66: ...n cause all brakes to be released simultaneously 1 Connect to connector R1 MP 0V to pin 12 24V to pin 11 The brake release unit is equipped with six buttons for controlling the axes brakes The buttons are numbered accord ing to the numbers of the axes Release the holding brake on a particular axis by pressing the corresponding button on the push button unit and keeping it de pressed 2 See the prev...

Page 67: ...e will be released imme diately when the power is switched on This may cause some unexpected robot movements 1 See chapter Circuit diagram on page459 Axes 1 2 and 3 Connect an external 24 VDC power supply to the motor according to the figures Note Be careful not to interchange the 24V and 0V pins If they are mixed up damage can be caused to the intergrated quenching circuits 2 Pos 2 24 V Pos 5 0 V...

Page 68: ...figuration used when securing the robot IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 xx0900000193 Center axis 1 A Note Only the three outer holes are used to secure the robot IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C 500 120 120 G G 20 2x45 2x 35 H8 0 0 039 Rmax 0 8 SECTION G G 3 2 0 25 D E 3 D E B G 3x 18 5 0 5 D E G xx2000001773 Continues on next p...

Page 69: ...00001492 3x common zone C Position of the front of the robot E M16 3 pcs F Guide bushings 2 pcs G Specification attachment screws The table specifies the type of securing screws and washers to be used to secure the robot to the foundation or base plate Note Dimension Securing parts Facts 3 pcs M16 x 60 Securing screws oiled 200 Nm Quality 8 8 3 pcs 17 x 30 x 3 Washers Continues on next page Produc...

Page 70: ...es 2 CAUTION The IRB 2600 IRB 2600 ID robot weighs 280 kg All lifting accessories used must be sized accordingly 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 How to lift the robot is described in sec tion Lifting robot with roundslings on page 57 Lift the robot to its installation site 5 Fit two guide bushings to the...

Page 71: ...ttachment point front no guide sleeve A Manipulator base B Screw M16x120 C Plain washer D Guide sleeve E Isolator F Nut M16 G Securing robot on a mounting plate When bolting a mounting plate or frame to a concrete floor follow the general instructions for expansion shell bolts Screw joints must be able to withstand the stress loads defined in section Loads on foundation robot on page 46 Product ma...

Page 72: ... and fitted not to damage the robot and or its parts Note Never drill a hole in the robot without first consulting ABB Robot dimensions Dimensions IRB 2600 20 12 1 65 IRB 2600 Type C 20 12 1 65 291 B 323 190 6 255 7 255 7 C 238 4 A Axis 1 C L 700 445 115 795 150 1382 1019 275 676 85 A xx0900000481 Description Pos R 337 Minimum turning radius of axis 1 A R 98 Minimum turning radius of axis 4 B Cont...

Page 73: ...RB 2600 12 1 85 xx0900000680 Description Pos For all other dimensions see IRB 2600 20 12 1 65 B Continues on next page Product manual IRB 2600 73 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 74: ...ensions see IRB 2600 X 1 85 A R 172 Minimum turning radius for axis 4 B Continues on next page 74 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 75: ...nsions see IRB 2600 X 1 85 A R 172 Minimum turning radius for axis 4 B Continues on next page Product manual IRB 2600 75 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 76: ...er of gravity for any extra equipment fitted in the holes intended for this purpose xx0800000275 Continues on next page 76 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 77: ... B Max load A Variant 35 kg 10 kg 10 kg 1 kg 10 kg IRB 2600 20 1 65 IRB 2600 Type C 20 1 65 IRB 2600 12 1 85 35 kg 15 kg 15 kg 1 kg 15 kg IRB 2600 12 1 65 IRB 2600 Type C 12 1 65 Continues on next page Product manual IRB 2600 77 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 78: ...g 10 kg IRB 2600ID 15 1 85 35 kg 15 kg 15 kg 1 kg 15 kg IRB 2600ID 8 2 00 Note Maximum loads must never be exceeded Continues on next page 78 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 79: ...ent on the base and frame of the robot IRB 2600 Standard ID xx0900000227 Attachment holes on base A Center axis 2 B Continues on next page Product manual IRB 2600 79 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 80: ... equipment on the lower and upper arms of the robot IRB 2600 standard xx0900000234 Center axis 4 A Center axis 3 B Continues on next page 80 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 81: ...4 diameter 50 A Center axis 3 B 2x M8 through C Continues on next page Product manual IRB 2600 81 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 82: ...arm are only applicable to variant IRB 2600 12 1 85 Lower arm of IRB 2600 20 1 65 and 12 1 65 IRB 2600 Type C 20 12 1 65 445 xx0900000491 Continues on next page 82 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 83: ... 2 pcs A Holes on other side symmetrical to A 2 pcs B Continues on next page Product manual IRB 2600 83 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 84: ...IRB 2600 standard 79 2x M6 110 6 12 5 12 2x M 25 A R98 D B B C 0 05 C 0 3 D 5 0 30 6x M6 6 0 6 H7 8 P P B P P C 7 31 5 H8 63 h8 10 xx0800000278 Smallest circumscribed radius axis 4 A Note Use attachment screws M6 quality 12 9 and 10 mm used thread length Continues on next page 84 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commi...

Page 85: ...B 2600ID 8 2 00 Fastener quality When fitting tools on the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application Product manual IRB 2600 85 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 3 6 Fitting equipment on robot Continued ...

Page 86: ...diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Operating manual IRC5 with FlexPendant Operating manual OmniCore Stopping time and braking distances The performance of the motor brake depends on if there are any loads attached to the robot For more information see product specification listed in Refer...

Page 87: ...is section describes how to install hardware that restricts the working range Note Adjustments must also be made in the robot configuration software system parameters References to relevant manuals are included in the installation procedures WARNING Remove the mechanical stop bracket if the robots full working range is from one mechanical stop to another mechanical stop Otherwise the mechanical st...

Page 88: ...g range limitations must be adjusted to correspond to the changes in the mechanical limitations of the working range The system parameters that must be changed Upper joint bound and Lower joint bound are described in Technical reference manual System parameters Required equipment Note Art no Equipment etc Includes two additional stop lugs attachment screws washers and instruction See Spare part li...

Page 89: ...00 12 1 65 type C 16 5 IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 B Movable mechanical stop Limited to 13 5 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C 16 5 IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 C Attachment screws D Washers E Continues on next page Product manual IRB 2600 89 3HAC035504 001 Revision AD...

Page 90: ...uidance Determine the position of the stop lugs 1 Specified in Required equipment on page 88 Fit the stop lugs firmly with attachment screws and washers according to the figure Additional stops on page 89 2 Tightening torque 82 Nm 90 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 4 2 Mechanically restricting the wor...

Page 91: ... of cooling fans The fans are installed on the motors axes 1 or 2 as shown in the figure below xx0900000232 Fan motor axis 1 A Fan motor axis 2 B Protection cover C Continues on next page Product manual IRB 2600 91 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 5 1 Installation of cooling fan for motors option ...

Page 92: ...3 Used for the three tightening screws Locking liquid Content is defined in section Standard tools on page 452 Standard toolkit See chapter Circuit diagram on page459 Circuit diagram These procedures include references to the tools required Other tools and procedures may be required See refer ences to these procedures in the step by step instruc tions below Continues on next page 92 Product manual...

Page 93: ...x 4 See the figure in Cooling fan on page 92 Tip Only applicable to fan fitted on axis 1 If there is a lack of space between motor and robot it is possible to remove part of the fanbox 5 Align the upper part of the fan with the lower part of the connection box Push the fanbox in line with the connection box 6 A B C xx1000000124 Parts A Connection box B Position where the fan shall be aligned with ...

Page 94: ...406 After fitting the motor cover fit the protection cover using two attachment screws for the motor cover 9 Parts A Protection cover B Fan Secure the fan cable to the protection cover with a cable strap 10 94 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 5 1 Installation of cooling fan for motors option Continued ...

Page 95: ...ure that the amount of oil in gearbox axis 1 covers all important parts Robots ordered as suspended robots have the expansion container installed on delivery If a manipulator delivered for floor mounting is planned to be mounted in suspended position an expansion container must be installed Note IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C are not valid for inverted mounting Continues on next p...

Page 96: ...ired equipment Note Equipment Kit including oil Expansion container 3HAC034766 001 Lifting accessory Included with the lifting accessory Lifting instruction Grease Locking liquid Loctite 2400 or equivalent Loctite 243 Replace if damaged O ring for base cover Continues on next page 96 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and c...

Page 97: ... from the base 2 xx1500001958 Remove two existing attachment screws as shown in the figure 3 The screws must be replaced with longer screws xx1900001818 Remove the oil plug from the base 4 xx1500001956 Fit a plastic plug in the expansion container drain hole 5 Oil volume 0 4 l Fill the expansion container with oil 6 Continues on next page Product manual IRB 2600 97 3HAC035504 001 Revision AD Copyr...

Page 98: ...t in the recess on the expansion con tainer 9 xx1500001959 Place the expansion container in the base and place it so the drain holes match Tip Turn and install the container quickly to avoid oil spill 10 Secure the expansion container with the at tachment screws and washers Wipe off any oil residuals before continuing 11 Tightening torque 6 Nm Continues on next page 98 Product manual IRB 2600 3HAC...

Page 99: ... robot so it is not suspended 14 Turn the robot to suspended position 15 See procedure for suspended robot In specting oil level axis 1 gearbox on page 121 Inspect the oil level 16 Product manual IRB 2600 99 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 5 2 Installing an expansion container Continued ...

Page 100: ...erman French Spanish and Italian and can be found for registered users on myABB Business Portal www abb com myabb and delivered with the Cable guard article number 3HAC035933 001 100 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of Foundry Plus Cable guard option ...

Page 101: ...n delivered with the signal lamp Function The lamp is active in MOTORS ON mode Further information Further information about the MOTORS ON MOTORS OFF mode may be found in the product manual for the controller Product manual IRB 2600 101 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 5 4 Safety lamp option for IRC5 ...

Page 102: ... Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot work ing area 1 CAUTION Components may be hot 2 Note Before opening the oil plug make certain that the oil plug is above the oil level Place the robot accordingly 3 Tip Hold a cloth or some paper over the oil plug while opening it to prevent surplus oil causing bur...

Page 103: ...e speed can 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 10...

Page 104: ...ables on page 105 Handles supply to and feedback from any cooling fan on the robot Fan cables option Specified in the table Fan cables option on page 106 Handles communication with equipment fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables option The customer cables also handle databus communication See the product manual for t...

Page 105: ...AC026787 004 Robot cable power 30 m Robot cable signals Art no Cable 3HAC068917 001 Robot cable signal shielded 7 m 3HAC068918 001 Robot cable signal shielded 15 m 3HAC068919 001 Robot cable signal shielded 22 m 3HAC068920 001 Robot cable signal shielded 30 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx1600002016 Di...

Page 106: ...se cables are not included in the standard delivery but are included in the delivery if the fan option is ordered The cables are completely pre manufactured and ready to plug in Continues on next page 106 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 8 1 Robot cabling and connection points Continued ...

Page 107: ...in section Installation of cooling fan for motors option on page 91 Product manual IRB 2600 107 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 8 1 Robot cabling and connection points Continued ...

Page 108: ...ted on the robot as shown in the figure Customer connections on upper arm with signal lamp The figure shows the customer connections on the upper arm including the optional signal lamp that can be fitted to the arm house A B C D E xx2000001658 R2 PROC1 A Air M16x1 5 24 cone sealing R2 ETHERNET B R2 CP or R2 CBUS C R2 CS or R2 CP CS D Signal lamp E R3 H1 R3 H2 inside the arm house not shown in figu...

Page 109: ...nnections base with 7th axis A B E C D xx2000001637 R1 CP CS A R1 PROC1 Air M16x1 5 B R1 ETHERNET C R1 SMB D R2 FB7 E Continues on next page Product manual IRB 2600 109 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 8 2 Customer connection on robot Continued ...

Page 110: ...n sets To connect power and signal conductors to the robot base upper arm connectors the following parts are recommended Content Art no Connector Connection set Sockets for cable area of 0 14 2 5 mm Hood foundry Hinged frame hood Multicontact module female 3HAC16667 1 R1 CP CS PROC1 on base Hose coupling M12 connector male 3HAC033181 001 R1 ETHER NET Connector set on base Pins for cable area 0 21 ...

Page 111: ...2 CS A XP5 1 1 CSA R1 CP CS b2 R2 CS B XP5 1 2 CSB R1 CP CS b3 R2 CS C XP5 2 1 CSC R1 CP CS b4 R2 CS D XP5 2 2 CSD R1 CP CS b5 R2 CS E XP5 2 3 CSE R1 CP CS b6 R2 CS F XP5 2 4 CSF R1 CP CS b7 R2 CS G XP5 1 9 CSG R1 CP CS b8 R2 CS H XP5 1 10 CSH R1 CP CS b9 R2 CS J XP5 1 11 CSJ R1 CP CS b10 R2 CS K XP5 1 12 CSK R1 CP CS b11 R2 CS L XP5 1 3 CSL R1 CP CS b12 R2 CS M XP5 1 4 CSM R1 CP CS b13 R2 CS N XP...

Page 112: ... Upper arm R2 Customer Ter minal Controller Signal name R1 CP CS b23 R2 CS Y XP5 2 10 CSY R1 CP CS b24 R2 CS Z XP5 2 11 CSZ 112 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 2 Installation and commissioning 2 8 2 Customer connection on robot Continued ...

Page 113: ... 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 operating...

Page 114: ...This page is intentionally left blank ...

Page 115: ...pects 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 21 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 standards and regulations Note If t...

Page 116: ...004 is further described in the Operating manual Service Information System IRC5 or Operating manual OmniCore 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 the device browser in RobotStudio or on the FlexPendant Overhaul Depending on application and operational environmen...

