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3.7.5.7 Speed control strategies

General

The speed control of CRB 1300 is affected by several factors, such as, the
RobotWare version, the speed setting in the FlexPendant, the speed setting in
motion instruction and the

SpeedRefresh

value. Users in different protection

fields defined for laser scanner to monitor and perform different program execution
actions may result in different movement speed. This section describes the speed
control strategies for typical scenarios.

Strategies (RobotWare 7.6 or later)

Users in Protecting area

xx2200000302

Continues on next page

Product manual - CRB 1300

155

3HAC083111-001 Revision: B

© Copyright 2022-2023 ABB. All rights reserved.

3 Installation and commissioning

3.7.5.7 Speed control strategies

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Содержание CRB 1300

Страница 1: ...ROBOTICS Product manual CRB 1300 ...

Страница 2: ...Trace back information Workspace 23A version a14 Checked in 2023 03 20 Skribenta version 5 5 019 ...

Страница 3: ...Product manual CRB 1300 11 0 9 CRB 1300 10 1 15 CRB 1300 7 1 4 OmniCore Document ID 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved Specifications subject to change without notice ...

Страница 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...

Страница 5: ...troduction to installation and commissioning 52 3 2 Unpacking 52 3 2 1 Pre installation procedure 53 3 2 2 Risk of tipping stability 55 3 2 3 Extra O rings 56 3 2 4 Transportation bracket 58 3 3 On site installation 58 3 3 1 Lifting the robot 58 3 3 1 1 Lifting the robot with roundslings 63 3 3 1 2 Lifting and rotating a suspended mounted manipulator 65 3 3 2 Manually releasing the brakes 67 3 3 3...

Страница 6: ...lation maintenance or repair 165 4 Maintenance 165 4 1 Introduction 166 4 2 Maintenance schedule and expected component life 166 4 2 1 Specification of maintenance intervals 167 4 2 2 Maintenance schedule 169 4 2 3 Expected component life 170 4 3 Cleaning activities 170 4 3 1 Cleaning the CRB 1300 172 4 4 Inspection activities 172 4 4 1 Inspecting the information labels 174 4 4 2 Inspecting the ro...

Страница 7: ...ion movement directions for all axes 669 6 3 Updating revolution counters 669 6 3 1 Updating revolution counters on OmniCore robots 671 6 4 Calibrating with Axis Calibration method 671 6 4 1 Description of Axis Calibration 674 6 4 2 Calibration tools for Axis Calibration 677 6 4 3 Installation locations for the calibration tools 680 6 4 4 Axis Calibration Running the calibration procedure 684 6 4 ...

Страница 8: ...Applicable standards 711 9 3 Unit conversion 712 9 4 Screw joints 715 9 5 Weight specifications 716 9 6 Standard toolkit 717 9 7 Special tools 718 9 8 Lifting accessories and lifting instructions 719 10 Spare parts 719 10 1 Spare part lists and illustrations 721 Index 8 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved Table of contents ...

Страница 9: ...cation It is the responsibility of the integrator to provide safety and user guides for the robot system Who should read this manual This manual is intended for installation personnel maintenance personnel repair personnel Prerequisites A maintenance repair installation craftsman working with an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installat...

Страница 10: ...ce manual Lubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters 3HAC066558 001 Application manual PROFINET Controller Device 3HAC066559 001 Application manual Functional safety and SafeMove 3HAC032104 001 Operating manual RobotStudio 3HAC080868 003 Circuit diagram CRB 1300 Operating instructions microScan3 PROFINET Operating instructions microScan3 Pro I O i This man...

Страница 11: ...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...

Страница 12: ...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 12 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved Product documentation Continued ...

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

Страница 14: ...tion of firewalls application of authentication measures encryption of data installation of anti virus programs etc to protect the product the network its system and the interface against any kind of security breaches unauthorized access interference intrusion leakage and or theft of data or information ABB Ltd and its entities are not liable for damage and or loss related to such security breache...

Страница 15: ...e robot 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 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 original s...

Страница 16: ...uence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the instructions 16 Product manual CRB 1300 3HAC083111 001 Revisio...

Страница 17: ...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...

Страница 18: ...d to indicate where to find additional information or how to do an operation in an easier way TIP 18 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Страница 19: ...ription 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 xx090000...

Страница 20: ...0815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will release the brakes This means that the robot arm can fall down Continues on next page 20 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 2 Safety...

Страница 21: ... over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual CRB 1300 21 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 22: ...1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page 22 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 23: ...01242 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 CRB 1300 23 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 24: ...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 24 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Cont...

Страница 25: ... emergency stops are described in the product manual for the controller For more information see Product manual OmniCore C30 Product manual OmniCore C90XT Product manual CRB 1300 25 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

Страница 26: ...ification of allergenic materials in the product if any Securing the robot to the foundation The robot must be properly fixed to its foundation support as described in the respective product manual When the robot is installed at a height hanging or other than mounted directly on the floor there will be additional hazards Electrical safety Incoming mains must be installed to fulfill national regula...

Страница 27: ...tandards Other hazards The risk assessment should also consider other hazards arising from the application such as but not limited to Water Compressed air Hydraulics End effector hazards require particular attention for applications which involve close human collaboration with the robot Verify the safety functions Before the robot system is put into operation verify that the safety functions are w...

Страница 28: ...ode to automatic and initiating automatic operation Unexpected movement of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered 28 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 5 Safety during operation ...

Страница 29: ...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 Gearbox lubricants oil or grease When handling oil grease or other chemical substances the safety information of the respective manufacturer must be observed Note Take special care when handling hot lubricants Elimination Action Description Warning M...

Страница 30: ...fied amount de pends on drained volume Hazards related to batteries Under rated conditions the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the outside There is a hazard in case of abuse mechanical thermal electrical which leads to the activation of safety valves and or the rupture of the battery container As a result under certain circumstances electro...

Страница 31: ...xis can be released manually by pushing a brake release button How to release the brakes is described in the section Manually releasing the brakes on page 65 Product manual CRB 1300 31 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 6 2 Emergency release of the robot axes ...

Страница 32: ... 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 Br...

Страница 33: ...y time DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers A risk assessment must be done to address both robot and robot system specific hazards Related information See also the safety information related to installation operation maintenance and repair Product manual CRB 1300 33 3HAC083111 001 Revision B Copyright 2022...

Страница 34: ...oning on page 705 If the robot is decommissioned for storage take extra precaution to reset safety devices to delivery status 34 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 1 Safety 1 8 Safety during decommissioning ...

Страница 35: ...SafeMove solution safety separation technology and speed control with safety laser scanner s and lead through programming with a lead through device CRB 1300 enables safe collaborative operations and harmless contacts between robot and the operator The robot has an open structure that is especially adapted for flexible use and can communicate extensively with external systems Product manual CRB 13...

Страница 36: ...Pack Loads on foundation robot The illustration shows the directions of the robots stress forces The directions are valid for all floor mounted suspended and wall mounted robots xy xy z z T F F T xx1100000521 Force in any direction in the XY plane Fxy Force in the Z plane Fz Bending torque in any direction in the XY plane Txy Bending torque in the Z plane Tz Continues on next page 36 Product manua...

Страница 37: ...ion Force 2186 N 821 N Force xy 1547 N 1000 N 428 N 1000 N Force z 2392 Nm 814 Nm Torque xy 583 Nm 236 Nm Torque z Wall mounted Max load emergency stop Endurance load in operation Force 2860 N 1478 N Force xy 963 N 288 N Force z 2741 Nm 1068 Nm Torque xy 863 Nm 352 Nm Torque z Suspended Max load emergency stop Endurance load in operation Force 2186 N 821 N Force xy 1547 N 1000 N 428 N 1000 N Force...

Страница 38: ...added i e the stiffness of the pedestal where the robot is mounted The minimum resonance frequency should not be interpreted as the resonance frequency of the building floor etc For example if the equivalent mass of the floor is very high it will not affect robot movement even if the frequency is well below the stated frequency The robot should be mounted as rigid as possibly to the floor Disturba...

Страница 39: ...ailable protection types of the robot with the corresponding protection class Protection class i Protection type IP40 Manipulator protection type Standard IP67 option 3350 670 i According to IEC 60529 Environmental information The product complies with IEC 63000 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances ...

Страница 40: ...tion Safety functions and safety related data Safety functions and safety related data for CRB 1300 rely on the controller and safety laser scanners Safety data for the controller is detailed in the product manual of the robot controller see References on page 10 Safety data for the safety laser scanners is detailed in the user manual from the vendor see Operating instructions microScan3 PROFINET ...

Страница 41: ...K J J Sidebase Cabling 0 08 R 5 R 5 10 H7 0 015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 xx2200000725 Description Pos Turning radius R84 A Turning radius R207 B Continues on next page Product manual CRB 1300 41 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 2 Manipulator description 2 4 Dimensions ...

Страница 42: ...bling 0 08 R 5 R 5 10 H7 0 015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 A xx2200000726 Description Pos Turning radius R84 A Turning radius R282 B Continues on next page 42 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 2 Manipulator description 2 4 Dimensions Continued ...

Страница 43: ...base Cabling 0 08 R 5 R 5 10 H7 0 015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 A xx2200000727 Description Pos Turning radius R84 A Turning radius R282 B Product manual CRB 1300 43 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 2 Manipulator description 2 4 Dimensions Continued ...

Страница 44: ...ngle degrees Positions at wrist center mm Position in the figure axis 3 axis 2 Z X 0 0 1009 475 pos0 84 6 0 1 395 9 50 pos1 65 0 600 7 265 9 pos2 84 6 90 544 901 9 pos3 84 6 130 3 6 702 6 pos4 210 100 170 3 64 7 pos5 65 100 746 7 43 3 pos6 84 6 90 544 801 9 pos7 84 6 100 396 1 788 9 pos8 210 130 696 3 410 pos9 Continues on next page 44 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 20...

Страница 45: ...s Positions at wrist center mm Position in the figure axis 3 axis 2 Z X 0 0 1159 575 pos0 84 6 0 1 545 9 150 pos1 65 0 750 7 365 9 pos2 84 6 90 544 1 151 9 pos3 84 6 155 364 573 4 pos4 210 95 168 7 146 3 pos5 65 95 741 74 8 pos6 84 6 90 544 851 9 pos7 84 6 95 456 9 848 1 pos8 210 155 394 604 pos9 Continues on next page Product manual CRB 1300 45 3HAC083111 001 Revision B Copyright 2022 2023 ABB Al...

Страница 46: ...ositions at wrist center mm Position in the figure axis 3 axis 2 Z X 0 0 1159 825 pos0 86 6 0 1 795 2 150 pos1 69 0 503 2 429 2 pos2 86 6 90 544 1 401 2 pos3 86 6 155 590 678 8 pos4 210 95 36 1 2 9 pos5 69 95 825 7 166 3 pos6 86 6 90 544 1 101 2 pos7 86 6 95 435 1 096 4 pos8 210 155 598 7 747 4 pos9 Continues on next page 46 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 47: ...te Working range Axis Wall mounted robot has a work area for axis 1 that depends on payload and the positions of other axes Simulation in RobotStudio is re commended 180 Axis 1 CRB 1300 10 1 15 and CRB 1300 7 1 4 Axis 2 95 155 CRB 1300 11 0 9 100 130 CRB 1300 7 1 4 Axis 3 210 69 CRB 1300 10 1 15 and CRB 1300 11 0 9 210 65 Continues on next page Product manual CRB 1300 47 3HAC083111 001 Revision B ...

Страница 48: ...imum revolution value 242 The default working range for axis 6 can be extended by changing parameter values in the soft ware 48 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 2 Manipulator description 2 5 Working range Continued ...

Страница 49: ...roy 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 gro...

Страница 50: ...This page is intentionally left blank ...

Страница 51: ...ety information must be observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page15 before performing any installation work Note Always connect the CRB 1300 and the robot to protective earth and residual current device RCD before connecting...

Страница 52: ...fting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 36 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 38 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 38 7 Before taking the...

Страница 53: ...portation position CRB 1300 7 1 4 CRB 1300 10 1 15 CRB 1300 11 0 9 52 2 1 73 xx2200000976 41 4 0 81 xx2200000975 25 50 25 xx2200000974 Angle Axis 7 1 4 and 12 1 4 10 1 15 11 0 9 0 0 0 1 52 41 25 2 69 50 65 3 0 0 0 4 73 81 50 5 0 0 0 6 Transportation bracket At delivery the robot is locked in the correct position with a transportation bracket for securing the position during shipping and transport ...

Страница 54: ...bracket on page 56 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 54 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 2 2 Risk of tipping stability Continued ...

Страница 55: ...9 O ring Used to seal between the main power cable and connector Robots with manipulator cables routed from the rear of the base xx2000002338 Robots with manipulator cables routed from below 3309 1 xx2000002339 Further information For installation information see On site installation on page 58 and Electrical connections on page 98 Product manual CRB 1300 55 3HAC083111 001 Revision B Copyright 202...

Страница 56: ...ting any service work and must be refitted before shipping and transportation CRB 1300 7 1 4 CRB 1300 10 1 15 CRB 1300 11 0 9 xx2200000979 xx2200000978 xx2200000977 Removing the transportation bracket Note Action xx1900001529 Remove the screws and washers 1 xx1900001530 Continues on next page 56 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Install...

Страница 57: ...f CRB 1300 11 0 9 is used as an example Remove the bracket 2 xx2200000980 Product manual CRB 1300 57 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 2 4 Transportation bracket Continued ...

Страница 58: ...e robot during the lifting of the robot to the installation site For details see Transportation bracket on page 56 CRB 1300 7 1 4 CRB 1300 10 1 15 CRB 1300 11 0 9 xx2200000983 xx2200000982 xx2200000981 DANGER Attempting to lift a robot in any other position than the recommended lifting position may result in the robot tipping over causing severe damage or injury Continues on next page 58 Product m...

Страница 59: ...slings Use this procedure to lift the robot with roundslings Note Action 25 50 25 xx2200000974 Valid for CRB 1300 11 0 9 Jog the robot to the specified position Axis 1 0 Axis 2 25 Axis 3 65 Axis 4 0 Axis 5 50 Axis 6 0 WARNING The robot is mechanically unstable if not se cured to the foundation 1 Continues on next page Product manual CRB 1300 59 3HAC083111 001 Revision B Copyright 2022 2023 ABB All...

Страница 60: ... to the specified position Axis 1 0 Axis 2 52 Axis 3 69 Axis 4 0 Axis 5 73 Axis 6 0 WARNING The robot is mechanically unstable if not se cured to the foundation 3 Lifting accessory robot 3HAC077885 001 Fit the lifting tools to the robot Use the enclosed screws 4 Tightening torque 15 Nm xx1900001594 Continues on next page 60 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB ...

Страница 61: ...m to the lifting beam 5 Roundsling 1 7 m xx2200000985 Roundsling 0 8 m Fit the roundslings to the lifting beam and to the overhead crane 6 xx2200000981 Continues on next page Product manual CRB 1300 61 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 1 1 Lifting the robot with roundslings Continued ...

Страница 62: ...circumstances be present under the suspended load 8 Raise the overhead crane to lift the robot 9 xx2200000984 If the manipulator should be mounted on a wall or in an suspended position the manipulator can now be tilted slowly by hand 10 62 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 1 1 Lifting the robot with ro...

Страница 63: ...uction is specified in Special tools on page 717 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 Continues on next page Product manual CRB 1300 63 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installa...

Страница 64: ... xx2200000984 64 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 1 2 Lifting and rotating a suspended mounted manipulator Continued ...

Страница 65: ...ped with a brake release unit Note Action Note If the robot is not connected to the controller power must be supplied to the connector R1 MP according to the section Supplying power to connector R1 MP on page 66 1 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpec ted ways Make sure no personnel is near or beneath the ro bot 2 Continues on next p...

Страница 66: ...plying power to the wrong pin may cause all brakes to be released simultaneously and instantly 1 xx1900001654 Supply 0V on pin 12 24V on pin 11 Note Do not interchange the 24V and 0V pins If they are mixed up damage can be caused to internal electrical components 2 Use the brake releasing button as described in Releasing the brakes on page 65 3 66 Product manual CRB 1300 3HAC083111 001 Revision B ...

Страница 67: ...ble screws 4 pcs Quantity 8 8 Quality 17 x 30 x 3 steel hardness class 200HV Suitable washer 2 pcs D10x30 ISO 2338 10m6x30 A1 Guide pins 150 Nm 10 Nm Tightening torque Minimum 19 mm for ground with material yield strength 150 MPa Length of thread engagement 0 1 500 mm i Level surface requirements i See Requirements foundation on page 38 Continues on next page Product manual CRB 1300 67 3HAC083111 ...

Страница 68: ...nd secure the robot floor mounted Note Action Make sure the installation site for the robot con forms to the specifications in section Technical data on page 36 1 The hole configuration of the base is shown in the figure in Hole con figuration base on page 70 Prepare the installation site with attachment holes The foundation surface must be clean and un painted 2 CAUTION The weight of the CRB 1300...

Страница 69: ...ers in the attach ment holes of the base 8 Washers 17 x 30 x 3 steel hard ness class 200HV Tightening torque 150 Nm 10 Nm Tighten the bolts in a crosswise pattern to ensure that the base is not distorted 9 Robots with manipulator cables routed from the rear of the base For robots with protection class IP67 option 3350 670 10 xx2000002338 Fit the O ring 3HAB3772 19 to the main power connector on th...

Страница 70: ...H7 0 015 0 73 100 73 A B B Detail A Section B 0 08 10 H7 0 015 0 0 5 0 5 0 08 18 5 22 0 2 R101 5 118 190 190 189 80 170 96 21 xx1900001337 70 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 3 Orienting and securing the robot Continued ...

Страница 71: ... 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 When the robot is mounted other than floor standing rotated around the y axis the robot base frame and the system parameter Gravity...

Страница 72: ... motion Mounting angles and values The parameter Gravity Beta or Gravity Alpha specifies the mounting angle of the robot in radians It is calculated in the following way Gravity Beta A x 3 141593 180 B radians where A is the mounting angle in degrees and B is the mounting angle in radians Gravity Beta Mounting angle A Example of position 0 000000 Default 0 Floor mounted 1 570796 90 Wall mounted 3 ...

Страница 73: ...stem parameters in RobotWare The value of the system parameters that define the mounting angle must be redefined when changing the mounting angle of the robot The parameters belong to the type Robot in the topic Motion The system parameters are described in Technical reference manual System parameters The system parameters are configured in RobotStudio or on the FlexPendant Product manual CRB 1300...

Страница 74: ...ps or major damage to the robot Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Stopping time and braking distances The performance of the motor brake depends on if there are any loads attached to the robot See Product specification Robot stopping distances according to ISO 10218 1 74 Product man...

Страница 75: ...90 10 H7 0 015 0 73 73 190 K J J Sidebase Cabling 0 08 R 5 R 5 10 H7 0 015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 xx2200000725 Description Pos Turning radius R84 A Turning radius R207 B Continues on next page Product manual CRB 1300 75 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on th...

Страница 76: ...7 0 015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 A xx2200000726 Description Pos Turning radius R84 A Turning radius R282 B Continues on next page 76 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensions Continued ...

Страница 77: ...015 0 0 5 0 5 DETAIL K 0 08 R101 5 118 190 190 80 170 Underbase Cabling 19 A xx2200000727 Description Pos Turning radius R84 A Turning radius R282 B Continues on next page Product manual CRB 1300 77 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensions Continued ...

Страница 78: ...areas Maximum allowed arm load depends on center of gravity of arm load and robot payload 150 150 150 xx2200001155 Max armload kg Variant 1 CRB 1300 11 0 9 0 5 CRB 1300 10 1 15 0 5 CRB 1300 7 1 4 Continues on next page 78 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensio...

Страница 79: ...ng figures 240 6 544 425 40 1069 425 90 50 A B C 125 4x M10x15 A 40 4x M4x8 B 65 4x M4x8 C xx2200000986 Continues on next page Product manual CRB 1300 79 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensions Continued ...

Страница 80: ... E 20 4x M4x8 F F xx2200000987 Continues on next page 80 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensions Continued ...

Страница 81: ... 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 CRB 1300 81 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 6 Fitting equipment on the robot robot dimensions Continued ...