Page 117: ...Cleaning the IRB 2600 IRB 2600 ID on page 188 Robot Cleaning Every 12 months Oil level in axis 1 gearbox Inspection Every 12 months Oil level in axis 2 gearbox Inspection Every 12 months Oil level in axis 3 gearbox Inspection Every 12 months Oil level in axis 4 gearbox Inspection No inspection needed Oil level in axis 5 gearbox Inspection ID Every 12 months Oil level in axis 5 6 gearbox Inspection...

Page 118: ...ery contact e g DSQC633A Replacement i Replace when damage or cracks is detected or life limit is approaching that specified in section Expected component life on page 120 ii Check more often if the environment is very contaminated iii DTC Duty Time Counter Shows the operational time of the robot iv The battery low alert 38213 Battery charge low is displayed when the battery needs to be replaced T...

Page 119: ...ate documents Note Interval Equipment Maintenance activity Every Signal lamp Inspection 12 months Every Additional mechanical stop axis 1 Inspection 12 months Inspect the fan for contam ination that could hinder the air supply Clean if ne cessary Every 12 months Motor fan Inspection Product manual IRB 2600 119 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 2...

Page 120: ...to movement press tending very severe palletizing applications major use of axis 1 movement iv Depending on application the lifetime can vary The Service Information System SIS integrated in the robot software can be used as a guidance for planning service of gearbox for the individual robot This applies to gearboxes on axes 1 2 and 3 The lifetime of gearbox axes 4 5 and 6 is not calculated by SIS...

Page 121: ... and axis 2 gearboxes on page 440 Mounting position of the robot If the robot is floor mounted follow the procedures in Inspecting oil level axis 1 gearbox floor mounted on page 123 If the robot is suspended follow the procedures in Inspecting oil level axis 1 gearbox suspended robot on page 124 Location of oil plugs floor mounted The axis 1 gearbox is located between the frame and base of the rob...

Page 122: ...B 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 A B xx1200000883 Oil plug inspection with sealing washer A Oil plug B IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C is not available for suspended installation Continues on next page 122 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved ...

Page 123: ...box when the robot is floor mounted Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug careful...

Page 124: ...in the axis 1 gearbox for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C is not available for suspended installation CAUTION If the robot has the earlier design of the frame and the robot is filled with an amount of oil suited for an inverted position the oil level of the axis 1 gearbox will be above the oil pl...

Page 125: ...gearbox 4 xx1100000008 Required oil level up to the lower edge of the oil plug hole Note The oil plugs on gearbox axis 1 are now on top 5 How to fill oil is described in section Changing the oil axis 1 gearbox on suspended robots on page 161 Add oil if required 6 Tightening torque 3 8 Nm Refit the oil plug Note Before refitting the oil plug in the gearbox always replace the oil plug sealing washer...

Page 126: ...page 440 Location of axis 2 gearbox The axis 2 gearbox is located in the lower arm rotational center underneath the motor attachment The oil plugs are shown in the figure xx0800000305 Oil plug inspection when robot is floor mounted A Oil plug inspection when robot is suspended Quick connect fitting B Required equipment Note Equipment 3HAC029646 001 Oil plug sealing washer gearbox See section Type ...

Page 127: ...ully in order to let out the ex cess pressure 3 See the figure in Location of axis 2 gearbox on page 126 Open the oil plug inspection location de pends on how the robot is mounted Note Always open the oil plug on top depending how the robot is mounted 4 Measure the oil level at the oil plug hole 5 Required oil level 42 mm 5 mm below the lower edge of the oil plug hole IRB 2600 20 1 65 IRB 2600 12 ...

Page 128: ...l plug in the gearbox always replace the oil plug sealing washer with a new one If not there is a risk of leakage 7 128 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 2 Inspecting the oil level axis 2 gearbox Continued ...

Page 129: ...box not visible in this figure B Required equipment Note Equipment See section Type of lubrication in gearboxes on page 151 Lubrication oil Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Continues o...

Page 130: ...e gearbox can contain an excess of pres sure that can be hazardous Open the oil plug carefully in order to let out the excess pres sure 4 See the figure in Location of axis 3 gearbox on page 129 Open the upper oil plug 5 Measure the oil level at the oil plug hole 6 Required oil level IRB 2600 45 5 mm from the upper edge of oil plug hole IRB 2600ID 70 3 mm from the upper edge of oil plug hole How t...

Page 131: ...lkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Inspecting the oil level axis 4 gearbox Use this procedure to inspect the oil level in the axis 4 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on pag...

Page 132: ...let out the excess pres sure 4 See the figure in Location of axis 4 gearbox on page 131 Open the oil plug 5 Measure the oil level at the oil plug hole 6 Required oil level IRB 2600 15 3 mm below the oil plug flange IRB 2600ID 30 5 mm below the oil plug flange How to fill oil is described in section Changing the oil axis 4 gearbox on page 174 Add oil if required 7 Tightening torque 10 Nm Refit the ...

Page 133: ... procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Inspecting oil level gearbox axes 5 6 wrist 12 20 kg Use this procedure to fill oil in the gearbox Note Action IRB 2600 Move the robot to a position where the upper arm is close to horizontal and axis 4 in the calibration position...

Page 134: ... oil level IRB 2600 3 3 mm from the lower edge of the oil plug in the wrist house Open the oil plug in the tilthouse to al low the oil level between axis 5 and 6 to level IRB 2600ID Oil shall be visible in the rear oil plug hole almost on its way to pour out of the hole 5 How to fill oil is described in section Changing oil axes 5 and 6 gear boxes on page 178 If necessary refill oil 6 Tightening t...

Page 135: ...arm A Cable harness B Hole in lower arm C Bracket lower arm D Cable straps steel One not visible here E Bracket frame F Cable strap plastic lower arm G Bracket armhouse H Continues on next page Product manual IRB 2600 135 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 6 Inspecting the cable harness ...

Page 136: ... defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below See chapter Circuit diagram on page 459 Circuit diagram Continues on next page 136 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All...

Page 137: ...e an overall visual inspection of the cable harness in order to detect wear or damage 2 Check the connectors at the base 3 Check the connectors at the armhouse 4 Check all brackets and straps are properly attached to the robot 5 How to replace the cable harness is de scribed in Repair on page 191 Replace the cable harness if wear cracks or damage is detected 6 Product manual IRB 2600 137 3HAC03550...

Page 138: ...alibration G Label Suspended robot H Required equipment Note Spare part number Equipment See Spare part lists on page 457 Labels Inspecting labels Use this procedure to inspect the labels on the robot Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot work ing area 1 Continues on next page 138 Product manual IR...

Page 139: ...formation labels on page 138 Check all labels 2 Replace any missing or damaged labels 3 Product manual IRB 2600 139 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 7 Inspecting information labels Continued ...

Page 140: ...t lists on page 457 Mechanical stop pin axis 1 Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools re quired Other tools and procedures may be required See refer ences to these procedures in the step by step instructions below Continues on next page 140 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB ...

Page 141: ...ed in any other way 2 How to replace the stop pin is described in section Replacing stop pin axis 1 on page 292 Note If the mechanical stop pin has been deformed or damaged all of its mounting parts have to be replaced xx0800000045 Parts A Attachment screws B Bracket C O ring 2 pcs Not used if bracket D is installed D Bracket E Stop pin 3 Check that the mechanical stop pin is prop erly attached 4 ...

Page 142: ...p pin can move freely in both directions and the bracket works as it is supposed to 5 142 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 8 Inspecting the mechanical stop pin axis 1 Continued ...

Page 143: ...00 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 B Movable mechanical stop Limited to 13 5 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C 16 5 IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 C Attachment screws D Washers E Required equipment Note Equipment etc Includes Stop Attachment screws plus washers Document for movable mechanical stop Fo...

Page 144: ...upply hydraulic pressure supply air pressure supply to the robot before entering the robot work ing area 1 See the figure in Location of additional mechanical stops on page 143 Check the additional mechanical stops on axis 1 for damage 2 Tightening torque 82 Nm Make sure the stops are properly attached 3 Attachment screws M12x40 quality 8 8 A3F 2 pcs stop lug If any damage on stops or attachment s...

Page 145: ... A Dampers axis 3 IRB 2600 Standard and ID B Damper axis 5 only on IRB 2600 Standard C Required equipment Note Spare part no Equipment See Spare part lists on page 457 Damper Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page Product manual IRB 2600 145 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 10 Inspecti...

Page 146: ... area 1 See the figure in Location of dampers on page 145 Check all dampers for damage or cracks 2 Check all dampers for existing impressions larger than 2 3 mm 3 Check attachment screws for deformation 4 If any damage is detected the damper must be replaced 5 146 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 10 Inspecting dampers ...

Page 147: ...re to inspect the pressure relief valve Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot work ing area 1 DANGER It is important to keep the pressure relief valve open and clean If the air pressure is stopped up too much pressure can be built up which can be hazardous 2 Continues on next page Product manual IR...

Page 148: ...ontam inated or covered with litter 3 Clean if necessary Note Use a cloth or a brush 4 148 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 3 11 Inspecting the pressure relief valve Continued ...

Page 149: ... page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Inspecting signal lamp Use this procedure to inspect the function of the signal lamp Note If the signal lamp is damaged it shall be replaced Note Action Check that the signal lamp is lit when motors...

Page 150: ...the cable connections 5 24V Measure the voltage in connectors motor axis 3 6 Check the cabling If a fault is detected re place 7 Seal and paint the joints that have been opened Also repair possible damages of the special Foundry Prime paint coat of the robot See Cut the paint or surface on the robot be fore replacing parts on page 198 8 150 Product manual IRB 2600 3HAC035504 001 Revision AD Copyri...

Page 151: ...rboxes available for registered users on myABB Business Portal www abb com myABB Note The type of oil pre filled in axis 4 gear differs from the type of oil recommended for field maintenance due to differences in factory and customer sites prerequisites The two types of oil are fully equal and compatible Use the type of oil specified in Technical reference manual Lubrication in gearboxes even thou...

Page 152: ... 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Nipple for quick connect fitting with o ring Used on the axis 1 and axis 2 gearboxes IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Used when the robot is fitted in a suspended position Expansion container gearbox axis 1 valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 152 Product manual IRB 2...

Page 153: ...0 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Further information about the differences are given in Non compatible versions of axis 1 and axis 2 gearboxes on page 440 Location of oil plugs The oil plugs are located according to following figures IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 x...

Page 154: ...boxes on page 151 Lubricating oil The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 151 Oil dispenser Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page 154 Product manual IRB 2600 3HAC035504 001 Revision AD...

Page 155: ...nvolves several safety risks see Gearbox lubricants oil or grease on page 36 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex cess pressure 3 xx1800001136 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Remove the protective cap from the oil nipple and connect the oil dispenser 4 Continues on next page Pr...

Page 156: ...e temperature of the oil One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 151 Different position due to design differ ences Remove the plug from the vent hole WARNING If the oil plug for venting is not open when the oil dispenser is working there is a risk of damaging vital parts in the gearbox 6 xx1800001137 xx1800001139 Suck out the oil with the oil d...

Page 157: ...ng torque 3 8 Nm Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 11 xx1800001138 Refit the oil plug draining Note Before refitting the oil plug in the gearbox always replace the oil plug gasket with a new gasket If not there is a risk of leakage Continues on next page Product manual IRB 2600 157 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All...

Page 158: ...all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 2 Continues on next page 158 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 2 Changing the oil axis 1...

Page 159: ...65 type C IRB 2600 12 1 65 type C Remove the plug from the vent hole Note The vent hole is opened to let out air during the filling process 5 Different position due to design differ ences Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 6 xx1800001137 Open the oil plug filling xx1800001139 Continues on next page Product manual IRB 2600 159 3HAC035504...

Page 160: ...level is de scribed in section Inspecting oil level axis 1 gearbox on page 121 Inspect the oil level 8 xx1800001136 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Remove the oil dispenser and refit the protect ive cap to the nipple 9 Tightening torque 24 Nm Refit the oil plug 10 Different position due to design differ ences xx1800001137 xx1800001139 160 Product manual IRB 2600 3HAC03550...

Page 161: ... plug draining and filling B Required equipment Note Equipment 3HAC029646 001 Oil plug sealing washer gearbox See section Type of lubrication in gearboxes on page 151 Lubricating oil The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 151 Oil dispenser Oi...

Page 162: ...e 36 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex cess pressure 3 See Required equipment on page 161 Connect the oil dispenser to the oil plug for draining 4 xx1800001271 The capacity of the vessel must be suffi cient to take the complete amount of oil Put the end of the hose in an oil collecting vessel 5 Open ...

Page 163: ...be some oil left in the gearbox after draining Measure the volume of the drained oil in the vessel 10 Remove the hose and clean it 11 Filling oil axis 1 gearbox Use this procedure to fill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 WARNING Handling gearbox oil involves...

Page 164: ...hat was drained Note The amount of oil to be filled depends on the amount previously being drained 6 How to inspect the oil level is de scribed in section Inspecting oil level axis 1 gearbox on page 121 Inspect the oil level 7 Disconnect the oil change equipment and put on the protective hood on the oil plug 8 Tightening torque 3 8 Nm Refit the oil plug for venting Note Before refitting the oil pl...

Page 165: ...ontainer is installed on delivery on the robot if ordered as option suspended inverted mounted If a floor mounted robot shall be fitted in a suspended mounted position an expansion container must be installed See Installing an expansion container on page 95 Product manual IRB 2600 165 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 3 Changing the oil axis 1...

Page 166: ...he manipulator is being taken down when changing oil Required equipment Note Equipment 3HAC029646 001 Oil plug sealing washer gearbox Information about the oil is found in Technical reference manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page 151 The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel To be...