Страница 82: ...ng the system in auto mode always remove the lead through device from the robot first to prevent any unexpected damages CAUTION Be careful not to stretch or squeeze the device cabling when moving the robot with the lead through device especially to extreme positions Otherwise it will cause cabling damages Location of lead through device The lead though device is located as shown in the figure xx22...

Страница 83: ...2 36 xx2200000767 For the hole dimensions on robot tool flange see Tool flange standard on page81 Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the CRB 1300 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC082590 001 Lead through device with buttons 3HAC082591 001 Lead through device base...

Страница 84: ...on position 2 Refer to Preparing the adapter on page 83 Prepare the lead through device adapter CAUTION To calibrate the axis 6 the notch on the wrist must be aligned with the marked pin hole on the tool flange Before installing the adapter on the tool flange make sure a visible mark has been made to the adapter at the corresponding position For details about the synchronization mark see Synchroni...

Страница 85: ...ification and tightening torque of screws fixing the adapter to the tool flange vary according to actual applications xx2200000991 Screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Tightening torque 2 6 Nm xx2200000992 Installing the lead through device Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Install the device base to the adaptor 1 Tightening torque 2 6 Nm xx2200000993 Continues on next page Pr...

Страница 86: ...000989 Connect the cable between robot and controller R1 C2 connector on robot base A Ethernet switch port on controller B X19 connector on controller C Note Ethernet switch port is available for use only when the 5 Port Ethernet switch option is selected Otherwise connect the cable to the MGMT port Note Pins 3 and 4 of X19 connector are used for the lead through device connection while pins 1 and...

Страница 87: ...sting robot the Collaborative Speed Control add in must be installed to the system to activate the lead through functionality For details about how to install the add in and configure the lead through functionality see Lead through on page 110 Product manual CRB 1300 87 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Installation of lead...

Страница 88: ...N Safety in the area that not in the scanning range must always be considered The system integrator shall assess the potential risks within this area and make sure that proper measures have been applied to reduce risks 275 xx2100000168 Laser scanner types The following laser scanner package options are available 1 PROFIsafe based laser scanner option 3051 1 PROFIsafe scanner 2 PROFIsafe based lase...

Страница 89: ...he controller and Application manual Scalable I O The supported PROFINET and SafetyIO base laser scanners are SICK microScan 3 Core and SICK microScan 3 Pro respectively Detailed scanner model can be obtained on the scanner nameplate Other scanner types or models might not provide full functionality For more details about the safety laser scanners see Operating instructions microScan3 PROFINET and...

Страница 90: ...tion 3051 3 with PLC as master OmniCore controller PLC Laser Scanner1 XF1 PROFIsafe XD1 white brown blue black 24V 0V WAN Laser Scanner2 XF1 XD1 brown blue black 24V 0V PROFIsafe PROFIsafe white xx2200000298 Continues on next page 90 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 8 Installation of laser scanner Con...

Страница 91: ...ck 24V 0V PROFIsafe PROFIsafe white xx2300000227 1 SafetyIO based laser scanner option 3051 2 Power DSQC 1042 Laser Scanner XG1 XD1 white brown blue black 24V 0V X2 OmniCore controller X19 X1 xx2200000299 Continues on next page Product manual CRB 1300 91 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 8 Installation of laser scanner Contin...

Страница 92: ...4V 0V xx2200000300 Note If there are additional scalable I O devices available install and configure the additional devices by following the detailed procedures in Application manual Scalable I O Continues on next page 92 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 3 8 Installation of laser scanner Continued ...

Страница 93: ... based laser scanners RobotWare 7 6 or later and PLC acting as Master on page 133 Y RobotWare 7 7 or later 2 Y N Y Configuration of one PROFIsafe based laser scanner RobotWare 7 10 or later and OmniCore acting as Master on page 137 Y RobotWare 7 10 or later 1 Y N N Configuration of two PROFIsafe based laser scanners RobotWare 7 10 or later and OmniCore acting as Master on page 141 Y RobotWare 7 10...

Страница 94: ...cal stops on the manipulator Mechanical stops are and can be installed on the manipulator as limiting devices to ensure that the manipulator axis does not exceed the working range values set in the software parameters Note The mechanical stops are only installed as safety precaution to physically stop the robot from exceeding the working range set A collision with a mechanical stop always requires...

Страница 95: ...1134 Mechanical stop axis 1 slider A Mechanical stop axis 1 fixed block B Axis 2 xx2200001135 Continues on next page Product manual CRB 1300 95 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 4 2 Mechanically restricting the working range ...

Страница 96: ... xx2200001137 Mechanical stop axis 4 flange A Mechanical stop axis 4 slider B Continues on next page 96 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 4 2 Mechanically restricting the working range Continued ...

Страница 97: ...e the stops see Replacing the axis 1 mechanical stops on page 322 Replacing the axis 2 mechanical stops on page 324 Replacing the axis 3 mechanical stops on page 478 Replacing the axis 4 mechanical stops on page 481 Product manual CRB 1300 97 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 4 2 Mechanically restricting the working range Conti...

Страница 98: ... fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables The customer cables also handle databus communication The customer cables also include the air hose See the product manual for the controller see document number in References on page 10 The hose for compressed air is integrated with the manipu lator cable harness Air hoses Robo...

Страница 99: ... Robot cable signals Article number Signal cable length 3HAC067446 001 Signal cable shielded 3 m 3HAC067446 002 Signal cable shielded 7 m 3HAC067446 003 Signal cable shielded 15 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Continues on next page Product manual CRB 1300 99 3HAC08...

Страница 100: ...ng point is used for potential equalizing between control cabinet manipulator and any peripheral devices xx2000000414 Continues on next page 100 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 5 1 Robot cabling and connection points Continued ...

Страница 101: ...ith lamp unit cabling 3HAC078069 003 15 m with lamp unit cabling i CP CS cable for CRB 1300 also includes lamp unit cabling used for communication with the lamp unit on the process hub The cable is also designed with free ends for more I O connections and shall always be used properly in applications It is recommended to shield the free ends not in use Do not use other types of CP CS cables or use...

Страница 102: ...he manipulator There are 4 inlets at the base R1 8 and 4 outlets M5 on the tubular A A A B B B C C D D xx2200000997 Value Number Description Connection Position 30 V 1 5 A 12 wiresi Customer power signal R1 R2 C1 A 30 V 1 A or 1 Gbits s 8 wiresii Customer power signal or Ethernet R1 R2 C2 B 42 V DC or 25 V AC 4 Aiii 4 wires Customer power signal R1 R2 C3 C Outer diameter of air hose 6 mm 4 Max 6 b...

Страница 103: ...S and Ethernet if any connector kits for tubular Art no Description Position 3HAC066098 001 M12 CPCS Male straight connector kits R2 C1 CP CS Connector kits 3HAC066099 001 M12 CPCS Male angled con nector kits 3HAC068412 001 M12 CPCS Male straight connector kits R2 C3 3HAC068413 001 M12 CPCS Male angled con nector kits 3HAC067413 001 M12 Ethernet CAT6a Male straight connector kits R2 C2 Ethernet 3H...

Страница 104: ... Scalable I O device connection For robot working with safetyIO based laser scanners a safety I O device DSQC1042 will be available and required to be connected with the base I O device DSQC1030 installed on the controller Continues on next page 104 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 5 2 Customer connecti...

Страница 105: ...ng 2 X1 connector on DSQC1030 Pins GND DO1 DO2 and DO3 are occupied for lamp unit X19 connector on controller Pins 1 and 2 are occupied for lamp unit R1 C1 connector on manipulator base Between X4 connector on DSQC1030 and X19 connector on controller Power connection 3 For details about the I O module models see Application manual Scalable I O Product manual CRB 1300 105 3HAC083111 001 Revision B ...

Страница 106: ...regulated with the RAPID instruction VelSet Start the robot with its normal program but with reduced speed 1 Adjusting the speed and acceleration during warm up Depending on how cold the environment is and what program is being used the speed might need to be ramped up until reached maximum The table shows examples of how to adjust the speed Speed velocity AccSet Work cycles v100 100 mm s 20 20 3 ...

Страница 107: ...C acting as the master connected any supported RobotWare version For SafetyIO based scenarios Upload the template SafeMove configuration file using the SafeMove configurator app on FlexPend ant Configuration of SafeMove using Visual SafeMove in RobotStudio on page 125 Application manual Func tional safety and SafeMove For PROFIsafe based scenarios with the control ler acting as the master RobotWar...

Страница 108: ...ndard industrial robots Some of them are listed in this section How to configure RobotWare is described in Operating manual Integrator s guide OmniCore SafeMove See Application manual Functional safety and SafeMove 108 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 7 1 Information about RobotWare and CRB 1300 ...

Страница 109: ...orm the following procedure to install the Collaborative Speed Control add in 1 Start RobotStudio and open the Add Ins tab The Gallery window is displayed 2 In the displayed Gallery window use the Search function or Common tags to find the Collaborative Speed Control add in 3 Click the displayed add in icon 4 In the right pane click Add The package is automatically installed and listed in the Add ...

Страница 110: ...etting The device is not configured by default and the Enable Lead through switch is unavailable for use Configuring installation information of the lead through device Use the following procedure to configure the installation information of the lead through device and get it ready for use 1 Tap Settings on the home page of the FlexPendant 2 Tap Lead through Device 3 Choose the lead through device...

Страница 111: ...5 If users want to define customized installation position tap Advanced installation 6 In the displayed window set corresponding parameters according to actual requirements The device offset orientation tool load mass and mass center are available to set 7 Tap Apply Continues on next page Product manual CRB 1300 111 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installati...

Страница 112: ...ly be enabled from the Jog Setting tab page by tapping Jog in the QuickSet window 3 In the Lead through Mode section select a mode 4 If required in the Lead through lock section use the lock button next to a axis to lock it 5 Hold the handler of the lead through device and gently move the robot to the desired position The robot moves to the selected position If the Lead through lock option is sele...

Страница 113: ...ll the forces that are lower than the threshold will be filtered out Use the following procedure to set the force threshold 1 Tap Settings on the home page of the FlexPendant 2 Tap Lead through Device 3 Tap Force threshold on the left pane 4 In the displayed window drag the Force slider to define a response force to move the robot The default force threshold is 10 xx2100000176 5 Observe the forces...

Страница 114: ...Configurable buttons on the left pane 4 Select desired function from the drop down list for the required button Add a move location a Move block will be added to Wizard app This is the default configuration for the flat button Linear Reorient the lead through mode will be changed between linear and reorient This is the default configuration for the raised button Lock Z the movement along the Z dir...

Страница 115: ...ncapsulations and zones The first time that the app is opened a default factory setting is loaded If a safety configuration is loaded this will be shown The tab Robot Encapsulation contains the configuration of the encapsulations of the robot itself The tab Tool Encapsulation contains the configuration of the encapsulations of the tools The tab Tool Data contains the configuration for the tools Th...

Страница 116: ...The factory setting is an empty safety configuration A loaded configuration can be removed and the system is then reset to the factory setting Encapsulations The encapsulations are geometries that can be in the shape of a sphere capsule or lozenge A sphere or capsule encapsulation can be modified in dimension and position A lozenge capsule can be modified in dimension position and rotation xx22000...

Страница 117: ...obal supervision functions are not connected to a specific safe zone or safe range They can be added modified and deactivated For more information about the global supervision functions see Application manual Functional safety and SafeMove Synchronization The Synchronization tab is used to manually set the current joint positions for the robot For more information about synchronization see Applica...

Страница 118: ...borative If the app is not shown then review the system settings in RobotStudio Installation Manager and add the option The first time that the app is opened a default factory setting is loaded This contains only the manipulator with Cyclic Brake Check activated There are no encapsulations safe zones or tool data defined The factory setting can always be resumed if needed To continue and create a ...

Страница 119: ...validate is described in Application manual Functional safety and SafeMove 6 Select Apply to controller to proceed The controller is automatically restarted when applying the configuration Modify a configuration Use the following procedure to modify a loaded configuration and apply it to the robot controller 1 Select Enable Edit Mode to edit the safety configuration 2 If no configuration is loaded...

Страница 120: ... in Application manual Functional safety and SafeMove 8 Apply the configuration to the controller The controller is automatically restarted when applying the configuration Modify a safe zone Use the following procedure to modify a safe zone 1 Add a new safe zone or select an existing safe zone 2 Tap Safe Zones to open the attributes 3 Add modify or remove vertices as needed to create the desired s...

Страница 121: ...category signal and any other available setting applicable for the function Tip The functionality is described in detail in Application manual Functional safety and SafeMove Continues on next page Product manual CRB 1300 121 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 7 4 1 The SafeMove configurator app on FlexPendant Continued ...

Страница 122: ... supervision functions are not connected to a specific safe zone or safe range They can be added modified and deactivated Modify the Cyclic Brake Check settings The Cyclic Brake Check functionality is active by default It can be modified and deactivated xx2200000451 Continues on next page 122 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installati...

Страница 123: ...for safety interlocking All global supervision functions All tools with corresponding supervision functions Note Depending on the combination of functions the validation procedures have to be modified for the specific configuration A more detailed description of validation of the safety configuration is found in Application manual Functional safety and SafeMove After safety configuration is valida...

Страница 124: ... on the FlexPendant 1 Log in as a user with the grant Safety Services 2 In the Settings app select the Safety Controller and then Configuration 3 Select the check box Validated Setting the configuration to locked When the responsible safety user has approved the validation of the configuration the status of the configuration should be changed to Locked on the FlexPendant Running the robot in auto ...

Страница 125: ...dio station should be used which allows zones to be generated automatically When not running a RobotStudio station Online Monitor is used to visualize the robot Starting Visual SafeMove Action Start RobotStudio with a virtual controller with or without a station or connect a real controller The user account logging in the controller must be granted with the Safety Services permission The write acc...

Страница 126: ...ISH_User MODE_bNot_IntermitCollab ISH_EnableDelay_Protect ing ISH_Enabler_Delay_TSP NOT ISH_User MODE_bNot_Cooperation OR NOT ISH_User MODE_bNot_IntermitCollab ISH_EnableDelay_Warning ProtectingAreaSM ProtectingArea1 AND Protect ingArea2 ISH_Combination_Protect ingi WarningAreaSM WarningArea1 AND WarningArea2 ISH_Combination_Waningi i Required only when two PROFIsafe based laser scanners are conne...

Страница 127: ...ake Check 2 Select the Warning only no stop check box enable CBC for all the joints and set other cyclic brake check properties Value Parameter 48 Max CRC test interval h 6 Pre warning time h 2 Standstill tolerance 0 02 Supervision threshold Configuring the supervision functions 1 In the Visual SafeMove ribbon tab choose Create Safe Zone from the Safe Zone list 2 Set zone properties Value Paramete...

Страница 128: ...ve blank Min speed mm s 5 In the Visual SafeMove browser right click Stand Still Supervisions and choose Create Global Stand Still Supervision Value Parameter ISH_Supervise_SST Activation ISH_SST_Active Function active status Category0Stop Stop category Violation action ISH_SST_Viol Signal Enabled for all joints and remain default tolerance values Tolerances Uploading the settings to the controlle...

Страница 129: ...O Engineering Tool in RobotStudio The following list shows the configuration parameters They need to be correctly configured in the software tools to enable communication between the scanner PLC and OmniCore system After the robot system is set up the default IP address of the WAN port is automatically configured as 192 168 10 10 24 Make sure the scanner and PLC are also configured in the 192 168 ...

Страница 130: ...1 Description Lamp col or Device mapping default Field The warning area field defines the largest range but it shall be within the scanning range of the scanner Yellow 1 WarningArea A Within in this field range the lamp unit on the process hub lights up yellow and the robot movement speed reduces to a lower speed that is set by the user Within this field range the lamp unit turns to red and the ro...

Страница 131: ...ce checkbox must be selected and choose Rx Process image 6 Bytes from the drop down list 7 Create monitoring cases and assign the fields that are to be monitored to each monitoring cases in Configuration Monitoring cases Configuring the PLC The safety PLC connecting to the laser scanner and controller must support PROFIsafe and can act as a master Before configuration make sure the PLC is loaded w...

Страница 132: ...1 Log in the FlexPendant Make sure the user logged in have access grants to lock safety controller configurations safety services and software synchronization 2 Tap SafeMove on the home page 3 Tap Load in the pop up message box to confirm loading of template SafeMove configuration files The controller restarts 4 After the controller is restarted tap Settings on the home page 5 Tap Safety Controlle...

Страница 133: ...ring Tool in RobotStudio The following list shows the configuration parameters They need to be correctly configured in the software tools to enable communication between the scanners PLC and OmniCore system After the robot system is set up the default IP address of the WAN port is automatically configured as 192 168 10 10 24 Make sure the scanners and PLC are also configured in the 192 168 10 XXX ...

Страница 134: ...1 Description Lamp col or Device mapping default Field The warning area field defines the largest range but it shall be within the scanning range of the scanner Yellow 1 WarningArea A Within in this field range the lamp unit on the process hub lights up yellow and the robot movement speed reduces to a lower speed that is set by the user Within this field range the lamp unit turns to red and the ro...

Страница 135: ...s of each scanner and configure basic settings for the inputs and outputs in Configuration Inputs and outputs The Use one input source checkbox must be selected and choose Rx Process image 6 Bytes from the drop down list 7 Create monitoring cases and assign the fields that are to be monitored to each monitoring cases in Configuration Monitoring cases Configuring the PLC The safety PLC connecting t...

Страница 136: ...WarningTrigger1 Check the communication between the PLC and controller is well and activate the laser scanner set up the communication between the laser scanner PLC and OmniCore controller Configuring SafeMove To enable SafeMove perform the following procedure 1 Log in the FlexPendant Make sure the user logged in have access grants to lock safety controller configurations safety services and softw...

Страница 137: ... displayed 3 In the Configuration tab page on the left pane of the window right click PROFINET under I O system and select Scan Network The connected laser scanner is displayed 4 Right click on the laser scanner and choose Add as The laser scanner is added under Controller in the Configuration tab page Note Two device names are displayed in the list by default You shall right click on the device n...

Страница 138: ...roller 10 Restart the controller 11 After the controller is restarted check the laser scanner name in RAPID program InternalSpeedHandling_User in task T_ROB1 and make sure it is consistent with the name that the user defines for the laser scanner If the names are inconsistent use the following steps to modify a In the Controller pane double click the RAPID program InternalSpeedHandling_User in tas...

Страница 139: ...ands still Red 0 ProtectingArea B Configuration procedure Before starting the configuration obtain the microScan 3 Core PROFINET GSDML file and the software tool Safety Designer from SICK s website first Make sure both the file and the software tool are in the latest versions Detailed procedures about how to configure the laser scanner are detailed in Operating instructions microScan3 PROFINET Fol...

Страница 140: ...es and assign the fields that are to be monitored to each monitoring cases in Configuration Monitoring cases Configuring SafeMove To enable SafeMove perform the following procedure 1 Start RobotStudio and connect the controller The user account logging in the controller must be granted with the Safety Services permission The write access to the controller is requested 2 In the Controller tab click...

Страница 141: ...displayed 3 In the Configuration tab page on the left pane of the window right click PROFINET under I O system and select Scan Network The connected laser scanners are displayed 4 Right click one of the laser scanners and choose Add as The laser scanner is added under Controller in the Configuration tab page Note Two device names are displayed in the list by default You shall right click on the de...

Страница 142: ...Refer to the cut off setting defined in the Safety Designer software and enter the actual value 10 In the I O Engineering tab click Write Config to write the configurations to the controller 11 Restart the controller 12 After the controller is restarted check the laser scanner name in RAPID program InternalSpeedHandling_User in task T_ROB1 and make sure it is consistent with the name that the user...

Страница 143: ... still Red 0 ProtectingArea B Configuration procedure Before starting the configuration obtain the microScan 3 Core PROFINET GSDML file and the software tool Safety Designer from SICK s website first Make sure both the file and the software tool are in the latest versions Detailed procedures about how to configure the laser scanner are detailed in Operating instructions microScan3 PROFINET Followi...

Страница 144: ...oose Rx Process image 6 Bytes from the drop down list 7 Create monitoring cases and assign the fields that are to be monitored to each monitoring cases in Configuration Monitoring cases Configuring SafeMove To enable SafeMove perform the following procedure 1 Start RobotStudio and connect the controller The user account logging in the controller must be granted with the Safety Services permission ...