Page 167: ...e oil plug carefully in order to let out the ex cess pressure 3 See the figure in Location of oil plugs on page 166 Either connect a nipple to the quick connect fitting in the hole for draining or remove the quick connect fitting 4 See the figure in Location of oil plugs on page 166 Note Drainage will be quicker if the oil plug filling is removed Open the oil plug filling 5 Note Draining is time c...

Page 168: ...oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex ce...

Page 169: ... the oil level is described in section Inspecting the oil level axis 2 gearbox on page 126 Inspect the oil level 6 Tightening torque 24 Nm Refit oil plug Note Before refitting the oil plug in the gearbox always replace the oil plug sealing washer with a new one If not there is a risk of leakage 7 Product manual IRB 2600 169 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 M...

Page 170: ...rboxes Lubricating oil See Type and amount of oil in gearboxes on page 151 The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 151 Oil dispenser xx1200000862 Funnel Content is defined in section Standard tools on page 452 Standard toolkit Continues on nex...

Page 171: ... risks see Gearbox lubricants oil or grease on page 36 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug care fully in order to let out the excess pressure 4 See the figure in Location of oil plugs on page170 Open the oil plug armhouse 5 See the figure in Location of oil plugs on page170 Open the oil plug gearbox and use it as a ventilation hole 6 Cont...

Page 172: ...ocedure to fill the gearbox with oil Note Action xx0800000329 Move the upper arm to a position where the wrist is pointing towards the floor as shown in the figure 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or gre...

Page 173: ... in gearboxes on page 151 Refill the gearbox with lubricating oil Tip Use a funnel 6 Note The amount of oil to be filled depends on the amount previously being drained How to inspect oil is described in section Inspecting the oil level axis 3 gearbox on page 129 Inspect the oil level 7 Tightening torque in armhouse 10 Nm in gearbox 3 Nm Refit the oil plug 8 Product manual IRB 2600 173 3HAC035504 0...

Page 174: ...e gear box see section Type of lubrication in gear boxes on page 151 Lubricating oil The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel Used for venting the gearbox during draining A suitable hose would be a hose normally used for compressed air Plastic hose Length minimum 300 mm Diameter 5 mm xx1200000862 Funnel Content is defined in section Sta...

Page 175: ...xcess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex cess pressure 4 See the figure in Location of oil plugs on page 174 Open oil plug draining 5 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil using an oil collecting vessel Tip Insert a compressed air hose approximately 100 mm into the gear...

Page 176: ...lectric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex cess pressure 4 Continues on next page ...

Page 177: ... in gearboxes on page 151 Refill the gearbox with lubricating oil Tip Use a funnel 6 Note The amount of oil to be filled depends on the amount previously being drained Tightening torque 10 Nm Refit the oil plug 7 Product manual IRB 2600 177 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 6 Changing the oil axis 4 gearbox Continued ...

Page 178: ...hown in the figure The figure shows wrist variant 12 20 kg xx0900000139 Oil plug tilthouse A Oil plug wrist also used as air inlet when draining from oil plug A B Continues on next page 178 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 7 Changing oil axes 5 and 6 gearboxes ...

Page 179: ... the amount in the gear box see section Type of lubrication in gear boxes on page 151 Lubrication oil The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page Product manual IRB 2600 179 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved...

Page 180: ...ly to the robot before entering the robot working area 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 4 See the figure in Location of oil plugs on page 178 Remove the oil plugs in the wrist IRB 2600ID 5 The oil plug venting can stay seated until the wrist is rotated Turn axis 4 through so that the oil plug on the side of the wrist point...

Page 181: ... 2600 Open the oil plug tilthouse 5 IRB 2600ID Open all oil plugs also for the venting hole Where to find type of oil and total amount is detailed in Type and amount of oil in gearboxes on page 151 Refill the gearbox with lubrication oil Note The amount of oil to be filled depends on the amount previously being drained 6 IRB 2600ID The venting hole at the bottom needs to be open to make the oil ru...

Page 182: ...he wrist should be turned 180 8 Tightening torque IRB 2600 10 Nm IRB 2600ID 3 Nm Refit the oil plugs 9 182 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 7 Changing oil axes 5 and 6 gearboxes Continued ...

Page 183: ...ly 36 months For an SMB board with 2 pole battery contact the typical lifetime of a new battery is 36 months if the robot is powered off 2 days week or 18 months if the robot is powered off 16 h day The lifetime can be extended for longer production breaks with a battery shutdown service routine See Operating manual IRC5 with FlexPendant or Operating manual OmniCore for instructions WARNING See Ha...

Page 184: ...0800000322 SMB battery 2 pole battery contact A Battery cover B Attachment screws C SMB battery cable D How to arrange the battery cable E Continues on next page 184 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4 8 Replacing SMB battery Continued ...

Page 185: ...tery includes protection circuits Replace it only with given spare part no or an ABB approved equivalent SMB battery pack See Spare part lists on page 457 Content is defined in section Standard tools on page 452 Standard toolkit See chapter Circuit diagram on page 459 Circuit diagram Removing SMB battery Use this procedure to remove the SMB battery Note Action This is done in order to facilitate t...

Page 186: ...ure in Location of SMB battery on page 184 Disconnect the battery cable and remove the bat tery 6 How to dispose of the used SMB battery see chapter Decommissioning on page 435 7 Refitting SMB battery Use this procedure to refit the SMB battery Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 E...

Page 187: ...r with its attachment screws 5 Detailed in Updating revolution counters on IRC5 robots on page 406 Update the revolution counter 6 DANGER Make sure all safety requirements are met when performing the first test run See Test run after in stallation maintenance or repair on page 113 7 Product manual IRB 2600 187 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 4...

Page 188: ...spected gearbox is according to the recommendations see Inspection activities on page 121 2 Write down the oil level 3 Inspect the oil level again after for example 6 months 4 If the oil level is decreased then replace the gearbox Special cleaning considerations This section specifies some special considerations when cleaning the robot Always use cleaning equipment as specified Any other cleaning ...

Page 189: ...ction Cleaning with water and steam on page 189 Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard Foundry Plus Wash or Foundry Prime can be cleaned by rinsing with water water cleaner 1 The following list defines the prerequisites Maximum water pressure at the nozzle 700 kN m2 7 bar I Fan jet nozzle should be used min 45 spread Minimum dist...

Page 190: ...ents cable movement Clean the cables if they have a crusty surface for example from dry release agents Cooling fans Inspect the air supply inlet of the the motor cooling fans Clean to remove any contamination that could hinder the air supply 190 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 3 Maintenance 3 5 1 Cleaning the IRB 2600 IRB 2600 ID Conti...

Page 191: ...f both the replaced unit and the replacement unit This is particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 21 before commencing any service work Note If the IRB 2600 IRB 2600 ID is connected to power always make sure that the IRB 2600 IRB 2600 ID is connected to protective earth ...

Page 192: ... 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 This...

Page 193: ...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 gradually ...

Page 194: ...arted 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 194 Product manual IRB 2...

Page 195: ...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 ma...

Page 196: ...he 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 196 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All right...

Page 197: ...enly 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 and o...

Page 198: ...nt Standard Foundry Plus ABB Orange 3HAC037052 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 2 198 Product manual IRB 2600 3HAC035504 001 Revision AD Cop...

Page 199: ...e to the robot Elimination To eliminate the danger after service work has been performed inside the SMB recess follow the procedure below Action Make sure the power is turned off 1 Remove the push button guard if necessary 2 Verify that the push buttons of the brake release unit are working by pressing them down one by one 3 Make sure none of the buttons are jammed in the tube If a button gets jam...

Page 200: ...able harness Cross references will make it easy to find what is needed to know as the work continues The section Removing the complete cable harness consists of the following parts presented in the order the work is recommended to be performed Removal in the base Removing cable harness in base on page 203 Removal in the frame Removing cable harness in frame on page 208 Removal in lower arm and arm...

Page 201: ...arness base and frame xx0900000009 Cover base A Bracket B Cable harness C Axis 1 motor cable D Axis 2 motor cable E Axis 2 motor F Axis 1 motor G Continues on next page Product manual IRB 2600 201 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Removing the complete cable harness Continued ...

Page 202: ...on socket Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be re quired See references to these procedures in the step by step instructions below Continues on next page 202 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Rem...

Page 203: ...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 413 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 Remo...

Page 204: ...er base has been removed 3 Parts A R1 CP CS B R1 MP C Air hose connector D Position of R1 ETHERNET if used E R1 SMB A B C xx0800000456 A Base B Cover base C Attachment screws Remove the cover base 4 Disconnect connectors on the brake release unit X8 X9 X10 5 Continues on next page 204 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Remo...

Page 205: ...in nut securing the R1 SMB connector on the outside of the bracket Tip Use a deep well hexagon socket width 30 mm like the ones used for spark plugs or similar xx1200000888 8 Unscrew the nut for the air connection on the inside of the bracket 9 Continues on next page Product manual IRB 2600 205 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Removing the compl...

Page 206: ...n performing this procedure in order not to damage cables or other components 11 Parts A Bracket at a 90 angle B Base A B C D xx1200000890 A R1 CP CS B R1 MP C Air hose connector D R1 SMB Remove connectors and air hose connector completely from the bracket R1 CP CS R1 MP R1 SMB Air hose connector R1 ETHERNET if used 12 How to remove the SMB unit is described in section Removing the SMB unit on pag...

Page 207: ...ctions of R1 SMB1 2 R1 SMB2 6 15 Parts A Screen connection 4 pcs xx0900000015 Disconnect the earth cables 16 Parts A Earth B Distance screws Continues on next page Product manual IRB 2600 207 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Removing the complete cable harness Continued ...

Page 208: ... frame Tip Before starting this procedure first remove the cable harness in the base See Removing the complete cable harness on page 200 Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 How to remove the motor cables is de scribed in section Removing motors on page 307 Disconnect the motor cabl...

Page 209: ... Use caution when performing this proced ure in order not to damage cables or other components 6 How to remove the cable package from the lower arm and armhouse is described in section Removing cable harness in lower arm and armhouse on page 209 Continue the removal of the cable package from the lower arm and armhouse 7 Removing cable harness in lower arm and armhouse Use this procedure to remove ...

Page 210: ...ss on page201 Cable harness lower arm Cut the cable strap on the lower arm 2 A B C D xx0900000020 Remove the brackets on the lower arm 3 Parts A Bracket lower arm B Bracket lower arm C Bracket armhouse D Cable bracket Continues on next page 210 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 1 Removing the complete cable harness Continued...

Page 211: ... removal of the cable package by disconnecting the motor cables of the axis 3 axis 4 axis 5 and axis 6 motors 7 How to remove the motor cables from motors axes 3 and 4 see section Removing motors on page 307 IRB 2600ID Continue the removal of the cable package by disconnecting the motor cables of mo tors axes 3 and 4 8 See section Replacing the cable harness in the upper arm IRB 2600ID on page227 ...

Page 212: ...ll make it easy to find what is needed to know as the work continues The section Refitting the complete cable harness consists of the following parts presented in the order the work is recommended to be performed Refitting in the frame Refitting the cable harness in the frame on page 215 Refitting in the base Refitting the cable harness in the base on page 218 Refitting in the lower arm and armhou...

Page 213: ...arness base and frame xx0900000009 Cover base A Bracket B Cable harness C Axis 1 motor cable D Axis 2 motor cable E Axis 2 motor F Axis 1 motor G Continues on next page Product manual IRB 2600 213 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 2 Refitting the complete cable harness Continued ...

Page 214: ...l hexagon socket Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be re quired See references to these procedures in the step by step instructions below 3HAC042536 001 Shell Gadus S2 Cable grease Continues on next page 214 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 20...

Page 215: ...nd base are presented below Chose one of the methods 3 A C E F B D xx1200000886 A Tape B Connectors to SMB unit and Brake release unit C R1 CP CS D Air hose E R1 MP F R1 SMB Connector bent and taped upwards Use this procedure when replacing the old cable harness Method 1 step 1 Prepare the end of the cable package in the base with tape as shown in the figure Tip In order to protect the connectors ...

Page 216: ...orming this procedure in order not to damage cables or other components Tip In order to protect the connectors from get ting residual grease on the cable harness put some plastic over them prior to pushing it through the hole in the frame Note Check that cables and air hose are placed as shown in the figure above Use this procedure when fitting a new cable harness Without removing the plastic arou...

Page 217: ...0016 Secure the cover to the frame with its attach ment screws 9 Parts A Frame B Hole in frame C Cover How to refit the motor cables is described in section Refitting motors on page 320 Connect the axis 1 and axis 2 motor cables 10 Continues on next page Product manual IRB 2600 217 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 2 Refitting the complete cable ha...

Page 218: ...e cable harness in the base 12 Refitting the cable harness in the base Use this procedure to refit the cable harness in the base Tip Before starting this procedure first refit the cable harness in the frame See Refitting the complete cable harness on page 212 Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe gu...

Page 219: ...order Put the attachment screws in the holes but do not tighten them yet if they have been removed earlier Place the bracket on the attachment screws Secure the bracket with its attach ment screws 3 Parts A Base B Attachment screws 2 pcs C Bracket Continues on next page Product manual IRB 2600 219 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 2 Refitting the c...

Page 220: ...it on page 243 Refit the SMB unit 6 A xx0900000035 Refit the cables with the screen connec tions 7 Parts A Screen connections 4 pcs xx0900000013 Tip When refitting connectors on the bracket put it at a 90 angle 8 Parts A Bracket B Base Continues on next page 220 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 2 Refitting the complete cabl...

Page 221: ...not refit the R1 SMB connector and air hose at this stage It will be easier to refit these two when the bracket has been fitted to the distance screws 10 Connectors A Earth cables B R1 SMB1 2 C R1 SMB3 6 D R2 SMB E R1 CP CS F R1 MP G Air hose H Position of R1 ETHERNET if used J R1 SMB Continues on next page Product manual IRB 2600 221 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights r...

Page 222: ...or Refit the R1 SMB connector on the bracket Tip Use a deep well hexagon socket width 30 mm like the ones used for spark plugs or similar xx1200000888 13 Refit the air hose connector on the bracket Note Check that there is no leakage from the air hose 14 Reconnect the battery cable 15 Continues on next page 222 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights r...

Page 223: ...s on page 213 Refit the bracket on the frame 19 See the figure in Location of the cable harness on page 213 Refit the cable straps securing the cable harness to the frame 20 How to refit the cable harness on the lower arm and armhouse is described in section Refitting the cable harness in the lower arm and armhouse on page 224 Continue the refitting of the cable package on lower arm and armhouse 2...

Page 224: ... air pressure supply to the robot before entering the robot working area 1 A B C D xx0900000020 Secure the brackets on the lower arm 2 Parts A Bracket lower arm B Bracket lower arm C Bracket armhouse D Cable bracket See the figure in Location of the cable harness on page213 Cable harness lower arm Refit the cable straps securing the cable harness to the lower arm 3 Push the cable harness carefully...

Page 225: ...tors on page 320 IRB 2600 Standard Reconnect the axis 3 axis 4 axis 5 and axis 6 motor cables 7 How to connect the axis 3 and axis 4 mo tor cables see section Refitting motors on page 320 IRB 2600ID Reconnect the axis 3 and axis 4 motor cables 8 See section Replacing the cable harness in the upper arm IRB 2600ID on page227 IRB 2600ID Refit the cable package in the upper arm 9 Continues on next pag...

Page 226: ...d in section Calibration on page 397 WARNING The cover on the armhouse must be fitted when the robot is running It is a vital part for the stability of the robot 11 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 12 226 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All...

Page 227: ...acing motor axis 6 and wrist unit IRB 2600ID on page 348 Location of the cable harness in the upper arm IRB 2600ID The location of the cable harness in the upper arm is shown in the figure xx1000001000 Bracket inside armhouse A Cover B Cable harness C Connectors motor axis 6 2 pcs D Bracket securing cable harness to arm tube E Continues on next page Product manual IRB 2600 227 3HAC035504 001 Revis...

Page 228: ...ted 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 val ues are to be used after ...

Page 229: ...crane or similar 5 Remove the cover on the arm house 6 A B C D xx1000000991 Disconnect the cables to motors axes 3 4 5 and 6 7 Parts A Motor axis 4 B Motor axis 3 C MP connectors axes 3 4 5 and 6 see markings for axis D FP connectors axes 3 4 5 and 6 see markings for axis See section Removing the wrist unit on page350 Note No need to remove the axis 6 motor Only the motor cables need to be disconn...

Page 230: ...p C O ring D Distance ring E Bracket F Cover xx1000000934 Remove the two VK covers covering the attachment screws securing the cable har ness to the arm tube 10 Parts A VK covers 2 pcs Continues on next page 230 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 3 Replacing the cable harness in the upper arm IRB 2600ID Continued ...

Page 231: ... of the arm house a little enough to be able to disconnect cables to the axis 5 motor 14 How to remove the motor cables see Replacing motor axis 5 IRB 2600ID on page 336 Note No need to remove motor axis 5 Disconnect connectors to motor axis 5 15 CAUTION Pull the cable harness out carefully The space in the armhouse is cramp Pull carefully out the cable harness off the arm house at the same time a...

Page 232: ... Use this procedure to refit the cable harness Information Action xx1000000996 Push carefully in the cables to the connect ors for motors axes 3 4 5 and 6 through the hole in the arm house 1 Part A Hole for cables Continues on next page 232 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 3 Replacing the cable harness in the upper arm IRB ...

Page 233: ...ble harness spiral at this point Parts A Cable harness spiral B Attachment screws 8 pcs M8x25 quality Steel 12 9 Gleitmo xx1000001006 Apply flange sealant on the surface where the cover shall be fitted See figure 3 Part A Flange sealant Loctite 574 Continues on next page Product manual IRB 2600 233 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 3 Replacing the ...

Page 234: ...ane or similar and lift the upper arm tube almost all the way into its position 5 Push the motor cables for the axis 6 motor through the upper arm tube 6 xx1000000998 Connect the connectors to the axis 5 mo tor 7 Fit the bracket A to the arm house 8 Parts A Bracket B Attachment screws 2 pcs C Connectors motor axis 5 D Motor axis 5 Continues on next page 234 Product manual IRB 2600 3HAC035504 001 R...

Page 235: ...tted correctly Check that axis 4 is in the same position as it was when the cable harness was re moved 10 CAUTION When the spiral of the cable harness is ar ranged check that none of the cables are twisted the two cables running in the spiral runs parallel to each other all the way the cables are not arranged too tight or too loose 11 xx1000001004 Hold the cable harness with one hand and cut the c...

Page 236: ...nt Loctite 574 on the surface B shown in the figure Note Do not apply flange sealant on the surfaces where Sikaflex 521FC shall be applied See figure 14 Parts A Surface where Sikaflex 521FC shall be applied B Surface where Loctite 574 shall be applied Tightening torque 35 Nm Secure the upper arm tube with its attach ment screws 15 See section Refitting the wrist on page 355 Refit the wrist 16 Cont...

Page 237: ...he o ring and the mechanical stop D with one screw 20 A B C D xx1000000991 Connect the connectors to motors axes 3 4 5 and 6 in the arm house 21 Parts A Motor axis 4 B Motor axis 3 C MP connectors axes 3 4 5 and 6 see markings for axis D FP connectors axes 3 4 5 and 6 see markings for axis Tightening torque 14 Nm Refit the cover on the arm house with its attachment screws 22 Continues on next page...

Page 238: ...s Calibration is described in Calibrating with Axis Calibration method on page 412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or re pair on page 113 25 238 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All r...

Page 239: ...e There are different variants of SMB units and batteries The variant with the 3 pole battery contact RMU has longer lifetime for the battery It is important that the SMB unit uses the correct battery Make sure to order the correct spare parts Do not replace the battery contact Note Equipment Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page Product m...

Page 240: ... 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 413 If no previous referen...

Page 241: ...s Cut the cable straps securing the battery cable 4 xx0900000100 Remove the screw that secures the bracket and unscrew the three other screws a little just enough to be able to slide the bracket sideways Note It is not needed to remove these three screws 5 Parts A Screw to be removed B Screws to be unscrewed a little 3 pcs Continues on next page Product manual IRB 2600 241 3HAC035504 001 Revision ...

Page 242: ...t cable clamps 7 Parts A Cable clamps See the figure in Location of SMB unit on page 239 Unscrew the attachment screws securing the SMB unit just enough to be able to re move the SMB unit 8 Remove the SMB unit 9 xx1700000993 Disconnect the battery cable by pressing down the upper lip of the R1 G connector to release the lock while pulling the connect or upwards 10 See the figure in Location of SMB...

Page 243: ...n Location of SMB unit on page 239 Place the SMB unit on its attachment screws 3 Secure the SMB unit with its attachment screws 4 A xx0900000035 Refit the cable clamps 5 Parts A Cable clamps See the figure in Location of SMB unit on page 239 Put back the cable harness in the base and refit the bracket on the distance screws Note Use caution when performing this procedure order not to damage cables...

Page 244: ...nual Calibration Pendulum enclosed with the calibration tools Recalibrate the robot 10 Axis Calibration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113...

Page 245: ...1 Brake release board A Connectors on push button board The connectors X8 X9 and X10 are placed on the push button board as shown in the figure below X9 X8 X10 xx1700000978 Continues on next page Product manual IRB 2600 245 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 5 Replacing the brake release board ...

Page 246: ...anual spare parts IRB 2600 Includes brake release board and harness Removing the brake release board Use this procedure to remove the brake release board Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the s...

Page 247: ...10 xx1700000978 Disconnect connectors X8 X9 and X10 from the brake release board 6 Remove the nuts securing the brake release board 7 Remove the brake release board 8 Refitting the brake release board Use this procedure to refit the brake release board Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working ...

Page 248: ...wn properly 4 Verify that the robot cabling is positioned correctly according to previously taken pic ture notes WARNING Screened cables must not get in contact with the brake release board after installation Eliminate all risks of contact between screened cables and the brake release board 5 A B C xx0800000456 Use caution when pushing the base cover into position while at the same time checking t...

Page 249: ... buttons 1 to 6 one at a time to make sure that the buttons are moving freely and do not stay in any locked position 10 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 11 Product manual IRB 2600 249 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 3 5 Replacing the...

Page 250: ...he figure The figure shows IRB 2600 Standard but is also valid for IRB 2600ID A B xx1100000947 Upper arm A Attachment screws M8x40 quality steel 12 9 gleitmo 12 pcs B Continues on next page 250 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 1 Replacing the complete upper arm ...

Page 251: ...w in the rotating lifting point to bottom 3 pcs Roundslings Lengths 1 5 m 1 pc run around the wrist unit 2 m 2 pcs Lifting capacity 500 kg 2 pcs Used to prevent the roundsling at the wrist from sliding Screws Dimension M6 Length 70 mm Quality 8 8 M8 2 pcs Guide pins Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required O...

Page 252: ...alibration 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 413 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 package...

Page 253: ...f the upper arm by stretching the roundslings Tip Turn on the power temporarily and release the brakes of axis 3 to rest the weight onto the roundslings 6 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 7 How to disconnect cables from motors is detailed in sections Removing motors on page 307 Disconnect all...

Page 254: ...cket Using caution pull the cable package out of the hole where the cable bracket was fit ted 12 See the figure in Location of the complete upper arm on page 250 Note Do not remove the attachment screws securing the gearbox axis 3 to the arm house Remove the attachment screws securing the upper arm to the lower arm 13 Continues on next page 254 Product manual IRB 2600 3HAC035504 001 Revision AD Co...

Page 255: ...ment on page 251 Fit two rotating lifting points to the attachment holes in the arm house see the figure Secure the lifting point tightly against the arm house but at the same time mak ing sure that the screw does not bottom Use an extra washer if the screw does bottom 2 The figures show IRB 4600 but the same attachment holes are used also for IRB 2600 xx1100000565 Tightening torque 30 Nm xx110000...

Page 256: ...oundslings to the upper arm The figure shows IRB 4600 but the principle is the same for IRB 2600 Make sure the roundsling looped around the wrist unit is run on both sides of the screws A C B D xx1100000567 Screws to prevent the roundsling from sliding 2 pcs A Rotating lifting point 2 pcs B Roundsling around wrist unit C Length 1 5 m Roundsling attached to arm house 2 pcs D Length 2 m Continues on...

Page 257: ...h the lifting accessories to the upper arm 4 Specified in Required equipment on page 251 Fit guide pins to the upper arm 5 Lift the upper arm to the robot using an overhead crane 6 Release the brakes of the axis 3 motor 7 See the figure in Location of the complete upper arm on page 250 Tightening torque 35 Nm Refit the upper arm to the lower arm with its attachment screws It may be necessary to tu...

Page 258: ...les is detailed in sections Refitting motors on page 320 Reconnect all motor cables 11 xx0800000335 Refit the bracket on the tubular shaft unit 12 Parts A Tubular shaft unit B Attachment screws M6x16 qual ity 8 8 A2F 2 pcs C Bracket Refit the signal lamp if used 13 Continues on next page 258 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4...

Page 259: ...ation method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 15 Product manual IRB 2600 259 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 1 Replacing the complete upper a...

Page 260: ...Tubular shaft unit D Wrist E Required equipment Note Equipment For spare parts no see Spare parts Upper arm 2 05 2 50 2 55 in Product manual spare parts IRB 2600 Tubular shaft unit 2 pcs Dimension M8 Guide pins Isopropanol Cleaning agent Loctite 574 Sealing liquid Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page 260 Product manual IRB 2600 3HAC035504...

Page 261: ...ues 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 413 If no previous reference values exist and no new reference values can be created then ref...

Page 262: ...8 A2F 2 pcs C Bracket Place the cable package in a way that it will not be damaged in the continued removal procedure 6 How to remove motors is described in section Removing motors on page 307 Remove motors axes 4 5 and 6 7 How to remove the wrist unit is detailed in section Removal of wrist unit on page 269 Tip If only the tubular shaft unit shall be re placed it is a good idea to remove the wris...

Page 263: ...bular shaft unit 11 Note There are two parallel pins guiding the tubular shaft unit into its place See figure in Replacing complete tubular shaft unit on page 260 Remove the tubular shaft unit using caution The tubular shaft unit is fitted with Loctite CAUTION Do not damage the gears when removing the tubular shaft unit 12 CAUTION Remaining oil will drain out from the gear box cavity when the tubu...

Page 264: ...used must be sized accordingly 4 Secure the tubular shaft unit with a round sling in an overhead crane CAUTION Prevent the slings from sliding For example a small plate can be fitted to the lower attachment hole for the cable bracket removed in a previous step The plate should be fitted so it points down wards and functions as a mechanical stop for the roundsling At the other end of the tubular sh...

Page 265: ...ar shaft unit B Attachment screws M6x16 qual ity 8 8 A2F 2 pcs C Bracket How to refit the wrist unit is detailed in section Refitting of wrist unit on page 270 If the wrist unit has been removed from the tubular shaft unit refit it now 12 How to refill oil in gearbox is described in section Changing the oil axis 4 gearbox on page 174 Refill gearbox axis 4 with oil 13 Pendulum Calibration is descri...

Page 266: ...hen performing the first test run See Test run after installation maintenance or repair on page 113 15 266 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 2 Replacing complete tubular shaft unit Continued ...