Страница 145: ...d Control add in on page 109 The I O configuration can be seen using I O Engineering Tool in RobotStudio The following table lists the device mapping information of Scalable_IO signals which are automatically configured after the add in installation Device Device mapping Signal name ABB_Scalable_IO 0 ABB_Scalable_IO_0_DI1i ABB_Scalable_IO 1 ABB_Scalable_IO_0_DI2i ABB_Scalable_IO 2 ABB_Scalable_IO_...

Страница 146: ...d ProtectingArea B Configuration procedure Before starting the configuration obtain the software tool Safety Designer from SICK s website first Make sure the software tool is in the latest version Detailed procedures about how to configure the laser scanner are detailed in Operating instructions microScan3 Pro I O from the vendor Following described the procedure roughly 1 Open configuration softw...

Страница 147: ...the devicei Pin in cable D101 Pin1 OSSD1A DI02 Pin2 OSSD1B DI03 Pin3 OSSD2A DI04 Pin4 OSSD2B Circuit of D101 D102 D103 and D104 Pin17 i For detailed information of pin definitions in connector X2 Digital inputs of the scalable I O device DSQC1042 see the product specification of the controller and Application manual Scalable I O Configuring the scalable I O device Detailed procedures about how to ...

Страница 148: ...from the drop down list e Remove the texts in the Create new I O signals using name prefix text box and then click OK Information of two devices can be observed CabinetIO and ABB_Scalable_IO Communication status of ABB_Scalable_IO will turn to normal after the SafeMove template file is uploaded using the SafeMove configurator app Note The configuration could also be done using the I O application ...

Страница 149: ...ntroller 6 Tap Synchronization in the left pane 7 Jog the robot to match the Actual Positions values with the Sync Positions values Make sure the values are the same 8 Tap Synchronize Product manual CRB 1300 149 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 7 5 5 Configuration of one SafetyIO base laser scanner RobotWare 7 6 or later Conti...

Страница 150: ... lists the device mapping information of Scalable_IO signals which are automatically configured after the add in installation Device Device mapping Signal name ABB_Scalable_IO 0 ABB_Scalable_IO_0_DI1i ABB_Scalable_IO 1 ABB_Scalable_IO_0_DI2i ABB_Scalable_IO 2 ABB_Scalable_IO_0_DI3ii ABB_Scalable_IO 3 ABB_Scalable_IO_0_DI4ii ABB_Scalable_IO 4 ABB_Scalable_IO_0_DI5i ABB_Scalable_IO 5 ABB_Scalable_IO...

Страница 151: ...rotectingArea B Configuration procedure Before starting the configuration obtain the software tool Safety Designer from SICK s website first Make sure the software tool is in the latest version Detailed procedures about how to configure the laser scanners are detailed in Operating instructions microScan3 Pro I O from the vendor Following described the procedure roughly 1 Open configuration softwar...

Страница 152: ... 17 8 Connect the laser scanners to safety module with the defined pins Pin position number in X2 connector of the devicei Pin in cable Scanner D101 Pin1 OSSD1A Scanner 1 DI02 Pin2 OSSD1B DI03 Pin3 OSSD2A DI04 Pin4 OSSD2B Circuit of D101 D102 D103 and D104 Pin17 D105 Pin1 OSSD1A Scanner 2 DI06 Pin2 OSSD1B DI07 Pin3 OSSD2A DI08 Pin4 OSSD2B Circuit of D105 D106 D107 and D108 Pin17 i For detailed inf...

Страница 153: ...8 125 130 ABB_Scalable_IO Actual serial number of the device 192 168 125 131 ABB_Scalable_IO1 c Right click ABB_Scalable_IO1 and choose Configure from the shortcut menu d In the displayed dialog box choose the Configure as replacement device option and select ABB_Scalable_IO from the drop down list e Remove the texts in the Create new I O signals using name prefix text box and then click OK Inform...

Страница 154: ...eMove configuration files The controller restarts 4 After the controller is restarted tap Settings on the home page 5 Tap Safety Controller 6 Tap Synchronization in the left pane 7 Jog the robot to match the Actual Positions values with the Sync Positions values Make sure the values are the same 8 Tap Synchronize 154 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rig...

Страница 155: ...n fields defined for laser scanner to monitor and perform different program execution actions may result in different movement speed This section describes the speed control strategies for typical scenarios Strategies RobotWare 7 6 or later Users in Protecting area xx2200000302 Continues on next page Product manual CRB 1300 155 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved ...

Страница 156: ...rs in Warning area xx2200000303 156 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 7 5 7 Speed control strategies Continued ...

Страница 157: ... by ABB otherwise the lamp unit will not work See Robot cabling and connection points on page 98 The cable end connecting the manipulator connects to the R1 C1 connector on the robot base the other end of the cable is divided to two connectors which connect to the X1 connector of the base I O device DSQC 1030 and X19 connector on the controller respectively Continues on next page Product manual CR...

Страница 158: ...ic mode Manual mode Color Standby in motor on off state and program is stopped available for users to perform next actions White Program is executing Green Yellow warning area is triggered manipulator speed will be limited according to the actual configured value Lead through function is enabled Yellow Emergency stop error is raised or red protecting area is triggered Emergency stop or error is ra...

Страница 159: ...icator colors RGB of the LED lamp is controlled by values defined in RAPID instruction SWIFTI_SetCustomizedLEDColor in routine SWIFTI_LedMain which can affect the color that the lamp shows The routine exists in the system module SWIFTI_Main of task T_SWIFTI_LED xx2200000434 The following table lists the logical value combinations and corresponding lamp colors Parameter value 3 Parameter value 2 Pa...

Страница 160: ...igate to the function ISH_b_FunctionlityIsUsed and set its value from default TRUE to FALSE xx2200000435 3 Save the change and apply to the controller SafeMove configurations also affect the speed control on the robot to achieve further safety SafeMove is still functional after the SpeedHandling function in RAPID program is deactivated Use the following procedure to disable the speed control funct...

Страница 161: ...area the robot speed is limited to 250 mm sec by default Use the following procedure to change the speed limit based on risk assessment of the final application 1 In RobotStudio open the RAPID program InternalSpeedHandling_User in task T_ROB1 2 Navigate to the function ISH_n_Speed_In_WarningArea_mm_s and set its value from default 250 to any required value xx2200000437 3 Save the change and apply ...

Страница 162: ...afeMove Properties window set the Max speed mm s in the Speed limits area to a required value xx2200000439 6 Apply the configuration to the controller by clicking Write to Controller in the Controller group in the Configuration category Continues on next page 162 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 3 Installation and commissioning 3 7 7 Use...

Страница 163: ...l_SST and ISH_AtUser_Period_ms_Until_TSP according to application requirements using the following procedure The change must be based on the risk assessment of the final application 1 Open the RobotStudio 2 Log in the controller using the Admin account and request the write access 3 In the Controller tab choose Visual SafeMove from the Safety group in the Configuration category 4 In the Visual Saf...

Страница 164: ...quipment installed to secure the position or restrict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that no personnel is leaning on or have their head or neck close to the robot 5 Verify that all arm covers and paddings if any are properly secured to the robot 6 If maintenance or repair has been done verify the ...

Страница 165: ...here are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page 15 before performing any service work The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional standards...

Страница 166: ...nning means more frequent maintenance activities SIS specified by the robot s SIS Service Information System A typical value is given for a typical work cycle but the value will differ depending on how hard each part is run The SIS used in OmniCore is further described in the Operating manual OmniCore Robots with the functionality Service Information System activated can show active counters in th...

Страница 167: ...t Check for damages defective or lack of effectiveness x Inspecting the laser scanners Inspect the oil level of axis 2 in the actual gearbox if there is a suspected leakage after an oil change or a maintenance or repair activity where draining and filling oil is required See Inspecting the oil level in axis 2 gearbox on page 181 Inspecting the oil level in gearboxes Inspecting the information labe...

Страница 168: ...ne vi x Overhaul of complete robot i Regularly implies that the activity is to be performed regularly but the actual interval may not be specified by the robot manufacturer The interval depends on the operation cycle of the robot its working environment and movement pattern Generally the more contaminated environment the shorter intervals The more demanding movement pattern sharper bending cable h...

Страница 169: ...normal usage in regard to movement most material handling applications and limited use of bending backwards mode of axis 3 ii Severe chemical or thermal environments or similar environments can result in shortened life expectancy iii Examples of extreme usage in regard to movement press tending very severe palletizing applications major use of axis 1 movement and major use of bending backwards of ...

Страница 170: ...rs are fitted to the robot before cleaning Do not point the water jet at connectors joints sealings or gaskets Do not use compressed air to clean the robot Do not use solvents that are not approved by ABB to clean the robot Do not remove any covers or other protective devices before cleaning the robot Cleaning methods This following table defines what cleaning methods are allowed for ABB manipulat...

Страница 171: ...d Minimum distance from nozzle to encapsulation 0 4 meters Maximum flow 20 liters minI I Typical tap water pressure and flow Cables Movable cables need to be able to move freely Remove waste material such as sand dust and chips if it prevents cable movement Clean the cables if they have a crusty surface for example from dry release agents 1 See Cleaning methods on page 170 for exceptions Product m...

Страница 172: ...el A A B B C D E F G H J xx2200001130 ABB logo also specifying robot type A Cobot label B Instruction label C Brake release Read manual label also specifying warning labels D Stockrobots label E Rating label CE label and AbsAcc label F UL label G Calibration label H Extra O ring fitting label J Required tools and equipment Visual inspection no tools are required Continues on next page 172 Product ...

Страница 173: ...eguarded space 1 Inspect the labels located as shown in the figures 2 Article numbers for the labels and plate set is specified in Spare parts on page 719 Replace any missing or damaged labels 3 Product manual CRB 1300 173 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 1 Inspecting the information labels Continued ...

Страница 174: ...ion DANGER Turn off all electric power supply to the robot hydraulic pressure supply to the robot air pressure supply to the robot Before entering the robot working area 1 Visually inspect the control cabling between the robot and control cabinet the cabling to motors 1 and 2 Look for abrasions cuts or crush damage 2 Replace the cabling if wear or damage is detected 3 174 Product manual CRB 1300 3...

Страница 175: ... xx2200001134 Mechanical stop axis 1 slider A Mechanical stop axis 1 fixed block B Axis 2 xx2200001135 Continues on next page Product manual CRB 1300 175 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 3 Inspecting mechanical stops ...

Страница 176: ...200001136 Axis 4 xx2200001137 Mechanical stop axis 4 flange A Mechanical stop axis 4 slider B Continues on next page 176 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 3 Inspecting mechanical stops Continued ...

Страница 177: ...s are accessible after removing the base see Replacing the base on page 260 The axis 4 mechanical stops are accessible after removing the housing see Replacing the housing and extender unit on page 378 Visual inspection no tools are required Other tools and procedures may be required if the spare part needs to be replaced These are specified in the replacement procedure Inspecting mechanical stops...

Страница 178: ...amaged Note The expected life of gearboxes can be re duced as a result of collisions with the mechanical stop 3 178 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 3 Inspecting mechanical stops Continued ...

Страница 179: ...having been installed and used for more than 12 hours Compared with the new timing belt the force value decreases 15 and the frequency value decreases 28 when the timing belt has been installed and used for more than 12 hours but less than 150 hours When the timing belt has been installed and used for more than 150 hours both the force and frequency values decrease 30 Inspecting timing belts Use t...

Страница 180: ...79 Use a sonic tension meter to measure the timing belt tension 6 If the belt has no tension adjust it 180 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting timing belts Continued ...

Страница 181: ... Content is defined in section Standard toolkit on page 716 Standard toolkit Required consumables Note Article number Consumables Information about the oil is found in Technical reference manual Lubrica tion in gearboxes Lubricating oil Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual CRB 1300 ...

Страница 182: ...t before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 5 Continues on next page 182 Product manual CRB 1300 3...

Страница 183: ... level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 8 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 9 Further information about how to drain or fill with oil is found in section Changing oil axis 2 gearbox on page 200 Tightening torque 10 Nm Refit ...

Страница 184: ...onnector R1 MP on page 66 xx2000001520 Jog all axes to zero position 13 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 14 184 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 4 5 Inspecting the oil level in axis 2 gearbox Continued ...

Страница 185: ...d by connector interface location The cable packages are located as shown in the figures Bottom connector interface Rear connector interface Robot type xx2000001261 xx2000001260 CRB 1300 11 0 9 xx2000001259 xx2000001258 CRB 1300 10 1 15 Continues on next page Product manual CRB 1300 185 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 5 1 Lubricating the cable ...

Страница 186: ...ure Required consumables Note Article number Consumable FM 222 3HAC029132 001 Grease Lubricating the cable package Use this procedure to lubricate the cable package Information Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Gain access to the cable package by remov ing the covers 2 Continues on ne...

Страница 187: ...ed the part must be replaced 4 Apply grease to the cable package cover all moving area of the package 5 Apply grease to the covers that have con tacting area with the cable package 6 Product manual CRB 1300 187 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 5 1 Lubricating the cable package Continued ...

Страница 188: ...siness Portal www abb com myABB Note Article number Spare part Battery includes protection cir cuits Only replace with the spe cified spare part or an ABB ap proved equivalent 3HAC044075 001 Battery pack Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page 188 Product manual CRB 1300 3HAC083111...

Страница 189: ...these procedures to remove the battery pack Preparations before removing the battery pack Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 C...

Страница 190: ...can result in hazardous failures CAUTION There are cabling attached to the cover The cover cannot be removed completely until the connectors are removed 3 xx2000001504 Disconnect the connectors SMB J1 SMB J2 R2 SMB Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Remove the SMB cover completely from the base 5 Removing the bat...

Страница 191: ...battery pack Use these procedures to refit the battery pack Refitting the battery pack Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 xx2000001506 Secure the battery pack using the cable strap 2 Continues on next page Product manual CRB 1300 191 3HAC083111 001 Revision B ...

Страница 192: ...r markings on the connectors for help to find the corresponding connector 2 xx2000001504 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Refit the SMB cover to the base 4 Tightening torque 2 6 Nm xx2000001503 Continues on next page 19...

Страница 193: ...bot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 193 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 6 1 Replacing the battery pack Continued ...

Страница 194: ...he amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal www abb com myABB Location of gearboxes The figure shows the location of the gearboxes Equipment Note Equipment Includes pump with outlet pipe Oil dispenser Use the suggested dispenser or a similar one Orion OriCan article number 22590 pneuma...

Страница 195: ... filling oil to axis 1 gearbox Connector specification G3 8 Connector for quick coupling with outlet pipe Includes pump with outlet pipe Oil dispenser Content is defined in section Standard toolkit on page 716 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes o...

Страница 196: ... pressure supply to the robot before entering the safeguarded space 2 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page 196 Produ...

Страница 197: ...ecom missioning on page 705 for more informa tion 6 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 7 Remove the quick coupling connector and clean the pipe after the oil is drained Note There will be some oil left in the gearbox after draining 8 Tightening torque 10 Nm Refit oil plugs 9 Continues on next page Product manual CRB 130...

Страница 198: ...ting 3 WARNING Overfilling of gearbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the am...

Страница 199: ...ents are met when performing the first test run See Test run after installation maintenance or repair on page 164 1 Product manual CRB 1300 199 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 4 Maintenance 4 7 2 Changing oil axis 1 gearbox Continued ...

Страница 200: ... the complete amount of oil Oil collecting vessel Includes pump with outlet pipe Oil dispenser Content is defined in section Standard toolkit on page 716 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page194 Continues on next page 200 Product manual CRB ...

Страница 201: ...o the specified position Axis 1 0 Axis 2 67 5 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 No significance 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 Continues...

Страница 202: ...a clean pipe to the oil plug draining with the other end to the oil collecting ves sel 5 xx2000001517 Remove the oil plug venting and keep it opened to speed up the drainage 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 705 for more informa tion 7 Continues on next page 202 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 202...

Страница 203: ...n WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2000001518 Oil plug opened A Oil plug closed B Open the upper oil plug Note The lower oil plug has to be closed other wise the oil may leak b...

Страница 204: ...suring the level at the upper oil plug hole Required oil level within the range of 64 mm to 69 mm below the edge of the oil plug hole CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 6 Tightening torque 10 Nm Refit the oil plug 7 DANGER Make sure all safety requirements are met when performing the first test...

Страница 205: ...cement unit This is particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 15 before commencing any service work Note The robot should be secured with the transportation brackets during removing from refitting to the foundation Note If the CRB 1300 is connected to power always make sur...

Страница 206: ...fore actual mounting The fitting of sealings and gears must be carried out on clean workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the main lip 1 Inspect the shaft surface before mounting If scratches or damage are found ...

Страница 207: ...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 Product manual CRB 1300 207 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 208: ...n the screws evenly when fastening the flange joint 4 O rings The following procedure describes how to fit o rings Note Action Ensure that the correct o ring size is used 1 Defective o rings including damaged or deformed o rings may not be used Check the o ring for surface defects burrs shape accuracy or deformation 2 Check the o ring grooves 3 The grooves must be geometrically correct and should ...

Страница 209: ...hite 3HAC067974 001 Touch up paint Standard Foundry Plus Removing Description Action xx0900000121 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid that the paint cracks 1 Carefully grind the paint edge that is left on the structure to a smooth surface 2 Product manual CRB 1300 209 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights ...

Страница 210: ...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...

Страница 211: ...al Ethernet must be disconnected inside the tubular before the cable package can be removed As standard feature the connector interface is located at the rear of the base The interface can also be bottom mounted as an option This section describes both configurations The cable packages are located as shown in the figures Bottom connector interface Rear connector interface Robot type xx2000001261 x...

Страница 212: ...in the table can be out of date See the latest spare parts of the CRB 1300 via myABB Business Portal www abb com myABB Note Article number Spare part Used with CRB 1300 11 0 9 3HAC073305 001 Main cable harness S CP CS and air hose with Ethernet Continues on next page 212 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the cable...

Страница 213: ... 001 Swing top cover 3HAC073090 001 Base cover 3HAC076475 001 SMB cover 3HAC073296 001 Brake release unit Used with protection class IP67 Replace if damaged 3HAC070887 001 Gasket for process hub Used with protection class IP67 Replace if damaged 3HAC067820 001 Gasket for SMB cover Used with protection class IP67 Replace if damaged 3HAC070274 001 Gasket for brake release unit Used with protection c...

Страница 214: ... 001 Calibration toolbox Axis Calibra tion Used to release the motor brakes 24 VDC power supply Required consumables Note Article number Consumable Cable straps FM 222 3HAC029132 001 Grease Deciding calibration routine Decide which calibration routine to be used based on the information in the table Depending on which routine is chosen action might be required prior to beginning the repair work of...

Страница 215: ...s 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 the cable package Use these procedures to remove the cable package Preparations before removing the cable package Note Action Decide which calibration routine to use and take actions accordingly prior to be...

Страница 216: ...ANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 xx2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Continues on next page 216 Product manual ...

Страница 217: ...e the male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continue...

Страница 218: ...xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page 218 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All...

Страница 219: ...tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page Product manual CRB 1300 219 3HAC083111 ...

Страница 220: ...nce when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page 220 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 221: ...emoved completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on nex...

Страница 222: ...3 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001548 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 Continues on next pa...

Страница 223: ...0001551 Snap loose and remove the male head of the connectors from the connector plate 5 Separating the cable package from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 223 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 3 1 Replac...

Страница 224: ...the cable package from the swing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001556 Remove the axis 2 cable protector 2 Continues on next page 224 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the cable package Continued ...

Страница 225: ...mation in section The unit is sensitive to ESD on page 49 2 xx2000001503 Remove the SMB cover attachment screws and carefully open the cover CAUTION Clean cover from metal residues before opening Metal residues can cause shortage on the boards which can result in hazardous failures CAUTION There are cabling attached to the cover The cover cannot be removed completely until the connectors are remov...

Страница 226: ...the base CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 xx2000001560 Disconnect the motor connectors FB1 MP1 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 3 xx2000001561 Snap...

Страница 227: ...achment screws and carefully open the plate CAUTION There are cabling attached to the plate The plate cannot be removed completely until the connect ors are removed 2 xx2000001558 Valid for cabling with bottom inter face option 3309 1 xx2000001575 Disconnecting the earth cable Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 C...

Страница 228: ...ROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Cut the cable strap 3 xx2100001480 Disconnect the connector R2 BRU Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on next page 228 Product manual CRB 1300 3HA...

Страница 229: ... the direction as shown in the figure Note Slip out the cable protectors while pulling out the cable package 4 Slip out the cable protectors 5 Refitting the cable package Use these procedures to refit the cable package Securing the cable package in the base Note Action Wrap the connectors with the masking tape 1 Continues on next page Product manual CRB 1300 229 3HAC083111 001 Revision B Copyright...

Страница 230: ...00001566 Insert the cable package up through the axis 1 gearbox and out from the swing top cover side CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the cable package 4 Tightening torque 2 6 Nm xx2000001564 Continues on next page 230 Product manual CRB 1300 3HAC083111 001 Revision B Copyri...

Страница 231: ...er of the motor connectors to the connector plate 1 xx2000001560 Reconnect the connectors FB1 MP1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Continues on next page Product manu...

Страница 232: ...s out from the hole near the base rear as circled in the figure CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 1 xx2000001747 Grease 3HAC029132 001 Apply grease to the axis 2 cable protector and slip it over the cable harness Note Note the correct direction of the cable protector 2 Plastic cable protector axis 2 3HAC067816 001 xx2000001567 Continues on next ...

Страница 233: ... twisted or strained Reroute if necessary 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs for each bracket on cable package and 2 pcs on swing Refit the cable brackets to the cable package first and then to the swing 4 Tightening torque 2 6 Nm xx2100001466 xx2000001557 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the axis 2 cable protector 5 Tightening torque 2 6 Nm xx2000001556 Continues on next page Pr...

Страница 234: ...eplaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 xx2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Continues on next page 234 Product manual CRB 1300 3HAC08311...

Страница 235: ...ured incorrectly the cables can be damaged 2 xx2000001550 Reconnect the connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page Product manual CRB 1300 235 3HAC083111 001 Revision B Copyright...

Страница 236: ...age 1 3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next pa...

Страница 237: ...rkings on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 ...

Страница 238: ...tors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page 238 ...

Страница 239: ... if equipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product...

Страница 240: ...he corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 240 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 20...

Страница 241: ...ting the process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page Product manual CRB 1300 241 3HAC083111 001 Revision B Copyright 202...

Страница 242: ...Securing the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page 242 Product manual CRB 1300 3HAC083111 001 Revision B Copyrig...

Страница 243: ...e connector R2 BRU Tip See the number markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Reconnecting the earth cable Note Action Gasket for base cover 3HAC067819 001 For robots with protection class IP6...

Страница 244: ...ection The unit is sensitive to ESD on page 49 1 Tightening torque 0 3 Nm Reconnect the connectors SMB J1 SMB J2 R2 SMB Tip See the number markings on the connectors for help to find the corresponding connector 2 xx2000001504 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 ...

Страница 245: ... Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2000002515 Check the seal bolt Replace if damaged Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Continues on next page Product manual CRB 1300 245 3HAC083111 001 Revisio...

Страница 246: ...7 option 3350 670 Check the gaskets Tubular support cover A Housing cover B Lower arm support cover C Swing support cover D Swing top cover E Replace if damaged 1 Grease 3HAC029132 001 Apply grease to the cable package cover all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Continues on next page 246 Product manual ...

Страница 247: ...que 2 6 Nm xx2000001572 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 247 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5...

Страница 248: ...om myABB Note Article number Spare part 3HAC063968 001 Serial measurement unit 3HAC076475 001 SMB cover Used with protection class IP67 Replace if damaged 3HAC067820 001 Gasket for SMB cover Battery includes protection cir cuits Only replace with the spe cified spare part or an ABB ap proved equivalent 3HAC044075 001 Battery pack Continues on next page 248 Product manual CRB 1300 3HAC083111 001 Re...

Страница 249: ...r calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find pre...

Страница 250: ...y air pressure supply to the robot before entering the safeguarded space 3 Disconnecting the SMB connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Continue...

Страница 251: ... cable position before disconnecting them to have as a reference when reconnecting 4 Remove the SMB cover completely from the base 5 Removing the battery pack Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section...

Страница 252: ...mation in section The unit is sensitive to ESD on page 49 2 xx2000001507 Remove the screws 3 Refitting the SMB unit Use these procedures to refit the SMB unit Refitting the SMB unit Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Continues on next page 252 Product manual C...

Страница 253: ...sitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 xx2000001506 Secure the battery pack using the cable strap 2 xx2000001505 Reconnect the battery cable 3 Continues on next page Product manual CRB 1300 253 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 3 2 Replacing the SMB unit Continued ...

Страница 254: ...rrect cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Refit the SMB cover to the base 4 Tightening torque 2 6 Nm xx2000001503 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when p...

Страница 255: ...usiness Portal www abb com myABB Note Article number Spare part 3HAC073296 001 Brake release unit Used with protection class IP67 Replace if damaged 3HAC070274 001 Gasket for brake release unit Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page Product manual CRB 1300 255 3HAC083111 001 Revis...

Страница 256: ...iven 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 robot Read more about ...

Страница 257: ...dling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 xx2000001577 Remove the screws and carefully open the cover CAUTION Clean cover from metal residues before opening Metal residues can cause shortage on the boards which can result in hazardous failures CAUTION There are cabling attached to the cover The cover cannot be removed completely until the conne...

Страница 258: ...e unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Gasket for brake release unit 3HAC070274 001 For robots with protection class IP67 option 3350 670 2 xx2000002509 Check the gasket Replace if damaged xx2000001578 Reconnect the connector R2 BRU Tip See the number markings on the connectors for help to find the corres...

Страница 259: ...ightening torque 2 6 Nm xx2000001577 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 259 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserv...

Страница 260: ...Business Portal www abb com myABB Note Article number Spare part 3HAC073029 001 Base 3HAC063187 001 Gear unit axis 1 3HAC063187 007 O ring on axis 1 gear unit 3HAC073039 001 Motor unit axis 1 3HAC061327 037 O ring on motor unit 3HAC066433 001 Radial sealing 3HAC070148 002 Radial sealing 3HAC074630 001 Quick coupling Continues on next page 260 Product manual CRB 1300 3HAC083111 001 Revision B Copyr...

Страница 261: ... axis 4 3HAC073094 001 Tubular cover 3HAC073093 001 Housing cover 3HAC073092 001 Lower arm cover Used for CRB 1300 11 0 9 3HAC073095 001 Swing cover short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073096 001 Swing cover long 3HAC073091 001 Swing top cover 3HAC073090 001 Base cover 3HAC076475 001 SMB cover 3HAC073296 001 Brake release unit Used with protection class IP67 Replace if damaged 3...

Страница 262: ...place if damaged 3HAC032050 001 Seal bolt Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calibration toolbox Axis Calibra tion Used to release the motor brakes 24 VDC power supply Th...

Страница 263: ... TMO150 3HAC032140 001 Lubricating oil Loctite 5400 or equivalent Loctite 577 Flange sealant for conical fittings Removing the base Use these procedures to remove the base Preparations before removing the base Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all el...

Страница 264: ... the oil collecting vessel underneath the quick coupling 3 xx2000001513 Remove the oil plugs and keep them opened to speed up the drainage 4 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 705 for more informa tion 6 Continues on next page 264 Product manual CRB ...

Страница 265: ...emoving the cable package on page 215 to remove the complete cable package Supporting the arm system with roundsling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Roundsling 1 7 m Lifting capacity 70 kg Run a roundsling around the lower arm 2 xx2000001651 CAUTION The arm system weighs 52 kg All lifting accessories used must...

Страница 266: ...roundsling too much 6 Separating the arm system from base Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000000502 Remove screws and washers 2 xx2000001702 Lift the arm system little by little to separate the arm system from the base 3 Continues on next page 266 Product manual CRB 1300 3HAC083111 001 Revision B Copyright ...

Страница 267: ...p fixed block 3 Removing the base from foundation Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 2 Loosen the base from the foundation by removing the foundation attachment screws 3 Continues on next page Product manual CRB 1300 267 3HAC...

Страница 268: ...ing the motor from the gearbox there may be pressure present in the gearbox causing lubricant to spray from the opening Be fore proceeding please read the safety informa tion in the section Gearbox lubricants oil or grease on page 29 2 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 3 xx2000001643 Access the scre...

Страница 269: ...er hydraulic pressure and air pressure are turned off 1 CAUTION Removing gearboxes will release axes This means the axes can fall down Make sure axes are well supported before remov ing gearboxes 2 xx2000001694 Remove the screws 3 Continues on next page Product manual CRB 1300 269 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 270: ...adial sealings on the base Replace if damaged as described below 1 Radial sealing 3HAC066433 001 Place the new motor side radial sealing in its groove in the base 2 xx2000001714 The sealing lip is towards the swing side Continues on next page 270 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 271: ...aling pressfit tool Included in special toolkit 3HAC076396 001 xx2000001716 xx2000001717 Fix the pressift tool with an M8 screw 4 Screw the screw little by little and evenly to press the sealing into place 5 Radial sealing 3HAC070148 002 Repeat steps 2 to 5 to replace the gearbox side radial sealing 6 Continues on next page Product manual CRB 1300 271 3HAC083111 001 Revision B Copyright 2022 2023 ...

Страница 272: ... Apply flange sealing Loctite 577 on the mounting surfaces of the quick coupling and wipe clean if there is any overflowing Loctite 577 2 Tightening torque N A tighten up properly xx2000001335 Refitting the axis 1 gearbox Note Action O ring on axis 1 gear unit 3HAC063187 007 Check the O ring Replace if damaged 1 xx2000001696 Continues on next page 272 Product manual CRB 1300 3HAC083111 001 Revisio...

Страница 273: ...ssembly cap to the gearbox 2 xx2000001709 xx2000001710 Put the base onto the gearbox 3 xx2000001711 Turn the base together with the gearbox over to the standing position 4 xx2000001712 Remove the assembly cap 5 Continues on next page Product manual CRB 1300 273 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 274: ...lies for electrical power hydraulic pressure and air pressure are turned off 1 Put the base on its side for easily refitting the motor and base cover 2 Refitting the axis 1 motor Note Action Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 1 Continues on next page 274 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 275: ...cording to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the swing Make sure the motor is properly fit to gearbox 4 xx2000001647 Screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the screws and washers 5 Tightening torque 10 Nm xx2000001644 Continues on next page Product manual CRB 1300 275 3HAC083111 001 Revision B Copyright 2022 2023 AB...

Страница 276: ...00001642 Securing the base to the foundation Note Action Attachment screws M16x50 qual ity 8 8 Secure the base to the foundation with the attach ment screws and washers 1 Washers 17 x 30 x 3 steel hard ness class 200HV Tightening Torque 150 Nm 10 Nm Refitting the axis 1 mechanical stops Note Action Screw M4x25 12 9 Lafre 2C2B FC6 9 6 pcs Refit the axis 1 mechanical stop fixed block 1 Tightening to...

Страница 277: ...ing 3HAC067626 001 Check the gasket 1 xx2000001704 Replace if damaged xx2000001702 Place the arm system slowly down to the base 2 xx2000001699 Align the oil plugs on the swing with the marked screws on the axis 1 gearbox 3 Continues on next page Product manual CRB 1300 277 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 278: ...x Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2000001513 Open the oil plugs one for filling and the other for venting 3 Continues on next page 278 Product manual CRB 1300 3HAC...

Страница 279: ...th oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page ...

Страница 280: ...t Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073047 001 Swing long Used for CRB 1300 11 0 9 3HAC073041 001 Swing support short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073052 001 Swing support long 3HAC073078 001 Motor unit axis 2 3HAC061327 037 O ring on motor unit 3HAC065676 001 Sealing ring swing support side 3HAC061327 036 O ring on swing Replace if damaged 3HAC065651 001 Mechani...

Страница 281: ...sket for tubular cover Used with protection class IP67 Replace if damaged 3HAC067833 001 Gasket for housing cover Used with protection class IP67 Replace if damaged 3HAC067832 001 Gasket for lower arm cover Used for CRB 1300 11 0 9 Used with protection class IP67 Replace if damaged 3HAC067822 001 Gasket for swing support short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 Used with protection class...

Страница 282: ...t of oil Oil collecting vessel Includes pump with outlet pipe Oil dispenser Length 1 7 m Lifting capacity 70 kg Roundsling 1 7 m Overhead crane Used with protection class IP67 Used for the press fitting of radial sealings Includes two sets of ra dial sealing assembly tool for axes 2 to 3 3HAC078203 001 Special toolkit for IP67 robots Required consumables Note Article number Consumable Cable straps...

Страница 283: ...ering the safeguarded space 2 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page Product manual CRB 1300 283 3HAC083111 001 Revisi...

Страница 284: ...nting and keep it opened to speed up the drainage 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 705 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page 284 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 A...

Страница 285: ...P according to Supplying power to connector R1 MP on page 66 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on...

Страница 286: ...2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Disconnecting the axis 6 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 28...

Страница 287: ...ing the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on next page Product manual CRB 1300 287 3HAC083111 001 Revision B Co...

Страница 288: ...f 1 xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page 288 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 289: ...the tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page Product manual CRB 1300 289 3HAC083...

Страница 290: ...ference when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page 290 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023...

Страница 291: ...be removed completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on...

Страница 292: ...and 3 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001548 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 Continues on nex...

Страница 293: ...x2000001551 Snap loose and remove the male head of the connectors from the connector plate 5 Separating the cable package from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 293 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 2 Re...

Страница 294: ...ing the cable package from the swing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001556 Remove the axis 2 cable protector 2 Continues on next page 294 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing the swing Continued ...

Страница 295: ...pressure are turned off 1 Wrap the connectors with the masking tape 2 xx2000001683 Pull the cable package out to the swing support 3 Removing the swing support Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 295 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserve...

Страница 296: ... tubular and tilt unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Roundsling 1 7 m 2 pcs Lifting capacity 70 kg Run two roundslings between the housing and the lower arm 2 xx2000001685 CAUTION The lower and upper arms weighs 38 kg All lifting accessories used must be sized accord ingly 3 Continues on next page 296 Produc...

Страница 297: ...arating the swing from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001686 Remove the screws 2 xx2000001687 Separate the swing from the lower arm Tip If the swing is hard to loosen from the lower arm use a plastic hammer to knock on the swing lightly 3 Continues on next page Product manual CRB 1300 297 ...

Страница 298: ...he swing Put it aside for later refitting xx2000001703 2 Pull the cable package completely out from the swing 3 Refitting the swing Use these procedures to refit the swing Check the radial sealing on the swing top Note This procedure is valid for robots with protection class IP67 option 3350 670 Continues on next page 298 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB Al...

Страница 299: ...three M4x12 screws 2 xx2000002461 Grease 3HAC029132 001 Apply a little grease to the sealing lip when repla cing the radial sealing and wipe clean after the replacement 3 xx2000002462 Fit the new sealing into the swing For robots with protection class IP67 option 3350 670 The sealing lip as pointed in the following figure is facing the outer side of the robot xx2000002537 4 Continues on next page ...

Страница 300: ... circular plate of the axis 2 sealing assembly tool and fix with three M6x75 screws 6 xx2000002464 xx2000002465 Screw the screws little by little and evenly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the swing to the base Note Action See Replacing the axis 2 mechan ical stops on page 325 Check the axis 2 mechanic...

Страница 301: ... the axis 1 mechanical stop slider and refit it to the swing 4 xx2000001703 Route the cable package through the swing and out from the swing support side 5 Place the swing down to the base 6 xx2000001699 Align the oil plugs on the swing with the marked screws on the axis 1 gearbox 7 Continues on next page Product manual CRB 1300 301 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights rese...

Страница 302: ...70 1 Sealing ring swing side 3HAC065675 001 Check the sealing ring Replace if damaged Screw M4x12 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 3 8 Nm For robots with protection class IP67 option 3350 670 xx2000002516 O ring on swing 3HAC061327 036 Check the O ring 2 xx2000001750 Replace if damaged Continues on next page 302 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 303: ... be present under the suspended load 1 Make sure the lower and upper arms are firmly secured with the swing 2 Remove the roundslings 3 Check the radial sealing on the swing support Note This procedure is valid for robots with protection class IP67 option 3350 670 Note Action xx2000002466 Check the radial sealing on the swing support Replace if damaged as described below 1 Continues on next page Pr...

Страница 304: ...00002468 Fit the new sealing into the swing support For robots with protection class IP67 option 3350 670 The sealing lip as pointed in the following figure is facing the outer side of the robot xx2000002537 4 Ring of the axis 2 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 2 sealing...

Страница 305: ...ly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the swing support Note Action Sealing ring swing support side 3HAC065676 001 Check the sealing ring Replace if damaged 1 Screw M4x12 12 9 Lafre 2C2B FC6 9 16 pcs Tightening torque 3 8 Nm xx2000001692 Continues on next page Product manual CRB 1300 305 3HAC083111 001 Re...

Страница 306: ...f damaged xx2000002520 xx2000001745 Route the cable package through the swing sup port Make sure that the air hoses are facing the SMB side in the hollow tube of axis 1 gearbox the cable package is out from the hole near the base rear as circled in the figure CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 4 xx2000001747 Continues on next page 306 Product man...

Страница 307: ...xis 2 3HAC067816 001 xx2000001567 Securing the cable package in the swing Note Action xx2000001746 Route the cable package up into the lower arm Make sure that the the air hoses are facing outside in the axis 2 cable protector see the figure as a guidance for the cable twisting way 1 Continues on next page Product manual CRB 1300 307 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights res...

Страница 308: ...2 Tightening torque 2 6 Nm xx2100001466 xx2000001557 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the axis 2 cable protector 3 Tightening torque 2 6 Nm xx2000001556 Continues on next page 308 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing the swing Continued ...

Страница 309: ...If replaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 xx2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Continues on next page Product manual CRB 1300 309 3HAC0...

Страница 310: ... secured incorrectly the cables can be damaged 2 xx2000001550 Reconnect the connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page 310 Product manual CRB 1300 3HAC083111 001 Revision B Copyr...

Страница 311: ...package 1 3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on nex...

Страница 312: ...r markings on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damage...

Страница 313: ...nnectors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page ...

Страница 314: ...ling if equipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 314...

Страница 315: ...nd the corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 315 3HAC083111 001 Revision B Copyright 202...

Страница 316: ...efitting the process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page 316 Product manual CRB 1300 3HAC083111 001 Revision B Copyright...

Страница 317: ...000 Securing the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page Product manual CRB 1300 317 3HAC083111 001 Revision B Cop...

Страница 318: ...et for swing covers D Gasket for swing top cover E Replace if damaged 1 Grease 3HAC029132 001 Apply grease to the cable package cover all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm support cover C Swing covers D S...

Страница 319: ...f all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Refilling oil to axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let ...

Страница 320: ...efill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent xx2000001580 Inspect the oil level by measuring the level at the upper oil plug hole Required oil level within the range of 64 mm to 69 mm below the edge of the oil plug hole CAUTION The oil level sinks when the oil fill...

Страница 321: ...o zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenan...

Страница 322: ...rts of the CRB 1300 via myABB Business Portal www abb com myABB Note Article number Spare part Replace if damaged 3HAC064478 001 Mechanical stop axis 1 fixed block Replace if damaged 3HAC065755 001 Mechanical stop axis 1 slider Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page 322 Product ma...

Страница 323: ...ne Used with protection class IP67 Used for the press fitting of radial sealings Includes two sets of ra dial sealing assembly tool for axes 2 to 3 3HAC078203 001 Special toolkit for IP67 robots Replacement of axis 1 mechanical stops The axis 1 mechanical stops both block and slider are accessible after removing the base see Replacing the base on page 260 Product manual CRB 1300 323 3HAC083111 001...

Страница 324: ...abb com myABB Note Article number Spare part Replace if damaged 3HAC065651 001 Mechanical stop block A Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Required consumables Note Article number Consumable Loctite 2400 or equivalent Loctite 243 Locking liquid Continues on next page 324 Product manual CRB 1300 3HAC0...

Страница 325: ...anical stop block A 3HAC065651 001 2 pcs Discard the old stops and refit with new ones 4 Apply a little Loctite 243 to the screws Note If there is locking liquid residues on the screw please clean it before refitting Remove residual locking liquid after refitting 5 Screw M4x16 stainless steel 1 pcs per stop Secure the mechanical stops 6 Tightening torque 1 Nm Product manual CRB 1300 325 3HAC083111...

Страница 326: ...Used for CRB 1300 11 0 9 Used with protection class IP40 3HAC073073 001 Lower arm short Used for CRB 1300 11 0 9 Used with protection class IP67 3HAC077798 001 Lower arm short IP67 Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 Used with protection class IP40 3HAC073074 001 Lower arm long Used for CRB 1300 10 1 15 CRB 1300 7 1 4 and Used with protection class IP67 3HAC077799 001 Lower arm long IP67 ...