Page 267: ...st unit The wrist unit is located in the upper arm as shown in the figures There are two versions of the wrist one with an o ring and one with a sealing Make sure to order the correct spare parts A B C D G E F xx0800000341 xx1800003343 Upper arm A Attachment screw M8x40 quality steel 12 9 Gleitmo 5 pcs B Continues on next page Product manual IRB 2600 267 3HAC035504 001 Revision AD Copyright 2009 2...

Page 268: ...e 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 create reference values If the robot is to...

Page 269: ... the robot before entering the robot working area 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 36 4 CAUTION The robot wrist unit weighs 15 kg All lifting accessories used must be sized ac cordingly 5 See the figure in Location of wrist unit on page 267 Remove the attachment screws and carefully remove the wrist unit CAUTION Do not damage...

Page 270: ...ydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 xx1600000690 Check if there is a parallel pin hole in the upper arm tube The hole is available on robots that are calib rated with the Axis Calibration method 2 Continues on next page 270 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 3 Rep...

Page 271: ...n the calibration result will be affected negatively 3 Verify that the parallel pin sticks out from the wrist according to the meas urement given below 4 0 0 5 xx1600000703 Clean all assembly surfaces 4 Remove any painting from the assembly sur faces with a knife Continues on next page Product manual IRB 2600 271 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 3...

Page 272: ... locate the smallest play in the same way as for adjustment of motors for axes 4 5 and 6 See Refitting motors on page320 9 Parts A Gears on drive shaft unit axes 5 6 B Gears on the wrist See the figure in Location of wrist unit on page 267 Tightening torque 35 Nm Secure the wrist unit with its attachment screws and washers 10 How to measure the play is described in sections Measuring the play axis...

Page 273: ...th the calibration tools Re calibrate the robot 14 Axis Calibration is described in Calib rating with Axis Calibration method on page 412 General calibration information is in cluded in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page113 15 Product manual IRB 2600 273 3H...

Page 274: ... to the tools re quired Other tools and procedures may be required See references to these procedures in the step by step instructions below Measurement axis 5 The procedure below details how to measure the play of axis 5 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 Move the robot to...

Page 275: ...rection as shown in the figure to the right 6 Values for IRB 2600 20 1 65 12 1 65 12 1 85 A Measuring tool play B 140 mm C 85 mm F 40N The maximum play allowed at the given distance from the center of axis 5 is for robot version IRB 2600 20 1 65 12 1 65 12 1 85 0 12 mm Remove the load and measure the play by reading the dial indicator 7 Product manual IRB 2600 275 3HAC035504 001 Revision AD Copyri...

Page 276: ...es to these procedures in the step by step instructions below Measurement axis 6 The procedure below details how to measure the play in axis 6 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 Article number is specified in Required equipment on page 276 Fit the measuring tool play to the...

Page 277: ...figure to the right 6 Values for robot versions IRB 2600 20 1 65 12 1 65 12 1 85 A Measuring tool play B 100 mm C 150 mm F 40N The maximum play allowed at the given distance B from the center of axis 6 is for robot version Values for IRB 2600 20 1 65 12 1 65 12 1 85 0 22 mm Remove the load and measure the play by reading the dial indicator 7 Product manual IRB 2600 277 3HAC035504 001 Revision AD C...

Page 278: ...ferences to the tools re quired Other tools and procedures may be required See references to these procedures in the step by step instructions below Measurement axis 5 Use this procedure to measure the play of axis 5 Information Action Move the robot to calibration position Turn axis 4 to 90 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot befo...

Page 279: ... of the measuring tool shaft 7 Distance from the center line of axis 5 IRB 2600ID 15 1 85 A 235 mm IRB 2600ID 8 2 00 A 300 mm Verify that axis 5 is put in calibration posi tion 8 F A xx1100000691 A 140 mm Apply load F 30N with a dynamometer at the distance A from the turning disk 9 Remove the load and set the dial indicator to zero 10 Continues on next page Product manual IRB 2600 279 3HAC035504 0...

Page 280: ...D 15 1 85 0 25 mm IRB 2600ID 8 2 00 0 32 mm Remove the load and measure the play by reading the dial indicator 12 Turn axis 5 to 90 13 Repeat step 9 to step 12 14 Turn axis 5 to 90 15 Repeat step 9 to step 12 16 280 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 6 Measuring the play axis 5 ID upper arm Continued ...

Page 281: ...erences to the tools re quired Other tools and procedures may be required See references to these procedures in the step by step instructions below Measurement axis 6 Use this procedure to measure the play of axis 6 Information Action Move the robot to calibration position Turn axis 4 to 90 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot befor...

Page 282: ...om the rotation center of axis 6 A 100 mm Verify that axis 6 is put in calibration posi tion 8 A F B xx1100000692 A 100 mm dial indicator B 140 mm Apply load F 40N upwards with a dynamo meter on the opposite side of the dial indic ator at a distance B from the rotation cen ter of axis 6 9 Remove the load and set the dial indicator to zero 10 Continues on next page 282 Product manual IRB 2600 3HAC0...

Page 283: ...aximum play allowed is IRB 2600ID 15 1 85 0 20 mm IRB 2600ID 8 2 00 0 22 mm Remove the load and measure the play by reading the dial indicator 12 Turn axis 6 to 180 13 Repeat step 9 to step 12 14 Product manual IRB 2600 283 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 4 7 Measuring the play axis 6 ID upper arm Continued ...

Page 284: ... C D E F G H J xx0800000360 Upper arm A Gearbox axis 3 B Lower arm C Washer 12 pcs D Attachment screws M8x40 quality Steel 12 9 Gleitmo 12 pcs E Frame F Gearbox axis 2 G Washer 17 pcs H Attachment screws M8x40 quality Steel 12 9 Gleitmo 17 pcs J Continues on next page 284 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 5 1 Replacing the low...

Page 285: ...ment screws M8x40 quality Steel 12 9 Gleitmo 12 pcs E Frame F Gearbox axis 2 G Washer 3 pcs H Attachment screws M10x40 12 9 Gleitmo 603 Geomet 500 15 pcs J Continues on next page Product manual IRB 2600 285 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 5 1 Replacing the lower arm Continued ...

Page 286: ...w the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the ro...

Page 287: ...cept in the base 4 Secure the upper arm with a roundsling in an overhead crane 5 How to remove the complete upper arm is described in section Removing the complete upper arm on page 252 Remove the complete upper arm and put it on a loading pallet 6 CAUTION The robot lower arm weighs 35 kg IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 30 kg IRB 2600 20 1 65 ...

Page 288: ...600ID 15 1 85 IRB 2600ID 8 2 0 Remove the attachment screws and wash ers that secure the lower arm to the axis 2 gearbox 9 xx1800000935 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C xx1800000934 Remove the lower arm 10 Continues on next page 288 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 5 1 Replacing the lower arm Continue...

Page 289: ...00ID 15 1 85 IRB 2600ID 8 2 0 30 kg IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C All lifting accessories used must be sized accordingly 2 xx0800000379 Fit a lifting lug in one of the upper holes in the lower arm for the attachment screws 3 Parts A Lifting lug Secure the lower arm with a roundsling in an overhead crane and lift it to the robot 4 Continues on next page Product manual IRB 2600 289...

Page 290: ...que 50 Nm 5 Nm and 90 angle 10 xx1800000934 Secure the complete upper arm with round slings in an overhead crane and lift it to the robot 6 How to refit the complete upper arm is described in section Refitting the complete upper arm on page 257 Refit the complete upper arm 7 How to refit the cable package in frame lower arm and armhouse is described in sections Refitting the cable harness in the f...

Page 291: ...libration method on page 412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 10 Product manual IRB 2600 291 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 5 1 Replacing the lower arm C...

Page 292: ...ed if bracket D is installed C Bracket D Stop pin E Required equipment Note Equipment For spare parts number see Spare parts Frame and base in Product manual spare parts IRB 2600 Stop pin Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page 292 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 6 1 R...

Page 293: ...hment screws securing the bracket and stop pin 2 See the figure in Location of stop pin axis 1 on page 292 Remove the bracket and stop pin 3 Refitting the stop pin axis 1 Use this procedure to refit the stop pin axis 1 Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 See the figure in Location ...

Page 294: ...ogether with bracket D on the frame with its attachment screws Use Locking liquid 4 Tightening torque 10 Nm See the figure in Location of stop pin axis 1 on page 292 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 5 294 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All...

Page 295: ...d the complete arm system is shown in the figure The figure shows IRB 2600 Standard but is also valid for IRB 2600ID xx0900000320 Base A Frame B Lower arm C Arm house part of complete upper arm D Tubular shaft part of complete upper arm E Wrist unit part of complete upper arm F Continues on next page Product manual IRB 2600 295 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved...

Page 296: ...pcs Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Lifting eye M12 3 pcs Content is defined in section Standard tools on page 452 Standard toolkit These procedures include refer ences to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Included with spare part base 3 pcs 3HAC065190 001 Gasket Loctite ...

Page 297: ...r 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 413 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 pack...

Page 298: ...wer arm of the robot Tip Wrap up the cabling against the frame to keep it undamaged during the remaining work 5 Dimensions are specified in Required equipment on page 296 Secure the robot with roundslings in an overhead crane Stretch the roundslings so that the robot weight is secured when removing founda tion bolts in next step 6 A B xx1800001211 A Roundsling 1 5 m B Roundsling 2 m CAUTION The IR...

Page 299: ... underneath the robot Keep the lifting accessories stretched for extra safety precautions 9 xx1800000875 Lower the robot and secure the support legs to the foundation using bolts and washers 10 xx1800000879 Remove the cover plate at the bottom of the base 11 xx1800000881 Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Remove the expansion container ...

Page 300: ...IRB 2600ID 8 2 0 Fit two guide pins in opposite holes in the axis 1 gearbox 14 Guide pin M8x150 3HAC15520 2 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Guide pin M12x150 3HAC13056 2 Always use guide pins in pairs xx1800000883 CAUTION The arm system and axis 1 gearbox weighs 235 kg together All lifting accessories must be sized accord ingly 15 Continues on next page 300 Product manual...

Page 301: ...0 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Fit three lifting eyes to the base and secure with roundslings in an overhead crane or similar 18 Lifting eye M8 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Lifting eye M12 xx1800000931 xx1800000885 Remove the support legs attachments screws and remove the base from the sup port legs 19 Continues on next page Product manu...

Page 302: ...fting eye M8 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Lifting eye M12 xx1800000885 Fit the new base to the support legs and secure with the attachment screws 3 Tip Use Loctite 7063 or similar for cleaning Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Remove residues of old Loctite and other contaminations from surfaces before appl...

Page 303: ...800000797 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Fit three new gaskets to the base The gas kets are included with the gearbox spare part 6 CAUTION The arm system and axis 1 gearbox weighs 235 kg together All lifting accessories must be sized accord ingly 7 Lift the arm system to the mounting site 8 Continues on next page Product manual IRB 2600 303 3HAC035504 001 Revision AD Cop...

Page 304: ...0 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Lower the arm system against the base and secure with the attachment screws and washers 10 Attachment screws M8x40 quality Steel 12 9 Gleitmo and washers 24 24 pcs Tightening torque 35 Nm xx1800000882 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Attachment screws M12x50 12 9 Gleitmo 603 Geomet 500 and washers 12 12 pcs Tightening torque 11...

Page 305: ... Refit the cover plate at the bottom of the base with its attachment screws 13 xx1800000879 xx1800000875 Remove the screws that secure the support legs to the foundation DANGER Stretch the roundslings to make sure that the robot weight is secured 14 xx1800000874 Lift the complete robot and remove the support legs from the base 15 Continues on next page Product manual IRB 2600 305 3HAC035504 001 Re...

Page 306: ... Calibration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 18 306 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All righ...

Page 307: ... axis 2 motors The axis 1 and axis 2 motors are located as shown in the figure Motors 1 Axis 1 motor 2 Axis 2 motor xx0900000302 Attachment screws M5x16 quality Steel 8 A2F 7 pcs A Motor cover B Attachment screws axis 1 motor 4 pcs washers See Tightening torques and attachment screws on page 327 C Attachment screws axis 2 motor 4 pcs washers See Tightening torques and attachment screws on page 327...

Page 308: ... each motor A Attachment screws axis 3 motor 4 pcs washers See Tightening torques and attachment screws on page 327 B Attachment screws axis 4 axis 5 and axis 6 motors 3x4 pcs washers Tightening torques and attachment screws on page 327 B Axis 3 motor C Axis 4 motor D Axis 5 motor E Axis 6 motor F O ring axis 4 axis 5 and axis 6 G Armhouse H Continues on next page 308 Product manual IRB 2600 3HAC0...

Page 309: ...ment screws 4 pcs F Connectors motors axes 3 6 The figures shows the connectors in the armhouse IRB 2600 Standard Axes 3 6 IRB 2600ID Axes 3 4 Continues on next page Product manual IRB 2600 309 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 1 Removing motors Continued ...

Page 310: ...type B MP3 MP4 MP5 MP6 FB3 6 FB4 MP3 6 FB5 FB6 FB3 xx1400002568 Continues on next page 310 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 1 Removing motors Continued ...

Page 311: ...B 2600 Standard motor type A xx0900000367 Continues on next page Product manual IRB 2600 311 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 1 Removing motors Continued ...

Page 312: ...acement M6 length minimum 160 mm Extended reach hex bit socket head Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below Continues on next page 312 Product manual IRB 2600 3HAC035504 001 Revision AD Copyr...

Page 313: ...moved from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values require...

Page 314: ...axis 2 to be sure that the lower arm rests in the end position Axis 3 motor Move axis 2 to 0 and axis 3 to maximal Release the brake of axis 3 to be sure that the upper arm is completely vertical and rests against the damper of axis 2 and axis 3 Draining gearbox Use this procedure to drain gearboxes if needed Note Draining of gearbox is only needed when removing the axes 2 and 3 motors Note Action...