Страница 327: ...aged 3HAC082935 001 Gasket for lamp unit cover 3HAC067816 001 Plastic cable protector axis 2 3HAC064693 001 Plastic cable protector axis 3 3HAC064694 001 Plastic cable protector axis 4 3HAC073094 001 Tubular cover 3HAC073093 001 Housing cover 3HAC073092 001 Lower arm cover Used for CRB 1300 11 0 9 3HAC073095 001 Swing cover short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073096 001 Swing co...

Страница 328: ... side Used with protection class IP67 Replace if damaged 3HAC061327 015 O ring on lower arm Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calibration toolbox Axis Calibra tion Used ...

Страница 329: ...and take actions accordingly prior to beginning the repair procedure 1 Jogging the robot to oil draining position Note Action xx2000001519 Jog the robot to the specified position Axis 1 0 Axis 2 67 5 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 No significance 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 2 Continu...

Страница 330: ...essure out 2 xx2000001515 Place the oil collecting vessel underneath the oil plug draining 3 xx2000001516 Remove the oil plug draining 4 Plug a clean pipe to the oil plug draining with the other end to the oil collecting ves sel 5 xx2000001517 Remove the oil plug venting and keep it opened to speed up the drainage 6 Continues on next page 330 Product manual CRB 1300 3HAC083111 001 Revision B Copyr...

Страница 331: ...oil plugs 10 Jogging the robot to zero position Note Action Turn on the electric power to the robot 1 If the robot is not connected to the controller power must be supplied to the connector R1 MP according to Supplying power to connector R1 MP on page 66 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot...

Страница 332: ...e that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 xx2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Continues on next page 332 Product manual CRB 1300 3HAC0...

Страница 333: ...ove the male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Contin...

Страница 334: ...1 xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page 334 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB A...

Страница 335: ...e tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page Product manual CRB 1300 335 3HAC08311...

Страница 336: ...rence when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page 336 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 A...

Страница 337: ... removed completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on n...

Страница 338: ...d 3 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001548 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 Continues on next ...

Страница 339: ...000001551 Snap loose and remove the male head of the connectors from the connector plate 5 Separating the cable package from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 339 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 1 Repl...

Страница 340: ...g the cable package from the swing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001556 Remove the axis 2 cable protector 2 Continues on next page 340 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the lower arm Continued ...

Страница 341: ...ure are turned off 1 Wrap the connectors with the masking tape 2 xx2000001683 Pull the cable package out to the swing support 3 Removing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 341 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserve...

Страница 342: ... 3 Fit a roundsling to the upper arm to support the weight no force 4 xx2000001614 Loosen the screws and move the motor slightly to slacken the timing belt 5 xx2000001615 Remove the timing belt from its groove on the motor 6 Removing the axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 342 P...

Страница 343: ...port Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001663 Remove the lower arm support Tip If the lower arm support is hard to loosen from the swing use a plastic hammer to knock on the lower arm support lightly 2 Continues on next page Product manual CRB 1300 343 3HAC083111 001 Revision B Copyright 2022 2023 ABB All ...

Страница 344: ...m is hard to loosen from the hous ing use a plastic hammer to knock on the lower arm lightly 3 Lay down the upper arm on a workbench Make sure to support the gravity center of the upper arm 4 Supporting the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Support the weight of the lower arm 2 Removing the axis 2 moto...

Страница 345: ...UTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 3 xx2000001624 Cut the cable strap 4 xx2000001625 Remove the cable bracket 5 xx2000001627 Access the screws and washers securing the axis 2 motor from the swing support 6 Continues on next page Product manual CRB 1300 345 3HAC083111 001 Revision B Copyright 2022 2023 ...

Страница 346: ...e swing support Tip If the lower arm support is hard to loosen from the swing use a plastic hammer to knock on the lower arm support lightly 2 Separating the swing from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 346 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023...

Страница 347: ...NGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000002516 For robots with protection class IP67 option 3350 670 Remove the sealing ring on the swing side 2 xx2000001692 Remove the sealing ring on the swing support side 3 Continues on next page Product manual CRB 1300 347 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reser...

Страница 348: ...gearboxes 2 xx2000001688 Remove the screws 3 xx2000001689 Pull out the gearbox 4 Refitting the lower arm Use these procedures to refit the lower arm Checking mechanical stops and oil plugs Note Action See Replacing the axis 3 mechan ical stops on page 478 Check the axis 3 mechanical stops Replace if damaged 1 Continues on next page 348 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 20...

Страница 349: ...e if damaged 1 xx2000001690 Guide pin for axis 2 gearbox In cluded in special toolkit 3HAC076396 001 Fit guide pins to the axis 2 gearbox Note Always use two guide pins together 2 xx2000001705 xx2000001706 Refit the axis 2 gearbox with guidance from the guide pins 3 Continues on next page Product manual CRB 1300 349 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5...

Страница 350: ... Action O ring on lower arm 3HAC061327 015 For robots with protection class IP67 option 3350 670 1 For robots with protection class IP67 option 3350 670 Check the O ring on the swing support side xx2000002518 xx2000002517 Continues on next page 350 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the lower arm Continued ...

Страница 351: ...e swing support side 3 Screw M4x12 12 9 Lafre 2C2B FC6 9 16 pcs Tightening torque 3 8 Nm xx2000001692 Check the radial sealing on the swing top Note This procedure is valid for robots with protection class IP67 option 3350 670 Note Action xx2000002460 Check the radial sealing on the swing top Replace if damaged as described below 1 Continues on next page Product manual CRB 1300 351 3HAC083111 001 ...

Страница 352: ...0002462 Fit the new sealing into the swing For robots with protection class IP67 option 3350 670 The sealing lip as pointed in the following figure is facing the outer side of the robot xx2000002537 4 Ring of the axis 2 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 2 sealing assembly...

Страница 353: ... the screws little by little and evenly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the swing to the lower arm Note Action O ring on swing 3HAC061327 036 Check the O ring 1 xx2000001750 Replace if damaged Continues on next page Product manual CRB 1300 353 3HAC083111 001 Revision B Copyright 2022 2023 ABB All right...

Страница 354: ...ote Action xx2000002466 Check the radial sealing on the swing support Replace if damaged as described below 1 Big circular plate of the axis 2 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 Fit the big circular plate of the axis 2 sealing as sembly tool to the swing support opposite side of the radial sealing with three M4x12 screws 2 xx2000002467 Continues on nex...

Страница 355: ... following figure is facing the outer side of the robot xx2000002537 4 Ring of the axis 2 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 2 sealing assembly tool against the sealing 5 xx2000002469 xx2000002562 Continues on next page Product manual CRB 1300 355 3HAC083111 001 Revision B...

Страница 356: ... sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the swing support Note Action Gasket for swing support short 3HAC067822 001 For robots with protection class IP67 option 3350 670 1 Gasket for swing support long 3HAC067823 001 Check the gasket Replace if damaged xx2000002520 Continues on next page 356 Product manual CRB 1300 3HAC08...

Страница 357: ...tector and slip it over the cable harness 4 Plastic cable protector axis 2 3HAC067816 001 xx2000001567 Refitting the axis 2 motor Note Action Axis 2 motor for CRB 1300 7 1 4 3HAC073078 001 CAUTION Do not mix the axis 2 motor used for CRB 1300 7 1 4 and Always carefully check the part number attached to the motor and the robot type and refit with the right one 1 Check that all assembly surfaces are...

Страница 358: ...ding to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the swing Make sure the motor is properly fit to gearbox 5 xx2000001630 Screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the screws and washers 6 Tightening torque 10 Nm xx2000001626 Continues on next page 358 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB A...

Страница 359: ...ged as described below 1 Big circular plate of the axis 3 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 Fit the big circular plate of the axis 3 sealing as sembly tool to the lower arm support opposite side of the radial sealing with three M4x12 screws 2 xx2000002478 Grease 3HAC029132 001 Apply a little grease to the sealing lip when repla cing the radial sealing...

Страница 360: ...37 4 Ring of the axis 3 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 3 sealing assembly tool against the sealing 5 xx2000002480 xx2000002562 Continues on next page 360 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 1 Replac...

Страница 361: ...d evenly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the lower arm support Note Action Gasket for lower arm support 3HAC067826 001 For robots with protection class IP67 option 3350 670 1 xx2000002521 Check the gasket Replace if damaged Continues on next page Product manual CRB 1300 361 3HAC083111 001 Revision B Co...

Страница 362: ...tached to the motor and the robot type and refit with the right one 1 Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 2 Motor orientation orient the motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the lower arm 3 xx2000001618 Continues on next page 362 Product manual CRB 1300 ...

Страница 363: ...78 5 Hz Move the motor to achieve proper belt tension 2 New belt 87 8 92 1 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws and readjust Tightening torque 3 3 Nm Secure the motor with the screws 4 xx2000001614 Release the support to the upper arm 5 Continues on next page Product manual CRB 1300 363 3...

Страница 364: ... Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs for each bracket on cable package and 2 pcs on swing Refit the cable brackets 2 Tightening torque 2 6 Nm xx2100001466 xx2000001557 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the axis 2 cable protector 3 Tightening torque 2 6 Nm xx2000001556 Continues on next page 364 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reser...

Страница 365: ... replaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 xx2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Continues on next page Product manual CRB 1300 365 3HAC083...

Страница 366: ...ecured incorrectly the cables can be damaged 2 xx2000001550 Reconnect the connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page 366 Product manual CRB 1300 3HAC083111 001 Revision B Copyrig...

Страница 367: ...ckage 1 3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next ...

Страница 368: ...markings on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged ...

Страница 369: ...ectors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page Pr...

Страница 370: ...ng if equipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 370 P...

Страница 371: ... the corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 371 3HAC083111 001 Revision B Copyright 2022 ...

Страница 372: ...itting the process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page 372 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2...

Страница 373: ...0 Securing the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page Product manual CRB 1300 373 3HAC083111 001 Revision B Copyr...

Страница 374: ...r all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm covers C Swing covers D 4 Tightening torque 2 6 Nm xx2000001724 Jogging the robot to oil filling position Note Action Turn on the electric power to the robot 1 If t...

Страница 375: ...ace 3 Refilling oil to axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page Product manual CRB 1300 375 3HAC083111 001 Revision B Copyright 2022 202...

Страница 376: ...ill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent xx2000001580 Inspect the oil level by measuring the level at the upper oil plug hole Required oil level within the range of 64 mm to 69 mm below the edge of the oil plug hole CAUTION The oil level sinks when the oil fills ...

Страница 377: ...zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance...

Страница 378: ...e housing and extender unit The housing is located as shown in the figure xx2000001476 Continues on next page 378 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender unit ...

Страница 379: ...tender unit 3HAC073076 001 Lower arm support 3HAC073084 001 Gear unit axis 4 Used with protection class IP67 Replace if damaged 3HAC061327 021 O ring on circular spline side axis 4 Used with protection class IP67 Replace if damaged 3HAC061327 017 O ring on flexible spline side axis 4 3HAC073087 001 Motor unit axis 4 3HAC065806 001 Timing belt axis 4 Replace if damaged 3HAC065805 001 Mechanical sto...

Страница 380: ...Replace if damaged 3HAC067832 001 Gasket for lower arm cover Used with protection class IP67 Replace if damaged 3HAC032050 001 Seal bolt Used with protection class IP67 Replace if damaged 3HAC070148 005 Radial sealing on lower arm Used with protection class IP67 Replace if damaged 3HAC061327 018 O ring on tubular Replace if damaged 3HAC078352 001 Plug screw Required tools and equipment Note Articl...

Страница 381: ...housing Use these procedures to remove the housing Preparations before removing the housing Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3...

Страница 382: ...ies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 xx2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Continues on next page 382 Product manual CRB 1300 3HAC083111 001 Revisi...

Страница 383: ...male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on n...

Страница 384: ...001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page 384 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All right...

Страница 385: ...r 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page Product manual CRB 1300 385 3HAC083111 001 Re...

Страница 386: ...en reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page 386 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All r...

Страница 387: ... completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on next page...

Страница 388: ...r connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001548 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 Continues on next page 388...

Страница 389: ...2000001551 Snap loose and remove the male head of the connectors from the connector plate 5 Pulling out the cable package Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 389 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing...

Страница 390: ... accessible from the lower arm support side 4 Removing the axis 4 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 Continues on next page 390 Product manual CRB 1300 3HAC083111 001 Revis...

Страница 391: ...669 Carefully lift out the motor 6 xx2000001670 Remove the timing belt 7 Removing the lower arm support Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 391 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender unit...

Страница 392: ...s can fall down Make sure axes are well supported before loosening timing belts 2 CAUTION The upper arms which includes housing extender unit only for CRB 1300 7 1 4 and tubular and tilt unit weighs 17 kg All lifting accessories used must be sized accord ingly 3 Fit a roundsling to the upper arm to support the weight no force 4 xx2000001614 Loosen the screws and move the motor slightly to slacken ...

Страница 393: ...perly secured The upper arm including housing extender unit only for CRB 1300 7 1 4 and tubular and tilt unit weighs 17 kg 2 xx2000001665 Separate the lower arm from the housing Tip If the lower arm is hard to loosen from the hous ing use a plastic hammer to knock on the lower arm lightly 3 Lay down the upper arm on a workbench Make sure to support the gravity center of the upper arm 4 Continues o...

Страница 394: ...re well supported before remov ing gearboxes 2 xx2000001666 Remove the screws 3 xx2000001667 Pull out the gearbox 4 Separating the housing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 394 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Repl...

Страница 395: ...the extender unit from the housing 4 Removing the axis 4 mechanical stop slider Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001732 Access the axis 4 mechanical stop slider from the housing Put it aside for later refitting 2 Continues on next page Product manual CRB 1300 395 3HAC083111 001 Revision B Copyright 2022 2...

Страница 396: ...ir pressure are turned off 1 xx2000001673 Remove the axis 4 mechanical stop flange CAUTION The axis 4 mechanical stop slider is accessible from the housing Put it aside for later refitting xx2000001674 2 Removing the axis 4 gearbox Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 396 Product manual CRB 1...

Страница 397: ... the gearbox 4 Separating the extender unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001730 Separate the extender unit from the tubular 2 Continues on next page Product manual CRB 1300 397 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender unit ...

Страница 398: ...ts with protection class IP67 option 3350 670 1 xx2000002519 Check the O ring Replace if damaged Screw M4x25 12 9 Lafre 2C2B FC6 9 12 pcs Refit the extender unit 2 Tightening torque 3 8 Nm xx2000001730 xx2000001731 Make sure that the notches on the extender unit and tubular are aligned 3 Continues on next page 398 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 399: ... Check the o rings Replace if damaged xx2000002525 xx2000001676 Refit the axis 4 gearbox 2 xx2000001720 Make sure that the screws on the gearbox are properly fitted into the notches on the extender unit 3 xx2000001679 Continues on next page Product manual CRB 1300 399 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender unit Contin...

Страница 400: ...p flange to the gearbox 1 xx2000001678 Make sure that the block on the mechanical stop flange is towards the upper side process hub side the notches on the extender unit and the mechanical stop flange are aligned 2 xx2000001677 Continues on next page 400 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender u...

Страница 401: ...lass IP67 option 3350 670 1 xx2000002519 Valid for CRB 1300 11 0 9 and CRB 1300 10 1 15 Check the O ring Replace if damaged xx2000001728 Valid for CRB 1300 11 0 9 and CRB 1300 10 1 15 Refit the tubular to the housing 2 xx2000001727 Valid for CRB 1300 7 1 4 and Refit the extender unit to the housing 3 Continues on next page Product manual CRB 1300 401 3HAC083111 001 Revision B Copyright 2022 2023 A...

Страница 402: ...ots with protection class IP67 option 3350 670 1 xx2000002524 Check the O ring Replace if damaged xx2000001667 Refit the axis 3 gearbox 2 Screw M4x35 12 9 Lafre 2C2B FC6 9 12 pcs Secure with screws 3 Tightening torque 4 2 Nm 3 xx2000001666 Continues on next page 402 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing an...

Страница 403: ...escribed below 1 Big circular plate of the axis 3 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 Fit the big circular plate of the axis 3 sealing as sembly tool to the lower arm support opposite side of the radial sealing with three M4x12 screws 2 xx2000002478 Grease 3HAC029132 001 Apply a little grease to the sealing lip when repla cing the radial sealing and wip...

Страница 404: ...g of the axis 3 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 3 sealing assembly tool against the sealing 5 xx2000002480 xx2000002562 Continues on next page 404 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the ...

Страница 405: ... to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the lower arm support Note Action Gasket for lower arm support 3HAC067826 001 For robots with protection class IP67 option 3350 670 1 xx2000002521 Check the gasket Replace if damaged Continues on next page Product manual CRB 1300 405 3HAC083111 001 Revision B Copyright ...

Страница 406: ...e the motor to achieve proper belt tension 2 New belt 87 8 92 1 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws and readjust Tightening torque 3 3 Nm Secure the motor with the screws 4 xx2000001614 Release the support to the upper arm 5 Continues on next page 406 Product manual CRB 1300 3HAC083111 0...

Страница 407: ... con nector Orient the motor correctly and fit it into the hous ing Note Make sure the motor flange does not press on the timing belt 3 xx2000001607 xx2000001680 Refit the motor and verify that the timing belt runs correctly in the groove of the motor pulley 4 Screw M4x16 12 9 Lafre 2C2B FC6 9 3 pcs Refit the screws and washers Note Do not tighten the screws yet 5 xx2000001605 Continues on next pa...

Страница 408: ...rew hole 2 xx2000001610 xx2000001611 Use a handheld dynamometer hooking to the tool 3 Used belt 16 7 19 1 N Pull the dynamometer to make the tension falling in the allowed force range Note Pay attention to the force application direction 4 New belt 23 9 26 2 N xx2000001612 Continues on next page 408 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Rep...

Страница 409: ... xx2000001609 Routing the cable package in the lower arm Note Action Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the cable package 1 Tightening torque 2 6 Nm xx2000001554 Continues on next page Product manual CRB 1300 409 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing and extender unit Continued ...

Страница 410: ...2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Reconnecting the axis 2 and 3 motor connectors Note Action xx2000001551 Insert the male header of the motor connectors to the connector plate 1 Continues on next page 410 Product manual CRB 1300 3HAC083111 001 Revision B C...

Страница 411: ...connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page Product manual CRB 1300 411 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 2 Replacing the housing ...

Страница 412: ...3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next page 412...

Страница 413: ... on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Contin...

Страница 414: ...nd motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page 414 Produc...

Страница 415: ...uipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manua...

Страница 416: ...responding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 416 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 417: ...he process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page Product manual CRB 1300 417 3HAC083111 001 Revision B Copyright 2022 2023...

Страница 418: ...ng the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page 418 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 202...

Страница 419: ... area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm covers C 4 Tightening torque 2 6 Nm xx2000001661 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make...

Страница 420: ...the tubular and tilt unit The tubular is located as shown in the figure xx2000001478 Continues on next page 420 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and tilt unit ...

Страница 421: ...tion class IP40 3HAC073082 001 Tubular support Used with protection class IP67 3HAC077803 001 Tubular support IP67 3HAC073084 001 Gear unit axis 4 3HAC073087 001 Motor unit axis 4 3HAC073088 001 Motor unit axis 5 and axis 6 3HAC065806 001 Timing belt axis 4 3HAC065794 001 Timing belt axis 5 3HAC065788 001 Timing belt axis 6 Replace if damaged 3HAC065805 001 Mechanical stop axis 4 flange Replace if...

Страница 422: ...otection class IP67 Replace if damaged 3HAC032050 001 Seal bolt Used with protection class IP67 Replace if damaged 3HAC070148 005 Radial sealing on lower arm Used with protection class IP67 Replace if damaged 3HAC061327 018 O ring on tubular Replace if damaged 3HAC078352 001 Plug screw Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page...

Страница 423: ...5 Use these procedures to remove the tubular and tilt unit for CRB 1300 11 0 9 and CRB 1300 10 1 15 Preparations before removing the tubular and tilt unit Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air press...

Страница 424: ...plies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 xx2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Continues on next page 424 Product manual CRB 1300 3HAC083111 001 Revi...

Страница 425: ...e male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on...

Страница 426: ...00001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page 426 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rig...