Page 315: ...n page 348 Note The procedure contains information how to remove motors on all axes of the robot Some steps are only applicable to a certain motor Follow the steps carefully in order not to miss vital information Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 Also see Position of robot on page 314 Move the robot to the rec...

Page 316: ...applicable to axis 1 and axis 2 motors Remove the motor cover 7 See the figure in Location of axis 1 and axis 2 motors on page 307 Only applicable to axis 1 and axis 2 motors Remove the cable gland cover 8 See the figure in Location of axis 1 and axis 2 motors on page 307 Only applicable to axis 1 and axis 2 motors Remove the connection box Note Only needed if the motor shall be replaced with a ne...

Page 317: ...racket to reach the attachment screws of the motors 11 Parts A Attachment screws M6x16 quality 8 8 A2F 2 pcs B Bracket C Clamp D Cable straps E Connection bracket F Connection bracket G Hexagon nut M5 quality steel 8 A2F Continues on next page Product manual IRB 2600 317 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 1 Removing motors Continued ...

Page 318: ...rmly rests on the damper for each axis respectively See posi tions in Position of robot on page 314 12 Note Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 13 See the figure in Location of axis 1 and axis 2 motors on page 307 Remove the attachment screws securing the motor If needed use a 300 mm extension for bits 1 2 Motor axis 1 14 Note Always use re...

Page 319: ...order to avoid contamina tion 17 See the figure in Location of axis 1 and axis 2 motors on page 307 Only applicable to motors axes 4 5 and 6 Check that the o ring also is removed It might stay in the armhouse when the motor is re moved 18 Product manual IRB 2600 319 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 1 Removing motors Continued ...

Page 320: ... on page 336 Motor axis 6 see section Replacing motor axis 6 and wrist unit IRB 2600ID on page 348 Location of axis 1 and axis 2 motors The axis 1 and axis 2 motors are located as shown in the figure Motors 1 Axis 1 motor 2 Axis 2 motor xx0900000302 Attachment screws M5x16 quality Steel 8 A2F 7 pcs A Motor cover B Axis 1 motor Attachment screws 4 pcs washers See Tightening torques and attachment s...

Page 321: ...fying the position of each motor A Attachment screws axis 3 motor 4 pcs washers See Tightening torques and attachment screws on page 327 B Attachment screws axis 4 axis 5 and axis 6 motors 3x4 pcs washers See Tightening torques and attachment screws on page 327 B Axis 3 motor C Axis 4 motor D Axis 5 motor E Axis 6 motor F O ring axis 4 axis 5 and axis 6 G Armhouse H Continues on next page Product ...

Page 322: ...ment screws 4 pcs F Connectors motors axes 3 6 The figures shows the connectors in the armhouse IRB 2600 Standard Axes 3 6 IRB 2600ID Axes 3 4 Continues on next page 322 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 2 Refitting motors Continued ...

Page 323: ...B6 FB3 xx1400002568 Note On IRB 2600 standard motor type B the connector FB6 shall be fitted in a 30 angle Continues on next page Product manual IRB 2600 323 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 2 Refitting motors Continued ...

Page 324: ... 2600 Standard motor type A xx0900000367 Continues on next page 324 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 2 Refitting motors Continued ...

Page 325: ...ndard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below For art no see Reference information Lifting tool axis 2 For art no see Reference information Lifting tool axis 3 For spare part no see Spare part lists on page 457 Motors Continues on next page Product manual I...

Page 326: ... IRB 2600ID Move the robot to a position where the wrist is pointing to the floor as shown in the figure This will make it possible to remove the motors without draining the oil from the gearbox xx1100000548 Axis 2 motor Move the robot to a position where the lower arm rests firmly on the axis 3 damper Release the axis 2 brake to be sure that the lower arm rests in the end position Axis 3 motor Mo...

Page 327: ... has not been drained 4 Tightening torques and attachment screws The table shows the tightening torques for all motors Tightening torque Quality Attachment screw Motor 22 Nm 8 8 A2F M8x25 Motor axis 1 22 Nm 8 8 A2F M8x25 Motor axis 2 22 Nm 8 8 A2F M8x25 Motor axis 3 10 Nm 8 8 A2F M6x25 Motor axis 4 10 Nm 8 8 A2F M6x25 Motor axis 5 10 Nm Standard 8 8 A2F M6x25 Standard Motor axis 6 6 Nm IRB 2600ID ...

Page 328: ...o ring if damaged Connectors Motor axis 1 R2 MP1 Motor axis 2 R2 MP2 Motor axis 3 R2 MP3 Motor axis 4 R2 MP4 Motor axis 5 R2 MP5 Motor axis 6 R2 MP6 Connect to pins In order to release the brakes connect the 24 VDC power supply 7 Axes 1 2 and 3 pin 2 pin 5 Axes 4 and 5 pin 4 pin 6 Axis 6 IRB 2600 pin 4 pin 6 Axis 6 IRB 2600ID pin 7 pin 8 CAUTION The connections for the motor brakes 24 VDC connecti...

Page 329: ...re contains information how to refit motors on all axes of the robot Some steps are only applicable to a certain motor Follow the steps carefully in order not to miss vital information Information Action Also see Preparations before the refitting of motors on page 327 Note Before starting the refitting of the motor first make the necessary preparations 1 Note Whenever parting mating motor and gear...

Page 330: ...A Wire exit hole motor axis 3 xx0900000375 IRB 2600 standard motor type A Applicable to motor axis 3 Make sure that the wire exit holes of motor axis 3 is in the correct position See illustration 6 Parts A Wire exit hole motor axis 3 Continues on next page 330 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 2 Refitting motors Continued ...

Page 331: ...hole motor axis 4 E Signal cable exit hole motor axis 4 xx1000000992 IRB 2600ID motor type A Make sure that the wire exit holes of motors axes 3 and 4 are in the correct position See il lustration 8 Parts A Wire exit hole motor axis 3 B Motor axis 3 C Motor axis 4 D Wire exit hole motor axis 4 Continues on next page Product manual IRB 2600 331 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All...

Page 332: ...nly applicable to motors axes 4 5 and 6 Adjust the play of the motor 11 Tightening torque and attachment screws are specified in the table Tightening torques and attach ment screws on page 327 Secure the motor with its attachment screws and washers Note Apply the correct tightening torque 12 Disconnect the brake release voltage 13 See the figure in Location of axis 1 and axis 2 motors on page 320 ...

Page 333: ...quality 8 8 A2F 2 pcs B Bracket C Clamp D Cable straps E Connection bracket F Connection bracket G Hexagon nut M5 quality steel 8 A2F xx1400002569 IRB 2600 Standard motor type B Note Connection bracket for FB6 shall be fitted in a 30 angle See figure 16 Continues on next page Product manual IRB 2600 333 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 2 Refitting...

Page 334: ...nd and motor covers Make sure that the o ring is in place 19 How to fill oil in the gearbox is de scribed in sections Changing the oil axis 2 gearbox on page 166 Changing the oil axis 3 gearbox on page 170 Applicable to motors axis 2 Refill gearbox oil 20 If the gasket is damaged it need to be replaced Applicable to motors axes 3 4 5 and 6 Make sure that the gasket on the cover on the armhouse is ...

Page 335: ...ue 14 Nm Pendulum Calibration is described in Operating manual Calibration Pendu lum enclosed with the calibration tools Recalibrate the robot 23 Axis Calibration is described in Calib rating with Axis Calibration method on page 412 General calibration information is in cluded in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See...

Page 336: ... located inside the upper arm tube as shown in the figure xx1000000877 Motor axis 6 A Motor axis 5 B Required equipment Note Art no Equipment 3HAC026759 001 Sikaflex 521FC Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools re quired Other tools and procedures may be required See refer ences to these procedures in the step by s...

Page 337: ...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 413 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 exte...

Page 338: ...der to be able to discon nect cables to motor axis 6 6 Note Make a note of the position of axis 4 before continueing the removal process It is important to refit the mechanical stop and cable harness spiral with axis 4 in the same position as it was before the removal If axis 4 has been moved it must be re turned to the position it was when the mechanical stop was removed This is due to risk of da...

Page 339: ...ver See figure above Remove the bracket 9 See figure above Remove the cover on the upper arm tube 10 xx1000000934 Remove the two VK covers covering the attachment screws securing the cable har ness to the arm tube 11 Parts A VK covers 2 pcs Continues on next page Product manual IRB 2600 339 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 3 Replacing motor axis 5...

Page 340: ...armhouse 13 Parts A Attachment screws 8 pcs xx1000000939 Unscrew the attachment screws securing the cable harness bracket to the upper arm tube Note The arm tube is not shown 14 Parts A Motor axis 5 B Cover C Bracket inside armhouse D Attachment screws 2 pcs E Bracket upper arm tube Continues on next page 340 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights res...

Page 341: ... axis 5 17 Parts A Bracket B Attachment screws 2 pcs C Connectors motor axis 5 D Motor axis 5 Pull out the cable harness from motor axis 6 through the upper arm tube and secure the cable harness with a roundsling or sim ilar to the armhouse 18 Remove the upper arm tube 19 xx1000000938 Secure the upper arm tube with motor axis 5 pointing upwards This is done in order to avoid draining the oil when ...

Page 342: ...xx1000000937 Tighten the attachment screws just enough to still be able to move the motor 2 Parts A Upper arm tube B Motor axis 5 Adjust the play by finding the smallest play 3 Tightening torque 10 Nm Secure the motor with its attachment screws 4 Lift the upper arm tube to the robot 5 Continues on next page 342 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights r...

Page 343: ...nectors to motor axis 5 8 Parts A Bracket B Attachment screws 2 pcs C Connectors to motor axis 5 D Motor axis 5 xx1000001006 Apply flange sealing Loctite 574 on the surface where the cover shall be fitted See figure 9 Part A Flange sealing Loctite 574 Continues on next page Product manual IRB 2600 343 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 3 Replacing m...

Page 344: ...acket B Attachment screws 2 pcs C Connectors motor axis 5 D Motor axis 5 See section Replacing the cable harness in the upper arm IRB 2600ID on page227 Check that the spiral of the cable harness is fitted correctly 12 Tightening torque 35 Nm Secure the upper arm tube with its attach ment screws 13 A xx1000000936 Parts A Attachment screws 8 pcs Continues on next page 344 Product manual IRB 2600 3HA...

Page 345: ... Surface where Loctite 574 shall be applied xx1000000879 Refit the cover with two inner attachment screws 15 Parts A Attachment screws 5 pcs B Mechanical stop C O ring D Distance ring E Bracket F Cover See figure above Refit the bracket with the remaining attach ment screws 16 Continues on next page Product manual IRB 2600 345 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved ...

Page 346: ...le to motor axis 6 18 Refit the mechanical stop 19 xx1000000934 Fit new VK covers 20 Parts A VK cover 2 pcs See section Replacing motor axis 6 and wrist unit IRB 2600ID on page 348 Refit the wrist 21 Continues on next page 346 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 3 Replacing motor axis 5 IRB 2600ID Continued ...

Page 347: ...ue and make sure the sealing thickness is minimum 1 5 mm Tightening torque 3 8 Nm Refit the oil plug with sealing 24 Pendulum Calibration is described in Op erating manual Calibration Pendulum enclosed with the calibration tools Recalibrate the robot 25 Axis Calibration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibr...

Page 348: ...are part number see Spare part lists on page 457 Wrist unit ID Always replace with a new when removed For spare part number see Spare part lists on page 457 VK cover One VK cover at the axis 5 flexible coupling One VK cover underneath the arm tube Loctite 574 Locking liquid Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools re...

Page 349: ...ility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 413 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 Removing axis 6 motor a...

Page 350: ...en the wrist is pulled out from the arm tube with the axis 6 motor connect ors still connected 2 xx1000000873 Remove the VK cover 3 A B A B xx1000000874 Open the flexible coupling that secures the axis 5 motor on the side facing the wrist 4 Parts A Coupling B Attachment screw Continues on next page 350 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4...

Page 351: ...e If opened in the wrong place oil will spill out 6 Parts A Wrist B Cover glued with Loctite to the wrist C Division point D Upper arm tube xx1000000876 Pull the wrist carefully out a little in order to be able to disconnect the motor cables to the axis 6 motor Note The wrist is fitted on cylindrical pins 7 Continues on next page Product manual IRB 2600 351 3HAC035504 001 Revision AD Copyright 200...

Page 352: ...Information Action Note Do not move the gears in the wrist when the motor is removed When refitting the motor the gears in the wrist shall be in the same position as they were before the removal 1 xx1000000931 Remove the cable protection by removing the nuts securing it 2 Parts A Cable protection B Nuts 2 pcs C Connector motor axis 6 Continues on next page 352 Product manual IRB 2600 3HAC035504 00...

Page 353: ... 6 motor and remove the motor Note Do not remove the attachment screws se curing the motor bracket 4 Parts A Attachment screws bracket B Flexible coupling C Attachment screws motor 3 pcs D Cylindrical pins 2 pcs E Motor axis 6 Continues on next page Product manual IRB 2600 353 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 4 Replacing motor axis 6 and wrist uni...

Page 354: ...cs D Cylindrical pins 2 pcs E Motor axis 6 Tightening torque 6 Nm Secure the motor with its attachment screws 2 Tightening torque 15 Nm Secure the motor axis with the flexible coupling with its attachment screw 3 A B C xx1000000930 Parts A Attachment screw coupling B Flexible coupling C Motor axis 6 Continues on next page 354 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 A...