Страница 427: ...lar 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page Product manual CRB 1300 427 3HAC083111 001 ...

Страница 428: ...when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page 428 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All...

Страница 429: ...se axes This means the axes can fall down Make sure axes are well supported before loosening timing belts 2 xx2000001594 Loosen the screws and move the motor slightly to slacken the timing belt 3 xx2000001595 Remove the timing belt from its groove on the motor 4 Continues on next page Product manual CRB 1300 429 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 R...

Страница 430: ... xx2000001597 Carefully lift out the motor 4 Removing the axis 6 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Loosening timing belts will release axes This means the axes can fall down Make sure axes are well supported before loosening timing belts 2 Continues on next page 430 Product manual CRB 1300 3H...

Страница 431: ...es for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 xx2000001601 Remove the screws and washers 3 Continues on next page Product manual CRB 1300 431 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replac...

Страница 432: ...emoved completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on nex...

Страница 433: ...546 Remove the axis 4 cable protector 2 Pulling out the cable package Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Wrap the connectors with the masking tape 2 xx2000001662 Pull the cable package out to the lower arm sup port 3 Continues on next page Product manual CRB 1300 433 3HAC083111 001 Revision B Copyright 2022 2023 ...

Страница 434: ...supported before remov ing motors 2 xx2000001604 Loosen the screws and move the motor slightly to slacken the timing belt 3 Remove the timing belt from its groove on the motor 4 xx2000001605 Remove the screws and washers 5 xx2000001669 Carefully lift out the motor 6 Continues on next page 434 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5...

Страница 435: ...ar and tilt unit and remove the screws 2 xx2000001734 Separate the tubular from the housing 3 Removing the axis 4 mechanical stop flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 435 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replac...

Страница 436: ...hat all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing gearboxes will release axes This means the axes can fall down Make sure axes are well supported before remov ing gearboxes 2 xx2000001736 Remove the screws 3 Continues on next page 436 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 ...

Страница 437: ...rt is hard to loosen from the tubular use a plastic hammer to knock on the tu bular support lightly 2 Separating the tilt unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001741 Remove the tilt unit 2 Continues on next page Product manual CRB 1300 437 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights rese...

Страница 438: ...s to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the tubular covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001593 Remove the tubular covers 2 Continues on next page 438 Product manual CRB 13...

Страница 439: ...til the connectors are re move from the plate 3 Disconnecting the axis 6 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001532 Disconnect the connectors MP6 FB6 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on next pag...

Страница 440: ...he connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001535 Snap loose and remove the male head of the connectors from the connector plate 3 Disconnecting CP CS cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 440 Product manual CR...

Страница 441: ...e 3 Separating the cable package from the tubular Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001748 Remove the first semicircular bracket that fixes the cable package 2 xx2000001749 Remove the second semicircular bracket from the tubular 3 Continues on next page Product manual CRB 1300 441 3HAC083111 001 Revision B...

Страница 442: ...ws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 xx2000001539 Disconnect the air hoses 3 Continues on next page 442 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and tilt unit Continued ...

Страница 443: ...clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 xx2200001003 Remove the lamp unit 2 Continues on next page Product manual CRB 1300 443 3HAC083111 001 Revision B Copyright 2022 2023 ABB All r...

Страница 444: ... to slacken the timing belt 3 xx2000001595 Remove the timing belt from its groove on the motor 4 Removing the axis 5 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 Continues on next pa...

Страница 445: ...e are turned off 1 CAUTION Loosening timing belts will release axes This means the axes can fall down Make sure axes are well supported before loosening timing belts 2 xx2000001599 Loosen the screws and move the motor slightly to slacken the timing belt 3 Continues on next page Product manual CRB 1300 445 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacin...

Страница 446: ...rned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 xx2000001601 Remove the screws and washers 3 xx2000001602 Carefully lift out the motor 4 Continues on next page 446 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and ti...

Страница 447: ...ure and air pressure are turned off 1 xx2000001740 Remove the tubular support Tip If the tubular support is hard to loosen from the tubular use a plastic hammer to knock on the tu bular support lightly 2 Separating the tilt unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 447...

Страница 448: ...e 4 5 Nm xx2000001741 Refitting the tubular support Note Action xx2000002523 For robots with protection class IP67 option 3350 670 1 Remove residual locking liquid and other pollutants with cleaning agent Loctite 7063 2 Apply flange sealing Loctite 574 on the mounting surfaces of the CP CS connector and wipe clean if there is any overflowing Loctite 574 1 Continues on next page 448 Product manual ...

Страница 449: ...s 4 3HAC061327 021 For robots with protection class IP67 option 3350 670 1 O ring on flexible spline side axis 4 3HAC061327 017 Check the o rings Replace if damaged xx2000002525 xx2000001737 Refit the axis 4 gearbox 2 Continues on next page Product manual CRB 1300 449 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and tilt unit Continued ...

Страница 450: ... pcs Secure with screws 4 Tightening torque 1 9 Nm xx2000001736 Refitting the axis 4 mechanical stop flange Note Action xx2000001735 Refit the axis 4 mechanical stop flange to the gearbox 1 Continues on next page 450 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and tilt unit Continued ...

Страница 451: ...2000001732 Place the axis 4 mechanical stop slider in the housing 1 Refitting the housing Note Action O ring on tubular 3HAC061327 018 For robots with protection class IP67 option 3350 670 1 xx2000002519 Valid for CRB 1300 11 0 9 and CRB 1300 10 1 15 Check the O ring Replace if damaged Continues on next page Product manual CRB 1300 451 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights r...

Страница 452: ... Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 1 xx2000001670 Install the timing belt to the gearbox pulley and verify that the belt runs correctly in the grooves of the pulley 2 Continues on next page 452 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tubular and tilt unit...

Страница 453: ... and verify that the timing belt runs correctly in the groove of the motor pulley 4 Screw M4x16 12 9 Lafre 2C2B FC6 9 3 pcs Refit the screws and washers Note Do not tighten the screws yet 5 xx2000001605 Adjusting the axis 4 timing belt tension Note Action xx2000001609 Remove the screw below the housing 1 Continues on next page Product manual CRB 1300 453 3HAC083111 001 Revision B Copyright 2022 20...

Страница 454: ...ol 3 Used belt 16 7 19 1 N Pull the dynamometer to make the tension falling in the allowed force range Note Pay attention to the force application direction 4 New belt 23 9 26 2 N xx2000001612 Tightening torque 3 3 Nm 3 Secure the motor with the screws 5 xx2000001604 Continues on next page 454 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 ...

Страница 455: ...placed apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next page Product manual CRB 1300 455 3HAC083111 001 Revision...

Страница 456: ...sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Securing the cable package in the housing Note Action Screw M4x8 12 9 Lafre 2C2B FC6 9 4 pcs Refit the axis 4 cable protector 1 Tightening torque 2 6 Nm xx2000001546 Continues on next page 456 Product manual CRB 130...

Страница 457: ...e motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate 4 Tightening torque 2 6 Nm xx2000001542 Continues on next page Product manu...

Страница 458: ...facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Gasket for lamp unit cover 3HAC082935 001 For robots with protection class IP67 option 3350 670 2 xx2200001004 Check the gasket Replace if damaged Continues on nex...

Страница 459: ... hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Refitting the axis 6 motor Note Action Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 1 Continues on next page Product manual C...

Страница 460: ...ting the axis 6 timing belt Note Action xx2000001600 Install the timing belt to the pulleys and verify that the belt runs correctly in the grooves of the pul leys 1 Used belt 85 7 91 6 Hz Move the motor to achieve proper belt tension 2 New belt 102 107 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws...

Страница 461: ...motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the tubular 2 xx2000001598 Screw M5x16 12 9 Lafre 2C2B FC6 9 4 pcs Refit the screws and washers Note Do not tighten the screws yet 3 xx2000001596 Continues on next page Product manual CRB 1300 461 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5...

Страница 462: ... timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws and readjust Tightening torque 6 Nm Secure the motor with the screws 4 xx2000001594 Reconnecting the CP CS cabling if equipped Note Action xx2000001537 Insert the male header of the connectors to the connector plate 1 Continues on next page 462 Product manual CRB 1300 3HAC083111 001 Revision B ...

Страница 463: ...nectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Reconnecting the axis 6 motor connectors Note Action xx2000001533 Insert the male header of the motor connectors to the connector plate 1 Continues on next page Product manual CRB 1300 463 3HAC083111 001 Revision B Copyright 202...

Страница 464: ...le package on page 211 1 Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 2 xx2000002512 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 3 xx2000002513 Check the seal bolts Replace if damaged Continues on next page 464 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 A...

Страница 465: ...x2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 xx2000001530 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Continues on next page Product manual CRB 1300 465 3HAC083111 001 Revision B Copy...

Страница 466: ...ble package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular covers A Housing cover B Lower arm support cover C 4 Tightening torque 2 6 Nm xx2000001733 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation main...

Страница 467: ...n class IP67 option 3350 670 1 Remove residual locking liquid and other pollutants with cleaning agent Loctite 7063 2 Apply flange sealing Loctite 574 on the mounting surfaces of the CP CS connector and wipe clean if there is any overflowing Loctite 574 1 Screw M6x20 12 9 Gleitmo 603 Geomet 500 6 pcs Refit the tubular support 2 Tightening torque 14 Nm xx2000001740 Continues on next page Product ma...

Страница 468: ...ender unit 2 Tightening torque 3 8 Nm xx2000001739 xx2000001742 Make sure that the notches on the extender unit and tubular are aligned 3 Refitting the axis 6 motor Note Action Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 1 Continues on next page 468 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Re...

Страница 469: ...ting the axis 6 timing belt Note Action xx2000001600 Install the timing belt to the pulleys and verify that the belt runs correctly in the grooves of the pul leys 1 Used belt 85 7 91 6 Hz Move the motor to achieve proper belt tension 2 New belt 102 107 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws...

Страница 470: ...motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the tubular 2 xx2000001598 Screw M5x16 12 9 Lafre 2C2B FC6 9 4 pcs Refit the screws and washers Note Do not tighten the screws yet 3 xx2000001596 Continues on next page 470 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5...

Страница 471: ...6 Nm Secure the motor with the screws 4 xx2000001594 Routing the cable package in the tubular Note Action Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the second semicircular bracket to the tubu lar 1 Tightening torque 2 6 Nm xx2000001749 Route the cablings Leave the CP CS connectors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub Th...

Страница 472: ...35 001 For robots with protection class IP67 option 3350 670 2 xx2200001004 Check the gasket Replace if damaged Lamp unit cover 3HAC082320 001 Refit the lamp unit cover 3 Screw M3x8 12 9 Lafre 2C2B FC6 9 4 pcs Tightening torque 0 6 Nm xx2200001002 Continues on next page 472 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 3 Replacing the tu...

Страница 473: ...on the connectors for help to find the corresponding connector 2 Reconnecting the CP CS cabling if equipped Note Action xx2000001537 Insert the male header of the connectors to the connector plate 1 xx2000001536 For robots with CP CS cabling Reconnect the connectors J1 C1 J1 C3 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Produ...

Страница 474: ...nnector 2 Reconnecting the axis 6 motor connectors Note Action xx2000001533 Insert the male header of the motor connectors to the connector plate 1 xx2000001532 Reconnect the connectors FB6 MP6 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 474 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights r...

Страница 475: ...2512 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 3 xx2000002513 Check the seal bolts Replace if damaged Screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the process hub 4 Tightening torque 2 6 Nm xx2000001538 Continues on next page Product manual CRB 1300 475 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 ...

Страница 476: ... xx2000001530 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the tubular covers Note Action xx2000002507 For robots with protection class IP67 option 3350 670 Check the gaskets Replace if damaged 1 Continues on next page 476 Product manual CRB 1300 3HAC083111 001...

Страница 477: ... 4 Tightening torque 2 6 Nm xx2000001593 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 477 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights re...

Страница 478: ...te Article number Spare part Replace if damaged 3HAC065651 001 Mechanical stop block A Used for axis 3 of CRB 1300 10 1 15 Replace if damaged 3HAC065671 001 Mechanical stop block B Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Required consumables Note Article number Consumable Loctite 2400 or equivalent Locti...

Страница 479: ...B 1300 11 0 9 CRB 1300 7 1 4 and Discard the old stops and refit with new ones 4 Mechanical stop block A 3HAC065651 001 2 pcs For CRB 1300 10 1 15 Mechanical stop block A 3HAC065651 001 1 pcs Mechanical stop block B 3HAC065671 001 1 pcs Apply a little Loctite 243 to the screws Note If there is locking liquid residues on the screw please clean it before refitting Remove residual locking liquid afte...

Страница 480: ... steel 1 pcs per stop Secure the mechanical stops 6 Tightening torque 1 Nm 480 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 5 4 Replacing the axis 3 mechanical stops Continued ...

Страница 481: ...rts of the CRB 1300 via myABB Business Portal www abb com myABB Note Article number Spare part Replace if damaged 3HAC065805 001 Mechanical stop axis 4 flange Replace if damaged 3HAC065804 001 Mechanical stop axis 4 slider Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page Product manual CRB ...

Страница 482: ...ing belt tension Dynamometer Used with protection class IP67 Used for the press fitting of radial sealings Includes two sets of ra dial sealing assembly tool for axes 2 to 3 3HAC078203 001 Special toolkit for IP67 robots Replacement of axis 4 mechanical stops The axis 4 mechanical stops both flange and slider are accessible after removing the housing see Replacing the housing and extender unit on ...

Страница 483: ...r unit axis 1 3HAC061327 037 O ring on motor unit Used with CRB 1300 11 0 9 3HAC073305 001 Main cable harness S CP CS and air hose with Ethernet Used with CRB 1300 10 1 15 3HAC073302 001 Main cable harness M CP CS and air hose with Ethernet Used with CRB 1300 7 1 4 3HAC073299 001 Main cable harness L CP CS and air hose with Ethernet 3HAC085071 001 Process hub with lamp unit CP CS and air hose with...

Страница 484: ...otection class IP67 Replace if damaged 3HAC067820 001 Gasket for SMB cover Used with protection class IP67 Replace if damaged 3HAC070274 001 Gasket for brake release unit Used with protection class IP67 Replace if damaged 3HAC067819 001 Gasket for base cover Used with protection class IP67 Replace if damaged 3HAC067818 001 Gasket for base adapter Used with protection class IP67 Replace if damaged ...

Страница 485: ...city 70 kg Roundsling 1 7 m Overhead crane Required consumables Note Article number Consumable Cable straps FM 222 3HAC029132 001 Grease Kyodo Yushi TMO150 3HAC032140 001 Lubricating oil Deciding calibration routine Decide which calibration routine to be used based on the information in the table Depending on which routine is chosen action might be required prior to beginning the repair work of th...

Страница 486: ... 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 the motor Use these procedures to remove the axis 1 motor Preparations before removing the axis 1 motor Note Action Decide which calibration routine to use and take actions accordingly prior to beginn...

Страница 487: ... oil collecting vessel underneath the quick coupling 3 xx2000001513 Remove the oil plugs and keep them opened to speed up the drainage 4 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 705 for more informa tion 6 Continues on next page Product manual CRB 1300 487...

Страница 488: ... 215 to remove the complete cable package Putting the robot on its side Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Roundsling 1 7 m 1 pcs Lifting capacity 70 kg Run a roundsling around the lower arm 2 xx2000001651 CAUTION The CRB 1300 robot weighs CRB 1300 11 0 9 75 kg CRB 1300 10 1 15 77 kg CRB 1300 7 1 4 79 kg All lift...

Страница 489: ...ction DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001642 Valid for cabling with rear interface Remove the base bottom cover together with the base adapter 2 Removing the axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Pr...

Страница 490: ...moving motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 3 xx2000001643 Access the screws and washers securing the axis 1 motor from the base bottom 4 xx2000001644 Remove the screws and washers 5 xx2000001645 Carefully lift out the motor 6 Continues on next page 490 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2...

Страница 491: ...150 3HAC032140 001 Apply lubricating oil to the motor that has contact ing area with the gearbox 3 xx2000001700 Motor orientation orient the motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the swing Make sure the motor is properly fit to gearbox 4 xx2000001647 Continues on next page Product manual CRB 1300 491 3HAC083111 00...

Страница 492: ... 3350 670 1 xx2000002510 Valid for cabling with rear interface Check the gasket Replace if damaged Screw M4x10 12 9 Lafre 2C2B FC6 9 8 pcs Valid for cabling with rear interface Refit the base bottom cover together with the base adapter 2 Tightening torque 2 6 Nm xx2000001642 Continues on next page 492 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 R...

Страница 493: ...ness class 200HV Tightening Torque 150 Nm 10 Nm Refitting the complete cable package Follow the instructions detailed in Refitting the cable package on page 229 to refit the complete cable package Refilling oil to axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of press...

Страница 494: ...in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installat...

Страница 495: ...C073078 001 Motor unit axis 2 3HAC061327 037 O ring on motor unit 3HAC073092 001 Lower arm cover Used for CRB 1300 11 0 9 3HAC073095 001 Swing cover short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073096 001 Swing cover long 3HAC073092 001 Lower arm cover Used for CRB 1300 11 0 9 Used with protection class IP67 Replace if damaged 3HAC067824 001 Gasket for swing cover short Continues on next...

Страница 496: ...s FM 222 3HAC029132 001 Grease Kyodo Yushi TMO150 3HAC032140 001 Lubricating oil Deciding calibration routine Decide which calibration routine to be used based on the information in the table Depending on which routine is chosen action might be required prior to beginning the repair work of the robot see the table Note Action Note Calibrating axis 6 always requires tools to be removed from the mou...

Страница 497: ...he robot is to be calibrated with fine calibration Remove all external cable packages DressPack and tools from the robot Removing the motor Use these procedures to remove the axis 2 motor Preparations before removing the axis 2 motor Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position ...

Страница 498: ...ifting accessories used must be sized accord ingly 3 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 4 xx2000001648 Loosen the robot from the foundation by removing the foundation attachment screws and put the robot on its side Note Lay the robot down with the lower arm support and swing support towards upside 5 Continues on next page 498 Product manual CRB...

Страница 499: ...ing the cable package Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001553 Remove the cable bracket in the lower arm 2 xx2000001623 Remove the cable bracket in the swing 3 Continues on next page Product manual CRB 1300 499 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 2 Replacing t...

Страница 500: ... connectors are re move from the plate as shown in following step 2 xx2000001640 Cut the cable strap 3 xx2000001639 Disconnect the connectors FB2 MP2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 xx2000001641 Snap loose and remove the male head of the connectors from the connector plate 5 Continues on next page 500 Product ...

Страница 501: ...tion Gearbox lubricants oil or grease on page 29 2 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 3 xx2000001624 Cut the cable strap 4 xx2000001625 Remove the cable bracket 5 Wrap the connectors with the masking tape and pull the motor cablings carefully down to the swing from the lower arm 6 Continues on next p...

Страница 502: ...tion Axis 2 motor for CRB 1300 7 1 4 3HAC073078 001 CAUTION Do not mix the axis 2 motor used for CRB 1300 7 1 4 and Always carefully check the part number attached to the motor and the robot type and refit with the right one 1 Check that all assembly surfaces are clean and without damages the motor is clean and undamaged 2 Continues on next page 502 Product manual CRB 1300 3HAC083111 001 Revision ...

Страница 503: ...ing to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the swing Make sure the motor is properly fit to gearbox 5 xx2000001630 Screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the screws and washers 6 Tightening torque 10 Nm xx2000001626 Continues on next page Product manual CRB 1300 503 3HAC083111 001 Revision B Copyright 2022 2023 ABB Al...

Страница 504: ...ing the axis 2 motor connectors Note Action xx2000001641 Insert the male header of the motor connectors to the connector plate 1 xx2000001640 Route and secure the cabling with a cable strap CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Continues on next page 504 Product manual CRB 1300 3HAC083111 001 Revision B Copyri...

Страница 505: ... xx2000001548 Securing the cable package Note Action Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the cable bracket in the swing 1 Tightening torque 2 6 Nm xx2000001623 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the cable bracket in the lower arm 2 Tightening torque 2 6 Nm xx2000001553 Continues on next page Product manual CRB 1300 505 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 506: ...e contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers lower arm support cover swing support cover 4 Tightening torque 2 6 Nm xx2000001622 Securing the robot to the foundation Note Action Roundsling 1 7 m Lifting capacity 70 kg Run a roundsling around the lower arm 1 xx2000001648 Continues on next page 506 Product manual CRB 1300 3HAC083111 001 Revision B Cop...