Page 355: ... wrist with the axis 6 motor fitted a little into the upper arm tube 2 R4 MP6 R4 FB6 xx1400002575 Reconnect the cables R4 MP6 and R4 FB6 to the axis 6 motor 3 xx1000000932 Remove the short screws temporarily used to secure from leakage from the wrist 4 Parts A Short screws 2 pcs Continues on next page Product manual IRB 2600 355 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserve...

Page 356: ... hole for the VK cover when fitting the axis into the flexible coup ling of motor axis 5 6 Parts A Flexible coupling axis 5 B Attachment screw Tightening torque 35 Nm Secure the wrist with its attachment screws and washers 7 A xx1000000875 Parts A Attachment screws 4 pcs Continues on next page 356 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repa...

Page 357: ... an 8 fold the loop and insert the bundle into the cavity in the upper arm tube with direc tion against the arm house WARNING If placing the cables into the cavity at the opposite side with direction against the wrist there is a risk of cable damage due to rotating parts inside the arm tube 11 Article number is specified in Required equipment on page 348 Fit a new VK cover 12 xx1600001486 Continue...

Page 358: ...Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 2 358 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 4 Replacing motor axis 6 an...

Page 359: ...59 Tool for adjusting play in mo tors Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools re quired Other tools and procedures may be required See refer ences to these procedures in the step by step instructions below Drawing for adjustment tool Find or make a tool as described in the figure Drill holes in the middle so that th...

Page 360: ...the gear When ad justing to the correct play the motor pinion is pressed against the gear How to do this is detailed further on in this procedure 2 CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 3 Place the motor carefully in the hole without damaging the gear or pinion Put the attach ment screws in the holes on the motor and fit them a few ...

Page 361: ...djusting the play on the axis in question 6 Release the brakes on the motor 7 A B xx1200000093 Push the motor firmly in the direction of the gear as shown in figure Note Do not use too much force 8 Parts A Motor pinion B Gear Continues on next page Product manual IRB 2600 361 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 7 5 Adjusting the play Continued ...

Page 362: ...ist back and forth with the other 11 The figure shows how to do this on the ax is 4 motor If play is felt in the tool fitted on the motor axis unscrew the attachment screws of the motor and repeat steps 7 to 10 Then check the play again according to step 11 12 If no play can be felt in the tool fitted on the motor axis it means that the play is adjus ted correctly When the play is adjusted correct...

Page 363: ...eat steps 7 to 10 Then check the play again starting with step 11 15 xx1200000100 Perform a final check of the play by rotating the motor back and forth with the tool fitted in the case of axis 4 motor on the wrist to check that it is running smoothly There should be no unnormal noices 16 If motor and gear is not running smoothly or if unnormal noice comes from the gears the play must be readjuste...

Page 364: ...inted out in the procedure as valid for different robot version IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Further information about the differences are given in Non compatible versions of axis 1 and axis 2 gearboxes on page 440 Continues on next page 364 Product manual IRB 2600 3HAC035504 001 Revision AD C...

Page 365: ...B 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 xx0800000400 Spinea gearbox Frame A Radial sealing B O ring C Gearbox axis 1 D Washer 21 pcs E Attachment screws M8x80 quality Steel 12 9 Gleitmo 21 pcs F Continues on next page Product manual IRB 2600 365 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 8 1 Replacing gearbox axis ...

Page 366: ... C IRB 2600 12 1 65 type C Always use guide pins in pairs Guide pin M8x100 Additional pins to guide the gearbox during remov al refitting 3HAC068109 001 Guide for reduction gear Used to guide axis 1 gear and frame during refit ting Content is defined in section Standard tools on page 452 Standard toolkit These procedures include references to the tools required Other tools and procedures may be re...

Page 367: ...ced 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 413 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 ...

Page 368: ...bot to Axis 1 0 Axis 2 0 Axis 3 10 Axis 4 0 Axis 5 0 Axis 6 0 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 See Removing motors on page 307 Remove the axis 1 motor 5 See Removing the base on page 297 Remove the complete arm system from the base and lay down the robot on its side 6 xx1800000593 Continue...

Page 369: ...ssories used must be sized accordingly 8 Secure the gearbox in an overhead crane or similar 9 See the figure in Location of gearbox on page 365 Remove the attachment screws securing the gearbox 10 xx1800000788 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Fit two guide pins to the gearbox through the holes in the frame 11 Guide pin M8x100 3HAC15520 1 Always use guide pins in pairs Cont...

Page 370: ...ent screws and washers 13 Note Whenever parting mating motor and gear box the gears may be damaged if excessive force is used 14 Note There will be some excess oil running out of the gearbox when it is removed Use some absorbent material to catch the oil 15 Continues on next page 370 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 8 1 Repla...

Page 371: ...o refit the gearbox Refitting the gearbox to the frame Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 xx1800000794 Check the radial sealing in the frame Replace if damaged 2 Continues on next page Product manual IRB 2600 371 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserv...

Page 372: ...igure The oil plugs shall be placed in the openings in the frame not valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C 4 A Opening for oil plug in frame B Oil plug See the figure in Location of gearbox on page 365 Replace o ring if damaged Apply grease on the o ring 5 Clean all assembly surfaces 6 Remove any painting from the assembly surfaces with a knife Continues on next page 372 Produc...

Page 373: ...guide for the gear on top of the pro tection tube 9 xx1800000795 It protects the radial sealing from being damaged during refitting CAUTION The gearbox weighs 27 kg IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 24 kg IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C All lifting accessories used must be sized accordingly 10 Continues on next page Product manua...

Page 374: ...g for oil plug in frame B Oil plug xx1800000790 Secure the gearbox with its attachment screws and washers 12 Remove the guide pins from the frame and secure the remaining two screws 13 Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Tightening torque 35 Nm Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Tightening torque 50 Nm Continues on...

Page 375: ...e new gaskets to the base The gaskets are included with the gearbox spare part 1 See Refitting the base on page 302 Refit the complete arm system to the base 2 See Refitting motors on page 320 Refit the axis 1 motor 3 Also see Refitting the cable harness in the base on page 218 Refitting the cable harness in the frame on page 215 Refitting the cable harness in the lower arm and armhouse on page 22...

Page 376: ...libration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 7 376 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights r...

Page 377: ...0 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Further information about the differences are given in Non compatible versions of axis 1 and axis 2 gearboxes on page 440 Location of gearbox axis 2 The gearbox is located as shown in the figure IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 xx0900000380 Attachment screws M8x80 quality steel 12 9 Gleitmo 17 p...

Page 378: ... tool Roundslings Lifting accessories Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 3HAC15520 2 Guide pin M8x150 Always use guide pins in pairs Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C 3HAC15521 2 Guide pin M10x150 Always use guide pins in pairs Continues on next page 378 Product manual IRB 2600 3HAC035504 001 Revision AD Copyrigh...

Page 379: ... 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 413 If no previous reference values exist and no new reference values can be created then refere...

Page 380: ...pressure supply air pressure supply to the robot before entering the robot working area 3 How to drain the gearbox is described in sec tion Changing the oil axis 2 gearbox on page 166 Drain the gearbox 4 Continues on next page 380 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 8 2 Replacing gearbox axis 2 Continued ...

Page 381: ...rm house 7 Unload the weight of the lower and upper arm package by stretching the roundslings with the overhead crane Turn on the power temporarily and re lease the brakes of axis 2 to rest the weight onto the roundslings 8 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 9 Continues on next page Product man...

Page 382: ...me WARNING The cable harness is still installed on the robot Make sure not to damage the cables or the cable brackets on the robot 11 CAUTION The gearbox weighs 23 kg IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 14 kg IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C All lifting accessories used must be sized accordingly 12 Continues on next page 382 Product...

Page 383: ...Gearbox axis 2 B Lifting lug C Holes for attachment screws that se cure the lower arm to the axis 2 gearbox Secure the gearbox with a roundsling in an overhead crane or similar 14 Continues on next page Product manual IRB 2600 383 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 4 Repair 4 8 2 Replacing gearbox axis 2 Continued ...

Page 384: ...box to the frame shown in the figure 15 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C xx1800000939 Valid for IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 Fit guide pins to help guiding the gearbox out from the frame 16 Guide pin M8x150 3HAC15520 2 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Guide pin M10x150 3HAC15521 2 Always use...

Page 385: ...2 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 14 kg IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C All lifting accessories used must be sized accordingly 2 A B C xx0800000445 Fit a lifting lug in the uppermost hole for the attachment screws securing the lower arm to the gearbox 3 Parts A Gearbox axis 2 B Lifting lug C Holes for attachment screws securing the lower arm to gearbox axi...

Page 386: ...ins in opposite holes in the frame 6 Guide pin M8x150 3HAC15520 2 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Guide pin M10x150 3HAC15521 2 Always use guide pins in pairs Secure the gearbox with a roundsling in an overhead crane or similar 7 Release the brakes of the axis 2 motor 8 Article number is specified in Required equipment on page 378 Lift the gearbox onto the guide pins and ...

Page 387: ... type C Attachment screws M10x40 12 9 Gleitmo 603 Geomet 500 16 pcs Tightening torque 68 Nm xx1800000939 See Performing a leak down test on page 192 Perform a leak down test 11 Fit the guide pins to the gearbox 12 CAUTION The weight of the complete upper and lower arm together is 100 kg All lifting accessories used must be sized accordingly 13 Continues on next page Product manual IRB 2600 387 3HA...

Page 388: ... to secure the lower arm to the axis 2 gear box 15 Attachment screws M8x40 quality steel Gleitmo 12 9 17 pcs Washers 3HAA1001 172 17 pcs Tightening torque 35 Nm xx1800000935 Valid for IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Attachment screws M10x40 12 9 Gleitmo 603 Geomet 500 15 pcs Washers 3HAC043534 001 3 pcs Tightening torque 50 Nm 5 Nm and 90 angle 10 xx1800000934 Continues on next pag...

Page 389: ...bration Pendulum enclosed with the calibration tools Recalibrate the robot 18 Axis Calibration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 19 Produ...

Page 390: ...el 12 9 Gleitmo 16 pcs D Required equipment Note Art no Equipment See Spare part lists on page 457 Gearbox 2 pcs dimension M6 2 pcs dimen sion M8 Guide pins Used to guide the gearbox and the upper arm during removal refitting 3HAB7887 1 Rotation tool Content is defined in section Standard tools on page 452 Standard toolkit Continues on next page 390 Product manual IRB 2600 3HAC035504 001 Revision ...

Page 391: ...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 413 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 calib...

Page 392: ...ap 5 Loosen the cabling from the lower arm by unhooking the two cable brackets CAUTION The cable harness is still mounted in other parts of the robot Make sure not to damage the cable harness or any cable brackets in the continued removal 6 See Attaching the lifting accessories to the upper arm on page 255 Attach the lifting accessories to the upper arm 7 Connect the 24 VDC power supply to the axi...

Page 393: ...o rise the front end of the upper arm a little before removing the attachment screws securing the upper arm 12 CAUTION The gearbox weighs 6 kg All lifting accessories used must be sized accordingly 13 Always use guide pins in pairs Remove two attachment screws diagonally located and insert guide pins 14 See the figure in Location of gearbox axis 3 on page 390 Remove the remaining attachment screws...

Page 394: ...use cover 6 Attach the rotation tool on the axis 3 motor 7 Release the brakes of the axis 3 motor 8 Lift the gearbox onto the guide pins 9 Note Whenever parting mating motor and gear box the gears may be damaged if excessive force is used 10 Article number for the rotation tool is specified in Required equipment on page 390 Slide the gearbox into position while rotating the motor pinion to find th...

Page 395: ...on page 250 Tightening torque 35 Nm Refit the upper arm to the lower arm with its attachment screws 18 Remove the guide pins and replace with the remaining attachment screws 19 Remove the 24 VDC power supply 20 Tightening torque 14 Nm Refit the upper armhouse cover with its at tachment screws and washers WARNING The cover on the armhouse must be fitted when the robot is running It is a vital part ...

Page 396: ...alibration Pendulum enclosed with the calibration tools Recalibrate the robot 24 Axis Calibration is described in Calibrating with Axis Calibration method on page412 General calibration information is included in section Calibration on page 397 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 113 25 39...

Page 397: ...t is used for calibration of the robot Calibration position 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...

Page 398: ...o load Absolute accuracy calibration focuses on pos itioning accuracy in the Cartesian coordinate system for the robot Absolute accuracy calibration option al Absolute accuracy calibration data is found on the serial measurement board SMB or other robot memory For robots with RobotWare 5 05 or older the absolute accuracy calibration data is delivered in a file absacc cfg supplied with the robot at...

Page 399: ...as a complete toolkit including the Operating manual Calibration Pendulum which describes the method and the different routines further Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 2600 IRB 2600 ID It is the recommended method in order to achieve proper performance The following routines are available for the Axis Calibration method Fine calibrat...

Page 400: ...cient 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 listed in the section Special tools on page 453 The calibration equipment for Calibration Pendulum is delive...

Page 401: ...age 406 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 controller are connected at the first installation The robot is rebuilt If the robot is rebuilt for example after a crash or when ...

Page 402: ...n for each axis Synchronization marks IRB 2600 and 2600ID IRB 2600 20 1 65 12 1 65 12 1 85 IRB 2600 Type C 20 1 65 12 1 65 xx0800000312 Synchronization mark axis 1 A Synchronization mark axis 2 B Synchronization mark axis 3 C Continues on next page 402 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 2 1 Synchronization marks and synchr...

Page 403: ...8 2 00 A B C xx1000000445 Synchronization mark axis 4 A Synchronization mark axis 5 B Synchronization mark axis 6 C Continues on next page Product manual IRB 2600 403 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 2 1 Synchronization marks and synchronization position for axes Continued ...

Page 404: ...5 xx0800000321 Synchronization mark axis 6 F 404 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 2 1 Synchronization marks and synchronization position for axes Continued ...