Страница 507: ...ers 3 Washers 17 x 30 x 3 steel hard ness class 200HV Tightening Torque 150 Nm 10 Nm Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 507 3HAC083111 001 Revi...

Страница 508: ... Article number Spare part 3HAC073086 001 Motor unit axis 3 3HAC067040 001 Timing belt axis 3 3HAC073092 001 Lower arm cover Used with protection class IP67 Replace if damaged 3HAC067832 001 Gasket for lower arm cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page 508 Product manual CRB 1...

Страница 509: ...nce calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the...

Страница 510: ...off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the lower arm covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001613 Remove the lower arm covers 2 Continues on next page 510 Product manual CRB 1300 3HAC083111 001 Revision B ...

Страница 511: ... connectors are re move from the plate as shown in following step 2 xx2000001620 Cut the cable strap 3 xx2000001619 Disconnect the connectors FB3 MP3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 xx2000001621 Snap loose and remove the male head of the connectors from the connector plate 5 Continues on next page Product manu...

Страница 512: ...s housing extender unit only for CRB 1300 7 1 4 and tubular and tilt unit weighs 17 kg All lifting accessories used must be sized accord ingly 3 Fit a roundsling to the upper arm to support the weight no force 4 xx2000001614 Loosen the screws and move the motor slightly to slacken the timing belt 5 xx2000001615 Remove the timing belt from its groove on the motor 6 Continues on next page 512 Produc...

Страница 513: ...01617 Carefully lift out the motor 4 Refitting the motor Use these procedures to refit the axis 3 motor Refitting the axis 3 motor Note Action Axis 3 motor for CRB 1300 7 1 4 3HAC073086 001 CAUTION Do not mix the axis 3 motor used for CRB 1300 7 1 4 and Always carefully check the part number attached to the motor and the robot type and refit with the right one 1 Continues on next page Product manu...

Страница 514: ...00001616 Refitting the axis 3 timing belt Note Action xx2000001615 Install the timing belt to the pulleys and verify that the belt runs correctly in the grooves of the pul leys 1 Used belt 73 4 78 5 Hz Move the motor to achieve proper belt tension 2 New belt 87 8 92 1 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen ...

Страница 515: ... and secure the cabling with a cable strap CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 xx2000001619 Reconnect the connectors FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Continues on next page Product manual CRB 1300 515 3HAC083111 001 Revision B Copyright 2022...

Страница 516: ...ckage cover all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the lower arm covers 4 Tightening torque 2 6 Nm xx2000001613 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 Continues on next page 516 Product man...

Страница 517: ... met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 517 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 3 Replacing the axis 3 motor Continued ...

Страница 518: ...te Article number Spare part 3HAC073087 001 Motor unit axis 4 3HAC065806 001 Timing belt axis 4 3HAC073093 001 Housing cover Used with protection class IP67 Replace if damaged 3HAC067833 001 Gasket for housing cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Continues on next page 518 Product manual CRB 130...

Страница 519: ...e to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibrati...

Страница 520: ...rn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the housing cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001541 Remove the housing cover 2 Continues on next page 520 Product manual CRB 1300 3HAC083111 001 Revision B Cop...

Страница 521: ...2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 xx2000001545 Snap loose and remove the male head of the connectors from the connector ...

Страница 522: ...well supported before remov ing motors 2 xx2000001604 Loosen the screws and move the motor slightly to slacken the timing belt 3 Remove the timing belt from its groove on the motor 4 xx2000001605 Remove the screws and washers 5 xx2000001606 Carefully lift out the motor 6 Continues on next page 522 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repai...

Страница 523: ...ectly and fit it into the hous ing Note Make sure the motor flange does not press on the timing belt 2 xx2000001607 xx2000001608 Install the timing belt to the motor pulley and verify that the belt runs correctly in the grooves of the pulley 3 Screw M4x16 12 9 Lafre 2C2B FC6 9 3 pcs Refit the screws and washers Note Do not tighten the screws yet 4 xx2000001605 Continues on next page Product manual...

Страница 524: ...the screw hole 2 xx2000001610 xx2000001611 Use a handheld dynamometer hooking to the tool 3 Used belt 16 7 19 1 N Pull the dynamometer to make the tension falling in the allowed force range Note Pay attention to the force application direction 4 New belt 23 9 26 2 N xx2000001612 Continues on next page 524 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved...

Страница 525: ...r connectors Note Action xx2000001545 Insert the male header of the motor connectors to the connector plate 1 xx2000001544 Reconnect the connectors FB4 MP4 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 525 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 4 Replacing the a...

Страница 526: ... Refit the connector plate 4 Tightening torque 2 6 Nm xx2000001542 Refitting the housing cover Note Action xx2000002511 For robots with protection class IP67 option 3350 670 Check the gasket Replace if damaged 1 Grease 3HAC029132 001 Apply grease to the cable package cover all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable pac...

Страница 527: ...led in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 527 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 4 Replacing the axis 4 motor Continued ...

Страница 528: ...s 5 3HAC085071 001 Process hub with lamp unit CP CS and air hose with Ethernet 3HAC081993 004 Multi color lamp unit 16 mm 3HAC082320 001 Lamp unit cover Used with protection class IP67 Replace if damaged 3HAC082935 001 Gasket for lamp unit cover 3HAC073094 001 Tubular cover Used with protection class IP67 Replace if damaged 3HAC070887 001 Gasket for process hub Used with protection class IP67 Repl...

Страница 529: ...tallation of the calibration tool 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 ...

Страница 530: ...n off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the tubular covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001593 Remove the tubular covers 2 Continues on next page 530 Product manual CRB 1300 3HAC083111 001 Revision B Co...

Страница 531: ...Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 xx2000001531 Remove the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Continues on next page Product man...

Страница 532: ...ve the male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continu...

Страница 533: ...xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page Product manual CRB 1300 533 3HAC083111 001 Revision B Copyright 2022 2023 ABB All...

Страница 534: ...ghtly to slacken the timing belt 3 xx2000001595 Remove the timing belt from its groove on the motor 4 Removing the axis 5 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 Continues on ne...

Страница 535: ...bly surfaces are clean and without damages the motor is clean and undamaged 1 Motor orientation orient the motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the tubular 2 xx2000001598 Continues on next page Product manual CRB 1300 535 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 5 Replaci...

Страница 536: ...s 1 Used belt 59 3 63 4 Hz Move the motor to achieve proper belt tension 2 New belt 70 8 74 3 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws and readjust Tightening torque 6 Nm Secure the motor with the screws 4 xx2000001594 Continues on next page 536 Product manual CRB 1300 3HAC083111 001 Revision...

Страница 537: ...the corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 537 3HAC083111 001 Revision B Copyright 2022 2...

Страница 538: ...in the tubular Note Action Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 1 Tightening torque 1 3 Nm xx2000001531 xx2000001530 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Continues on next page 538 Product manual CRB 1300 3HAC083111 001 ...

Страница 539: ...000002512 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 3 xx2000002513 Check the seal bolts Replace if damaged Screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the process hub 4 Tightening torque 2 6 Nm xx2000001538 Continues on next page Product manual CRB 1300 539 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserv...

Страница 540: ...ble package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the tubular covers 4 Tightening torque 2 6 Nm xx2000001593 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 164 2 540 Product manual ...

Страница 541: ...s 5 and axis 6 3HAC065788 001 Timing belt axis 6 3HAC085071 001 Process hub with lamp unit CP CS and air hose with Ethernet 3HAC081993 004 Multi color lamp unit 16 mm 3HAC082320 001 Lamp unit cover Used with protection class IP67 Replace if damaged 3HAC082935 001 Gasket for lamp unit cover 3HAC073094 001 Tubular cover Used with protection class IP67 Replace if damaged 3HAC070887 001 Gasket for pro...

Страница 542: ...e removed from the mounting flange also for reference calibration since the mount ing flange is used for installation of the calibration tool 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...

Страница 543: ... to beginning the repair procedure 1 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the tubular covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Produ...

Страница 544: ...over CAUTION There is cabling attached to the cover The cover cannot be removed completely 2 Loosening the cables in the tubular Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100001483 Cut the cable strap 2 Continues on next page 544 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights res...

Страница 545: ... xx2000001532 Disconnect the connectors MP6 FB6 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001533 Snap loose and remove the male head of the connectors from the connector plate 3 Removing the axis 5 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure a...

Страница 546: ...groove on the motor 4 Removing the axis 6 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Loosening timing belts will release axes This means the axes can fall down Make sure axes are well supported before loosening timing belts 2 Continues on next page 546 Product manual CRB 1300 3HAC083111 001 Revision B...

Страница 547: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 xx2000001601 Remove the screws and washers 3 Continues on next page Product manual CRB 1300 547 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 6 Re...

Страница 548: ...ding to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the tubular Tip Leave the axis 6 motor connectors accessible from the tubular support side 2 xx2000001603 Screw M5x16 12 9 Lafre 2C2B FC6 9 4 pcs Refit the screws and washers Note Do not tighten the screws yet 3 xx2000001601 Continues on next page 548 Product manual CRB 1300 3HAC083111 0...

Страница 549: ... Secure the motor with the screws 4 xx2000001599 Refitting the axis 5 timing belt Note Action xx2000001595 Install the timing belt to the pulleys and verify that the belt runs correctly in the grooves of the pul leys 1 Used belt 59 3 63 4 Hz Move the motor to achieve proper belt tension 2 New belt 70 8 74 3 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tensio...

Страница 550: ...he connectors FB6 MP6 Tip See the number markings on the connectors for help to find the corresponding connector 2 Securing the cable package in the tubular Note Action Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate 1 Tightening torque 1 3 Nm xx2100001484 Continues on next page 550 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Rep...

Страница 551: ...amaged See Re placing the cable package on page 211 1 Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 2 xx2000002512 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 3 xx2000002513 Check the seal bolts Replace if damaged Continues on next page Product manual CRB 1300 551 3HAC083111 001 Rev...

Страница 552: ...r all moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the tubular covers 4 Tightening torque 2 6 Nm xx2000001593 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 Continues on next page 552 Product manual CRB 1300...

Страница 553: ... met when performing the first test run See Test run after installation maintenance or repair on page 164 2 Product manual CRB 1300 553 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 6 6 Replacing the axis 6 motor Continued ...

Страница 554: ...ww abb com myABB Note Article number Spare part 3HAC063187 001 Gear unit axis 1 3HAC063187 007 O ring on axis 1 gear unit 3HAC073039 001 Motor unit axis 1 3HAC061327 037 O ring on motor unit 3HAC066433 001 Radial sealing 3HAC070148 002 Radial sealing 3HAC067626 001 Gasket on swing Replace if damaged 3HAC064478 001 Mechanical stop axis 1 fixed block Continues on next page 554 Product manual CRB 130...

Страница 555: ...r short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 3HAC073096 001 Swing cover long 3HAC073091 001 Swing top cover 3HAC073090 001 Base cover 3HAC076475 001 SMB cover 3HAC073296 001 Brake release unit Used with protection class IP67 Replace if damaged 3HAC070887 001 Gasket for process hub Used with protection class IP67 Replace if damaged 3HAC067820 001 Gasket for SMB cover Used with protection cl...

Страница 556: ... release the motor brakes 24 VDC power supply The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel Used for draining and filling oil to axis 1 gearbox Connector specification G3 8 Connector for quick coupling with outlet pipe Includes pump with outlet pipe Oil dispenser Included in special toolkit 3HAC076396 001 Axis 1 gearbox assembly cap Length 1...

Страница 557: ...ctions 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 robot Read mor...

Страница 558: ...3HAC064977 001 Gear unit axis 2 3HAC064977 004 O ring on axis 2 gear unit 3HAC073078 001 Motor unit axis 2 3HAC061327 037 O ring on motor unit 3HAC085071 001 Process hub with lamp unit CP CS and air hose with Ethernet 3HAC081993 004 Multi color lamp unit 16 mm 3HAC082320 001 Lamp unit cover Used with protection class IP67 Replace if damaged 3HAC082935 001 Gasket for lamp unit cover Continues on ne...

Страница 559: ...s IP67 Replace if damaged 3HAC067832 001 Gasket for lower arm cover Used for CRB 1300 11 0 9 Used with protection class IP67 Replace if damaged 3HAC067822 001 Gasket for swing support short Used for CRB 1300 10 1 15 and CRB 1300 7 1 4 Used with protection class IP67 Replace if damaged 3HAC067823 001 Gasket for swing support long Used for CRB 1300 11 0 9 Used with protection class IP67 Replace if d...

Страница 560: ...lete amount of oil Oil collecting vessel Includes pump with outlet pipe Oil dispenser Included in special toolkit 3HAC076396 001 Guide pin for axis 2 gearbox Length 1 7 m Lifting capacity 70 kg Roundsling 1 7 m Overhead crane Used with protection class IP67 Used for the press fitting of radial sealings Includes two sets of ra dial sealing assembly tool for axes 2 to 3 3HAC078203 001 Special toolki...

Страница 561: ...ibrated 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 672 If no previous reference v...

Страница 562: ...g the safeguarded space 2 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page 562 Product manual CRB 1300 3HAC083111 001 Revision B...

Страница 563: ... and keep it opened to speed up the drainage 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 705 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page Product manual CRB 1300 563 3HAC083111 001 Revision B Copyright 2022 2023 ABB Al...

Страница 564: ...cording to Supplying power to connector R1 MP on page 66 xx2000001520 Jog all axes to zero position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the covers Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on nex...

Страница 565: ...move the connector plates CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 3 Disconnecting the axis 6 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual ...

Страница 566: ...he axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001534 Disconnect the connectors MP5 FB5 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on next page 566 Product manual CRB 1300 3HAC083111 001 Revision B Copyrig...

Страница 567: ...x2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001537 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page Product manual CRB 1300 567 3HAC083111 001 Revision B Copyright 2022 2023 ABB All ...

Страница 568: ...tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001000 Remove the screws and carefully open the cover CAUTION There is cabling attached to the cover The cover cannot be removed completely until the connect ors are removed 2 Continues on next page 568 Product manual CRB 1300 3HAC083111 ...

Страница 569: ...nce when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Removing the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action xx2200001002 Remove the lamp unit cover 1 Continues on next page Product manual CRB 1300 569 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 570: ...emoved completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 xx2000001544 Disconnect the connectors MP4 FB4 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on nex...

Страница 571: ... motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001548 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate as shown in following step 2 Continues on next pag...

Страница 572: ...001551 Snap loose and remove the male head of the connectors from the connector plate 5 Separating the cable package from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 572 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replaci...

Страница 573: ...the cable package from the swing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001556 Remove the axis 2 cable protector 2 Continues on next page Product manual CRB 1300 573 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 gearbox Continued ...

Страница 574: ...ure are turned off 1 Wrap the connectors with the masking tape 2 xx2000001683 Pull the cable package out to the swing support 3 Removing the swing support Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 574 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 R...

Страница 575: ...ular and tilt unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Roundsling 1 7 m 2 pcs Lifting capacity 70 kg Run two roundslings between the housing and the lower arm 2 xx2000001685 CAUTION The lower and upper arms weighs 38 kg All lifting accessories used must be sized accord ingly 3 Continues on next page Product manual...

Страница 576: ...ir pressure are turned off 1 WARNING When separating the motor from the gearbox there may be pressure present in the gearbox causing lubricant to spray from the opening Be fore proceeding please read the safety informa tion in the section Gearbox lubricants oil or grease on page 29 2 CAUTION Removing motors will release axes This means the axes can fall down Make sure axes are well supported befor...

Страница 577: ...hers 7 xx2000001628 Carefully lift out the motor 8 Separating the swing from the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 577 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 gearbox Continued ...

Страница 578: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2000002516 For robots with protection class IP67 option 3350 670 Remove the sealing ring on the swing side 2 Removing the axis 2 gearbox Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 578 Product manual CRB 1300 3HAC083111 001 Rev...

Страница 579: ...Pull out the gearbox 4 Refitting the gearbox Use these procedures to refit the axis 2 gearbox Refitting the axis 2 gearbox Note Action O ring on axis 2 gear unit 3HAC064977 004 Check the O ring Replace if damaged 1 xx2000001690 Continues on next page Product manual CRB 1300 579 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 gearbox Continu...

Страница 580: ...00001706 Refit the axis 2 gearbox with guidance from the guide pins 3 Screw M5x25 12 9 Lafre 2C2B FC6 9 16 pcs Secure with screws 4 Tightening torque 8 9 Nm 3 xx2000001707 xx2000001708 Remove the guide pins 5 Continues on next page 580 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 gearbox Continued ...

Страница 581: ...ion class IP67 option 3350 670 xx2000002516 O ring on swing 3HAC061327 036 Check the O ring 2 xx2000001750 Replace if damaged M10 screws Refit the swing to the lower arm 3 Screw M10x25 12 9 Gleitmo 603 Geomet 500 6 pcs Tightening torque 72 Nm M6 screws Screw M6x20 12 9 Gleitmo 603 Geomet 500 3 pcs Tightening torque 14 Nm xx2000001686 Continues on next page Product manual CRB 1300 581 3HAC083111 00...

Страница 582: ...o the swing support opposite side of the radial sealing with three M4x12 screws 2 xx2000002467 Grease 3HAC029132 001 Apply a little grease to the sealing lip when repla cing the radial sealing and wipe clean after the replacement 3 xx2000002468 Fit the new sealing into the swing support For robots with protection class IP67 option 3350 670 The sealing lip as pointed in the following figure is faci...

Страница 583: ... included in Special toolkit for IP67 robots 3HAC078203 001 Fit the small circular plate of the axis 2 sealing assembly tool and fix with three M6x75 screws 6 xx2000002470 xx2000002471 Screw the screws little by little and evenly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Continues on next page Product manual CRB 1300 583 ...

Страница 584: ...h protection class IP67 option 3350 670 2 xx2000002518 Check the O ring Replace if damaged Gasket for swing support short 3HAC067822 001 For robots with protection class IP67 option 3350 670 3 Gasket for swing support long 3HAC067823 001 Check the gasket Replace if damaged xx2000002520 Continues on next page 584 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights r...

Страница 585: ...isted or strained Reroute if necessary 4 xx2000001747 Screw M8x40 12 9 Gleitmo 603 Geomet 500 7 pcs Refit the swing support 5 Tightening torque 36 Nm xx2000001684 Grease 3HAC029132 001 Apply grease to the axis 2 cable protector and slip it over the cable harness 6 Plastic cable protector axis 2 3HAC067816 001 xx2000001567 Continues on next page Product manual CRB 1300 585 3HAC083111 001 Revision B...

Страница 586: ...61327 037 Check the O ring Replace if damaged 3 xx2000001629 Kyodo Yushi TMO150 3HAC032140 001 Apply lubricating oil to the motor that has contact ing area with the gearbox 4 xx2000001701 Motor orientation orient the motor according to the figure below in regard to the encircled motor con nector Orient the motor correctly and fit it into the swing Make sure the motor is properly fit to gearbox 5 x...

Страница 587: ... and upper arms are firmly secured with the swing 2 Remove the roundslings 3 Securing the cable package in the swing Note Action xx2000001746 Route the cable package up into the lower arm Make sure that the the air hoses are facing outside in the axis 2 cable protector see the figure as a guidance for the cable twisting way 1 Continues on next page Product manual CRB 1300 587 3HAC083111 001 Revisi...

Страница 588: ...ghtening torque 2 6 Nm xx2100001466 xx2000001557 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the axis 2 cable protector 3 Tightening torque 2 6 Nm xx2000001556 Continues on next page 588 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 gearbox Continued ...

Страница 589: ...eplaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 xx2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Continues on next page Product manual CRB 1300 589 3HAC08311...

Страница 590: ...ured incorrectly the cables can be damaged 2 xx2000001550 Reconnect the connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page 590 Product manual CRB 1300 3HAC083111 001 Revision B Copyright...

Страница 591: ...ge 1 3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next pag...

Страница 592: ...kings on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 C...

Страница 593: ...ors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page Produ...

Страница 594: ... if equipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 594 Pro...

Страница 595: ...he corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 595 3HAC083111 001 Revision B Copyright 2022 20...

Страница 596: ...ting the process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page 596 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 202...