Page 405: ...es will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions 6 axes Note The graphic shows an IRB 7600 The positive direction is the same for all 6 axis robots except the positive direction of axis 3 for IRB 6400R which is in the opposite direction xx0200000089 Product manual IRB 2600 405 3HAC035504 001 Revi...

Page 406: ...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 402 Jog the manipulator to align the synchron ization marks 2 Step 2 Updating the revolution counter with the FlexPendant on page 407 When all axes are positioned update the revolution counter 3 Correct calibration position of ax...

Page 407: ...o No IRB 2600 If the synchronization marks seem to be wrong even if the motor calibration data is correct try to rotate the axis one turn update the revolution counter and check the synchronization marks again try both directions if needed Step 2 Updating the revolution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant IRC5 Action On the ABB menu...

Page 408: ... 6 02 and later 3 Calibration method used at factory for each axis is shown as well as calibration method used during last field calibration Tap Manual Method Advanced xx1500000944 Continues on next page 408 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 3 1 Updating revolution counters on IRC5 robots Continued ...

Page 409: ...ed warning that the updating operation cannot be undone Tap Update to proceed with updating the revolution counters Tap Cancel to cancel updating the revolution counters Tapping Update updates the selected revolution counters and removes the tick from the list of axes 7 CAUTION If a revolution counter is incorrectly updated it will cause incorrect manipulator posi tioning which in turn may cause d...

Page 410: ...uired only if you are not already in the Mechanical Unit page when you open Calibrate Note The Mechanical Unit page is displayed only if there are more than one mechanical unit available Otherwise the calibration summary page for the available mechanical unit is displayed Select the mechanical unit for which revolution counter need to be updated 3 The calibration summary page for the selected mech...

Page 411: ...ator posi tioning which in turn may cause damage or injury Check the synchronization position very carefully after each update See Checking the synchronization position on page 433 10 Product manual IRB 2600 411 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 3 2 Updating revolution counters on OmniCore robots Continued ...

Page 412: ...ble 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 insert...

Page 413: ...values requires possibility to move the robot The reference values contain positions of all axes torque of axes and 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 r...

Page 414: ...troller 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 For robots with EPS the same applies as for SafeMove How to calibrate a suspended or wall mounted robot The IRB 2600 IRB 2600 ID is fine calibrated floor standing in...

Page 415: ...nd 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 Contains a removal tool for removing special protection plugs on the turning disc 3HAC074119 001 Calibration tool box Axis Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure tha...

Page 416: ... should be checked Outer diameter within Ø12g4 mm Ø8g4 mm or Ø6g5 mm depending on calibration tool size Straightness within 0 005 mm xx1500000951 Outer diameter A 416 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 4 2 Calibration tools for Axis Calibration Continued ...

Page 417: ...s follows If there is not enough space on an axis to install a fixed calibration pin the axis is equipped with two bushings instead for installation of two calibration tools when calibration is carried out This is shown in the figure IRB 2600 20 1 65 IRB 2600 12 1 65 IRB 2600 12 1 85 IRB 2600ID 15 1 85 IRB 2600ID 8 2 0 xx1800000963 IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C xx1800000964 Conti...

Page 418: ...0ID xx1600000521 Continues on next page 418 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 4 3 Installation locations for the calibration tools Continued ...

Page 419: ...x1600000522 Continues on next page Product manual IRB 2600 419 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 4 3 Installation locations for the calibration tools Continued ...

Page 420: ...th new Note Article number Spare part Contains replacement calibration pin covers and protective plugs for the bushing 3HAC059487 001 Protection cover and plug set Replace if damaged or missing 3HAC057676 001 IRB 2600ID Protective plug on turning disc 3HAC057511 001 IRB 2600 420 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 4 3 Insta...

Page 421: ...or the bushing 3HAC059487 001 Protection cover and plug set Replace if damaged or missing 3HAC057676 001 IRB 2600ID Protective plug on turning disc 3HAC057511 001 IRB 2600 Overview of the calibration procedure on the FlexPendant The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant You will be guided through the calibration proc...

Page 422: ...orms a measurement sequence by rotating the axis back and forth 8 Remove the calibration tool and reinstall the protective cover on the fixed pin and the protection plug in the bushing if any Refit the protection plug s to the turning disc push until the steel spring ring snaps into place 9 The robot moves to verify that the calibration tool is removed 10 Choose whether to save the calibration dat...

Page 423: ...ion 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 only if there is more than one mechan ical unit available The FlexPendant will give all inform ation needed to proceed with Axis Calibration The calibr...

Page 424: ...ibration 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 405 Axis Calibration with SafeMove option To be able to run Axis Calibration SafeMove needs to be unsynchronized The Axis Calib...

Page 425: ... 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 Protection cover and plug set 3HAC059487 001 Continues on next page Product manual IRB 2600 425 3HAC035504 001 Revision AD Copyr...

Page 426: ... xx1700000901 IRB 2600ID xx1700000902 See Calibrating with Wrist Optimiz ation method on page 430 If the standard calibration data for axes 4 5 or 6 should be updated with wrist optimization run the calibration routine Wrist Optimization 6 426 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 4 4 Axis Calibration Running the calibration ...

Page 427: ...hat the values are saved in RobotStudio or FTP program The files are located in Active system folder name HOME RefCalibFiles 7 Perform the repair 8 Make sure that the tooling and process equipment are the same as when creating the reference Use Reference calibration to update the system with new calibration offset value for the repaired axis 9 Check the position against the verification position s...

Page 428: ...he angle difference ie 96 3 94 2 2 1 degrees 8 Manually jog axis 4 the calculated angle difference 2 1 NOTE The direction shall be the same direction as the direction used when axis 4 was manually jogged to coincide with the verification process In the example 2 1 degrees 9 Make a new manual fine calibration of axis 4 with axis in 2 1 degrees position 10 Check again against the verification positi...

Page 429: ...dulum Detailed instructions of how to perform Pendulum Calibration are given in the documentation enclosed with the calibration tools Product manual IRB 2600 429 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 5 Calibrating with Calibration Pendulum method ...

Page 430: ...ed for on the FlexPendant the following sequence will be run 1 Choose calibration routine Wrist Optimization 2 Modify targets for 4 point tool frame definition in Wrist Optimization routine Tip Select positions with large reorientations around the TCP For best results make sure that axis 4 and 5 have large movements en0400000906 a Jog the robot to an appropriate position A for the first approach p...

Page 431: ...ration data WARNING Robot moves automatically when pressing Calibrate 6 Wrist optimization is finished 7 Redefine verify TCP for all tools Product manual IRB 2600 431 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 5 Calibration 5 6 Calibrating with Wrist Optimization method Continued ...

Page 432: ...on 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 402 Adjust the synchronization marks when the calibration is done if necessary 2 Write down the values on a new label and stick it on top of the calibration label 3 The label is located on the lower arm 432 Product...

Page 433: ... axes on page 402 and Updating revolution counters on page 406 Check that the synchronization marks for the axes align correctly 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 On the ABB menu tap Jogging 1 Tap Motion mode to select group of axes to jog 2 Tap to select the axis to ...

Page 434: ...ition 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 on joystick movements to understand the direction of the axis that you want to move and move the joystick 4 Manually run the robots axes to a pos...

Page 435: ...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 control...

Page 436: ...s used in the product The table specifies 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 Covers synchronization brackets Aluminium Serial measurement board Batteries Lithium Base lower arm upper arm Cast iron nodular iron Cables mo...

Page 437: ...cineration 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 2600 437 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 6 Decommissioni...

Page 438: ...h 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 438 Produc...

Page 439: ...arboxes on page 440 IRB 2600ID IRB 2600 standard variants motor type A motor type A Initial version Axis 1 5 change to motor type B Axis 2 changes gearbox IRB 2600 Type A Axis 6 keeps motor type A Axis 1 6 change to motor type B IRB 2600 Type B Axis 1 and 2 changes gearbox and motor pinion IRB 2600 Type C only IRB 2600 20 1 65 type C IRB 2600 12 1 65 type C Axis 3 4 5 and 6 has motor type B Produc...

Page 440: ... 1 65 type C IRB 2600 12 1 65 type C supplier Nabtesco The different versions affect the surrounding mechanical structure of the robot Following parts are unique for each version of the gearbox Axis 1 gearbox Axis 2 gearbox Frame Base Lower arm Axis 1 motor pinion Axis 2 motor pinion Cable harness The listed parts are not interchangeable The gearbox oils are not interchangeable Continues on next p...

Page 441: ...the Type C version of the robot informing that the robot is a Type C version xx1800002211 Continues on next page Product manual IRB 2600 441 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 7 Robot description 7 2 Non compatible versions of axis 1 and axis 2 gearboxes Continued ...

Page 442: ... below the motor flange A The bushing for the calibration tool is loc ated to the right on the base The bushing for the calibration tool is centered on the base The oil plug for drainage is located in front of the gearbox when robot is standing in synchronization position The oil plug for drainage is located on the left side of the gearbox and visible through an opening in the frame when robot is ...

Page 443: ...3HAC043134 001 3HAC043130 001 IRB 2600 Type C 20 1 65 3HAC039109 001 3HAC028837 001 IRB 2600 12 1 65 3HAC043134 001 3HAC043130 001 IRB 2600 Type C 12 1 65 Identifying the robot type on the FlexPendant For an IRC5 robot the robot type is shown on the System Info view on the FlexPendant in System properties Drive modules and Robot1 and then tap Options For an OmniCore robot the robot type is shown i...

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Page 445: ...pter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 2600 445 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 8 Reference information 8 1 Introduction ...

Page 446: ... 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 desig...

Page 447: ...9 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 2600 447 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 8 Reference information 8 3 Unit conversion ...

Page 448: ...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 72...

Page 449: ...ening 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 screws...

Page 450: ...h 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 603 ...

Page 451: ...ssory 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 2600 451 3HAC035504 001 Revision AD Copyright 2009 2023 ABB A...

Page 452: ...f the standard toolkit and any tools listed in the instruction Contents standard toolkit Tool Qty Ring open end spanner 8 19 mm 1 Socket head cap 2 5 17 mm 1 Torx socket no 20 60 1 Small screwdriver 1 Plastic mallet 1 Ratchet head for torque wrench 1 2 1 Socket head cap no 5 socket 1 2 bit L 20 mm 1 Socket head cap no 6 socket 1 2 bit L 20 mm 1 Socket head cap no 8 socket 1 2 bit L 20 mm 1 Small c...

Page 453: ...tors Calibration equipment Levelmeter alternative method The following table specifies the calibration equipment required when calibrating the robot with the alternative method Levelmeter Calibration Note Art no Description 68080011 LP Angle bracket 3HAC13908 9 Calibration bracket 3HAC13908 4 Calibration tool ax1 3HAC13908 5 Measuring pin 68080011 GM Sensor fixture 3HAC0392 1 Sensor plate 3HAC1390...

Page 454: ...as a set of calibration tools 3HAC074119 001 Calibration tool box Axis Cal ibration Required if Axis Calibration is the valid calibration method for the robot Contains a removal tool for removing special protection plugs on the turning disc Turning tool for suspended mounting The following table specifies the lifting tool required when fitting the robot in a suspended position Note Art no Descript...

Page 455: ...e of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories should be stored for later reference Product manual IRB 2600 455 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 8 Reference information 8 8 Lifting accessories and lifting instructi...

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Page 457: ...ut 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 2600 457 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 9 Spare part lists 9 1 Spare part lists and illustrations ...

Page 458: ...This page is intentionally left blank ...

Page 459: ...agram IRB 360 3HAC060545 009 Circuit diagram IRB 390 3HAC036446 005 Circuit diagram IRB 460 3HAC025691 001 Circuit diagram IRB 660 3HAC025691 001 Circuit diagram IRB 760 3HAC046307 003 Circuit diagram IRB 1200 3HAC2800 3 Circuit diagram IRB 1410 3HAC021351 003 Circuit diagram IRB 1600 1660 3HAC039498 007 Circuit diagram IRB 1520 3HAC6670 3 Circuit diagram IRB 2400 3HAC029570 007 Circuit diagram IR...

Page 460: ...Circuit diagram IRB 6700 IRB 6790 3HAC13347 1 Circuit diagram IRB 7600 3HAC025744 001 3HAC050778 003 Circuit diagram IRB 14000 3HAC056159 002 Circuit diagram IRB 910SC 460 Product manual IRB 2600 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved 10 Circuit diagram 10 1 Circuit diagrams Continued ...

Page 461: ...ioxide extinguisher 33 cast iron disposal 436 cleaning 188 climbing on robot 36 Cold environments 103 connecting the robot and controller cabling 104 copper disposal 436 D direction of axes 405 E environmental information 436 ESD damage elimination 56 sensitive equipment 56 expansion container installing 95 expected life 120 F fire extinguishing 33 FlexPendant jogging to calibration position 433 4...

Page 462: ... symbols 25 rubber disposal 436 S safety brake testing 40 ESD 56 fire extinguishing 33 release robot axes 39 signal lamp 101 signals 23 signals in manual 23 symbols 23 symbols on robot 25 test run 113 safety devices 33 safety hazard hydraulic system 34 pneumatic system 34 safety signals in manual 23 safety standards 446 scales on robot 402 schedule for maintenance 117 screw joints 448 shipping 435...

Page 463: ...32 W wall mounting 61 weight 45 base 301 302 robot 58 70 263 264 269 272 287 289 298 369 373 382 385 393 394 upper and lower arm 381 387 upper arm complete 253 257 Wrist Optimization overview of method 430 Z zero position checking 433 Product manual IRB 2600 463 3HAC035504 001 Revision AD Copyright 2009 2023 ABB All rights reserved Index ...

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Page 466: ... 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 3HAC035504 001 Rev AD en Copyright 2009 2023 ABB All rights reserved Specifications subject to change without notice ...

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