Страница 597: ...ecuring the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page Product manual CRB 1300 597 3HAC083111 001 Revision B Copyrigh...

Страница 598: ...ll moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm support cover C Swing covers D 4 Tightening torque 2 6 Nm xx2000001682 Jogging the robot to oil filling position Note Action Turn on the electric power to the robot 1 ...

Страница 599: ...e 3 Refilling oil to axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page Product manual CRB 1300 599 3HAC083111 001 Revision B Copyright 2022 2023 ...

Страница 600: ...l the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent xx2000001580 Inspect the oil level by measuring the level at the upper oil plug hole Required oil level within the range of 64 mm to 69 mm below the edge of the oil plug hole CAUTION The oil level sinks when the oil fills al...

Страница 601: ...o position 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or...

Страница 602: ...with protection class IP67 Replace if damaged 3HAC061327 016 O ring on circular spline side axis 3 3HAC067040 001 Timing belt axis 3 3HAC085071 001 Process hub with lamp unit CP CS and air hose with Ethernet 3HAC081993 004 Multi color lamp unit 16 mm 3HAC082320 001 Lamp unit cover Used with protection class IP67 Replace if damaged 3HAC082935 001 Gasket for lamp unit cover 3HAC064693 001 Plastic ca...

Страница 603: ...n class IP67 Replace if damaged 3HAC070148 005 Radial sealing on lower arm Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calibration toolbox Axis Calibra tion Used to release the mo...

Страница 604: ... 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 672 If no previous reference values exist and no new ...

Страница 605: ... are turned off 1 xx2000001661 Remove the covers Tubular support cover A Housing cover B Lower arm covers C 2 Loosening the cables in the tubular Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001530 Cut the cable straps 2 Continues on next page Product manual CRB 1300 605 3HAC083111 001 Revision B Copyright 2022 2023 ...

Страница 606: ...00001532 Disconnect the connectors MP6 FB6 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001533 Snap loose and remove the male head of the connectors from the connector plate 3 Disconnecting the axis 5 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air press...

Страница 607: ...equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 Continues on next page Product manual CRB 1300 607 3HAC083111 001 Re...

Страница 608: ... xx2000001748 Remove the first semicircular bracket that fixes the cable package 2 xx2000001749 Remove the second semicircular bracket from the tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 608 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 609: ...s the connector from the process hub and disconnect the connector J1 C2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Continues on next page Product manual CRB 1300 609 3HAC083111 001 Revision B Copyright ...

Страница 610: ...rned off 1 xx2000001542 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 Continues on next page 610 P...

Страница 611: ...ing Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001546 Remove the axis 4 cable protector 2 Disconnecting the axis 2 and 3 motor connectors Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 611 3HAC08...

Страница 612: ...3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 xx2000001551 Snap loose and remove the male head of the connectors from the connector plate 5 Pulling out the cable package Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 612 Produ...

Страница 613: ...om the lower arm support side 4 Removing the lower arm support Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001663 Remove the lower arm support Tip If the lower arm support is hard to loosen from the swing use a plastic hammer to knock on the lower arm support lightly 2 Continues on next page Product manual CRB 1300 ...

Страница 614: ... housing extender unit only for CRB 1300 7 1 4 and tubular and tilt unit weighs 17 kg All lifting accessories used must be sized accord ingly 3 Fit a roundsling to the upper arm to support the weight no force 4 xx2000001614 Loosen the screws and move the motor slightly to slacken the timing belt 5 xx2000001615 Remove the timing belt from its groove on the motor 6 Continues on next page 614 Product...

Страница 615: ...p If the lower arm is hard to loosen from the hous ing use a plastic hammer to knock on the lower arm lightly 3 Lay down the upper arm on a workbench Make sure to support the gravity center of the upper arm 4 Removing the axis 3 gearbox Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION Removing gearboxes will release ax...

Страница 616: ...ote Action O ring on circular spline side axis 3 3HAC061327 016 For robots with protection class IP67 option 3350 670 1 xx2000002524 Check the O ring Replace if damaged xx2000001667 Refit the axis 3 gearbox 2 Continues on next page 616 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 gearbox Continued ...

Страница 617: ...tening torque 4 5 Nm 3 xx2000001664 Checking the radial sealing on the lower arm support Note This procedure is valid for robots with protection class IP67 option 3350 670 Note Action xx2000002477 Check the radial sealing on the lower arm support Replace if damaged as described below 1 Continues on next page Product manual CRB 1300 617 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights r...

Страница 618: ...2479 Fit the new sealing into the lower arm support For robots with protection class IP67 option 3350 670 The sealing lip as pointed in the following figure is facing the outer side of the robot xx2000002537 4 Ring of the axis 3 sealing assembly tool included in Special toolkit for IP67 robots 3HAC078203 001 For robots with protection class IP67 option 3350 670 Place the ring of the axis 3 sealing...

Страница 619: ...evenly to press the sealing into place 7 Remove the assembly tool 8 Check that the sealing is undamaged and properly fitted 9 Refitting the lower arm support Note Action Gasket for lower arm support 3HAC067826 001 For robots with protection class IP67 option 3350 670 1 xx2000002521 Check the gasket Replace if damaged Continues on next page Product manual CRB 1300 619 3HAC083111 001 Revision B Copy...

Страница 620: ...Hz Move the motor to achieve proper belt tension 2 New belt 87 8 92 1 Hz Use a sonic tension meter to measure the timing belt tension 3 If the timing belt tension does not meet the require ment loosen the motor screws and readjust Tightening torque 3 3 Nm Secure the motor with the screws 4 xx2000001614 Release the support to the upper arm 5 Continues on next page 620 Product manual CRB 1300 3HAC08...

Страница 621: ...eplaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 xx2000001569 Route the cable package through the lower arm support and up into the housing CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 3 Continues on next page Product manual CRB 1300 621 3HAC08311...

Страница 622: ...ured incorrectly the cables can be damaged 2 xx2000001550 Reconnect the connectors FB2 MP2 FB3 MP3 Tip See the number markings on the connectors for help to find the corresponding connector 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate to the lower arm 4 Tightening torque 2 6 Nm xx2000001548 Continues on next page 622 Product manual CRB 1300 3HAC083111 001 Revision B Copyright...

Страница 623: ...ge 1 3HAC064694 001 xx2000001570 xx2000001571 Insert the cable package through the hollow tube of the axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Continues on next pag...

Страница 624: ...kings on the connectors for help to find the corresponding connector 2 xx2000001543 Route and secure the cabling with a cable strap Note The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 C...

Страница 625: ...ors and motor connectors out from the tubular support and Ethernet connectors and air hoses out from the process hub The air hoses are facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Continues on next page Produ...

Страница 626: ... if equipped Note Action xx2000001539 Reconnect the air hoses Note See the number markings on the air hoses for help to find the corresponding air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page 626 Pro...

Страница 627: ...he corresponding connector 2 Reconnecting the axis 5 motor connectors Note Action xx2000001535 Insert the male header of the motor connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Continues on next page Product manual CRB 1300 627 3HAC083111 001 Revision B Copyright 2022 20...

Страница 628: ...ting the process hub Note Action Gasket for process hub 3HAC070887 001 For robots with protection class IP67 option 3350 670 1 xx2200001005 Check the gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Continues on next page 628 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 202...

Страница 629: ...ecuring the cable package in the tubular Note Action Screw M4x12 12 9 Lafre 2C2B FC6 9 2 pcs Refit the first semicircular bracket to fix the cable package 1 Tightening torque 2 6 Nm xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 Continues on next page Product manual CRB 1300 629 3HAC083111 001 Revision B Copyrigh...

Страница 630: ...moving area of the package 2 Grease 3HAC029132 001 Apply grease to the covers that have contacting area with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm covers C 4 Tightening torque 2 6 Nm xx2000001661 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGE...

Страница 631: ...ace if damaged 3HAC061327 021 O ring on circular spline side axis 4 Used with protection class IP67 Replace if damaged 3HAC061327 017 O ring on flexible spline side axis 4 3HAC065806 001 Timing belt axis 4 Replace if damaged 3HAC065805 001 Mechanical stop axis 4 flange Replace if damaged 3HAC065804 001 Mechanical stop axis 4 slider 3HAC085071 001 Process hub with lamp unit CP CS and air hose with ...

Страница 632: ...HAC078352 001 Plug screw M4x12 12 9 Lafre 2C2B FC6 9 PrO COat111 with NYPLAS glue 3HAB3413 412 Flange socket head screw with glue Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 716 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calib...

Страница 633: ...eate reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration...

Страница 634: ...r hydraulic pressure and air pressure are turned off 1 xx2000001668 Remove the covers Tubular support cover A Housing cover B Lower arm support cover C 2 Loosening the cables in the tubular Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 634 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 20...

Страница 635: ...re that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001532 Disconnect the connectors MP6 FB6 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 2 xx2000001533 Snap loose and remove the male head of the connectors from the connector plate 3 Continues on next page Product manual CRB 1...

Страница 636: ...of the connectors from the connector plate 3 Disconnecting CP CS cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001536 For robots with CP CS cabling Disconnect the connectors J1 C1 J1 C3 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconne...

Страница 637: ... xx2000001748 Remove the first semicircular bracket that fixes the cable package 2 xx2000001749 Remove the second semicircular bracket from the tubular 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 637 3HAC083111 001 Revision B Copyright 2022 2023 ABB...

Страница 638: ...s the connector from the process hub and disconnect the connector J1 C2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the J2 C2 for Ethernet cabling xx1800002943 Continues on next page 638 Product manual CRB 1300 3HAC083111 001 Revision B Copyright ...

Страница 639: ...rned off 1 xx2000001542 Remove the connector plate CAUTION Be aware of the cablings that are attached to the connector plate The connector plate cannot be removed completely until the connectors are re move from the plate 2 xx2000001543 Cut the cable strap Note The motor cablings have another strap fixed Al ways cut the strap that fixes the cable package to the plate 3 Continues on next page Produ...

Страница 640: ...on DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2000001546 Remove the axis 4 cable protector 2 Pulling out the cable package Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Wrap the connectors with the masking tape 2 Continues on next page 640 Product manual CR...

Страница 641: ...se axes This means the axes can fall down Make sure axes are well supported before remov ing motors 2 xx2000001604 Loosen the screws and move the motor slightly to slacken the timing belt 3 Remove the timing belt from its groove on the motor 4 xx2000001605 Remove the screws and washers 5 Continues on next page Product manual CRB 1300 641 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 642: ...ure are turned off 1 xx2000001671 Support the weight of the extender unit only for CRB 1300 7 1 4 tubular and tilt unit and remove the screws 2 xx2000001721 Valid for CRB 1300 11 0 9 and CRB 1300 10 1 15 Separate the tubular from the housing 3 Continues on next page 642 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4...

Страница 643: ... the axis 4 mechanical stop flange CAUTION The axis 4 mechanical stop slider is accessible from the housing Put it aside for later refitting xx2000001674 2 Removing the axis 4 gearbox Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual CRB 1300 643 3HAC083111 001 Revision B Copyright 2022 202...

Страница 644: ...dures to refit the axis 4 gearbox Refitting the axis 4 gearbox Note Action O ring on circular spline side axis 4 3HAC061327 021 For robots with protection class IP67 option 3350 670 1 O ring on flexible spline side axis 4 3HAC061327 017 Check the o rings Replace if damaged xx2000002525 Continues on next page 644 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights r...

Страница 645: ...d into the notches on the extender unit tubular 3 Valid for CRB 1300 11 0 9 and CRB 1300 10 1 15 xx2000001719 Valid for CRB 1300 7 1 4 and xx2000001679 Continues on next page Product manual CRB 1300 645 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 gearbox Continued ...

Страница 646: ...001675 Refitting the axis 4 mechanical stop flange Note Action xx2000001673 Refit the axis 4 mechanical stop flange to the gearbox 1 Continues on next page 646 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 gearbox Continued ...

Страница 647: ...d CRB 1300 10 1 15 xx2000001718 Valid for CRB 1300 7 1 4 and xx2000001677 Check the radial sealing on the housing Note This procedure is valid for robots with Note Action xx2000002483 Check the radial sealing on the housing Replace if damaged as described below 1 Continues on next page Product manual CRB 1300 647 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 4 ...

Страница 648: ... to the location of the lugs xx2000002485 2 xx2000002484 Grease 3HAC029132 001 Apply a little grease to the sealing lip when repla cing the radial sealing and wipe clean after the replacement 3 xx2000002486 Fit the new sealing into the housing xx2000002537 4 Continues on next page 648 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 5 Repair 5 7 4 Repla...

Страница 649: ...crew the screws little by little and evenly to press the sealing into place 6 Remove the assembly tool 7 Check that the sealing is undamaged and properly fitted 8 Refitting the axis 4 mechanical stop slider Note Action xx2000001732 Place the axis 4 mechanical stop slider in the housing 1 Continues on next page Product manual CRB 1300 649 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights...

Страница 650: ...0 10 1 15 Refit the tubular to the housing 2 xx2000001672 Valid for CRB 1300 7 1 4 and Refit the extender unit to the housing 3 Flange socket head screw with glue 3HAB3413 412 M4x12 12 9 Lafre 2C2B FC6 9 PrO COat111 with NYPLAS glue 14 pcs Refit the screws 4 Tightening torque 3 3 Nm xx2000001671 Continues on next page 650 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB Al...

Страница 651: ... motor con nector Orient the motor correctly and fit it into the hous ing Note Make sure the motor flange does not press on the timing belt 3 xx2000001607 xx2000001680 Refit the motor and verify that the timing belt runs correctly in the groove of the motor pulley 4 Screw M4x16 12 9 Lafre 2C2B FC6 9 3 pcs Refit the screws and washers Note Do not tighten the screws yet 5 xx2000001605 Continues on n...

Страница 652: ...he screw hole 2 xx2000001610 xx2000001611 Use a handheld dynamometer hooking to the tool 3 Used belt 16 7 19 1 N Pull the dynamometer to make the tension falling in the allowed force range Note Pay attention to the force application direction 4 New belt 23 9 26 2 N xx2000001612 Continues on next page 652 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved ...

Страница 653: ...HAC029132 001 Check the axis 3 cable protector 1 Plastic cable protector axis 3 3HAC064693 001 Replace if damaged Note If replaced apply grease to the axis 3 cable pro tector before refitting xx2000001568 Screw M4x10 12 9 Lafre 2C2B FC6 9 3 pcs Tightening torque 2 6 Nm xx2000001552 Continues on next page Product manual CRB 1300 653 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reser...

Страница 654: ... axis 4 gearbox into the extender unit only for CRB 1300 7 1 4 and and into the tubular Make sure that the air hoses are facing the axis 3 gearbox side in the hollow tube of axis 4 gearbox CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary 2 Securing the cable package in the housing Note Action Screw M4x8 12 9 Lafre 2C2B FC6 9 4 pcs Refit the axis 4 cable protec...

Страница 655: ...e The motor cablings have another strap fixed Pay attention to the location where the new strap to be fixed see the figure as a guidance CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Screw M4x8 12 9 Lafre 2C2B FC6 9 2 pcs Refit the connector plate 4 Tightening torque 2 6 Nm xx2000001542 Continues on next page Product ...

Страница 656: ...re facing upside in the semicircular bracket 2 Refitting the lamp unit Notice that the procedure is valid only when the lamp unit needs a replacement Note Action Multi color lamp unit 16 mm 3HAC081993 004 Refit the lamp unit 1 xx2200001003 Gasket for lamp unit cover 3HAC082935 001 For robots with protection class IP67 option 3350 670 2 xx2200001004 Check the gasket Replace if damaged Continues on ...

Страница 657: ...g air hoses 1 xx2200001001 For robots with Ethernet cabling Access the connector from the process hub and reconnect the connector J1 C2 Tip See the number markings on the connectors for help to find the corresponding connector 2 Reconnecting the CP CS cabling if equipped Note Action xx2000001537 Insert the male header of the connectors to the connector plate 1 Continues on next page Product manual...

Страница 658: ... connectors to the connector plate 1 xx2000001534 Reconnect the connectors FB5 MP5 Tip See the number markings on the connectors for help to find the corresponding connector 2 Reconnecting the axis 6 motor connectors Note Action xx2000001533 Insert the male header of the motor connectors to the connector plate 1 Continues on next page 658 Product manual CRB 1300 3HAC083111 001 Revision B Copyright...

Страница 659: ...gasket Replace if damaged Seal bolt 3HAC032050 001 For robots with protection class IP67 option 3350 670 2 xx2200001006 Check the seal bolts Replace if damaged Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Continues on next page Product manual CRB 1300 659 3HAC083111 001 ...

Страница 660: ...m xx2000001748 Screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs for each plate Refit the connector plate 2 Tightening torque 1 3 Nm xx2000001531 xx2000001530 Route and secure the cabling with cable straps CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Continues on next page 660 Product manual CRB 1300 3HAC083111 001 Revision B C...

Страница 661: ...rea with the cable package 3 Screw M4x10 12 9 Lafre 2C2B FC6 9 Refit the covers Tubular support cover A Housing cover B Lower arm covers C 4 Tightening torque 2 6 Nm xx2000001668 Concluding procedure Note Action Calibration is detailed in section Calibration on page 663 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after in...

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Страница 663: ...eneric term for all calibration methods that aim to move the robot to calibration position Standard calibration A calibration routine that generates a new zero posi tion of the robot Fine calibration A calibration routine that in the first step generates a reference to current zero position of the robot The same calibration routine can later on be used to re calibrate the robot back to the same po...

Страница 664: ...printed on its name plate OmniCore To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy after repair or maintenance that affects the mechanical structure Wrist Optimization Optimization of TCP reorientation perform ance The purpose is to improve reorientation accuracy for continuous processes like weld ing and gluing Optimization Wrist optimization wil...

Страница 665: ...This is further detailed in the Application manual CalibWare Field If a service operation is done to a robot with the option Absolute Accuracy a new absolute accuracy calibration is required in order to establish full performance For most cases after replacements that do not include taking apart the robot structure standard calibration is sufficient The Absolute Accuracy option varies according to...

Страница 666: ...age 669 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 ...

Страница 667: ...s section shows the position of the synchronization marks and the synchronization position for each axis Synchronization marks CRB 1300 3 4 5 6 1 2 xx2200001007 Product manual CRB 1300 667 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes ...

Страница 668: ...n gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions xx2200001140 668 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 6 Calibration 6 2 2 Calibration movement d...

Страница 669: ...en tap Calibrate 1 Select Calibration from the menu 2 The Mechanical Units page displays a list of available mechanical units Note This step is required only if you are not already in the Mechanical Unit page when you open Calibrate Note The Mechanical Unit page is displayed only if there are more than one mechanical unit available Otherwise the calibration summary page for the available mechanica...

Страница 670: ...on counter for the selected axes is updated CAUTION If a revolution counter is incorrectly updated it will cause incorrect manipulator posi tioning which in turn may cause damage or injury Check the synchronization position very carefully after each update See Checking the synchronization position on page 689 10 670 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All righ...

Страница 671: ...ounting hole on the tool flange The Axis Calibration procedure described roughly 1 A removable 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 se...

Страница 672: ...ta about the tool installed A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory The reference value will be named according to tool name date etc Follow the instructions given in the reference calibration routine on the FlexPendant to create reference values When reference calibration is performed the robot is ...

Страница 673: ...e 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 How to calibrate a suspended or wall mounted robot The CRB 1300 is fine calibrated floor standing in factory prior to shipping To calibrate a suspended or wall mounted robot reference calibration could be used Reference values for a s...

Страница 674: ...gs may cause severe damage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools Required if Axis Calibration is the valid calib ration method for the robot 3HAC074119 001 Calibration toolbox Ax is Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure that the tube insert the plastic protection ...

Страница 675: ... a local periodic check system the following measures should be checked Outer diameter within Ø5g5 mm Straightness within 0 005 mm xx1600001142 Outer diameter A Identifying the calibrating tools It is possible to make the calibration tool identifiable with for example an RFID chip The procedure of how to install an RFID chip is described below Note The tool identifier is NOT delivered from ABB it ...

Страница 676: ...ust not exceed Ø7 9 mm x 8 0 mm Ø5 9 mm x 8 0 mm or Ø3 9 mm x 8 0 mm depending on calibra tion tool size 1 There is a cavity on one end of the calibration tool in which the RFID chip can be installed 2 Install the RFID chip according to supplier instruc tions Install the chip in flush with the tool end 676 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserve...

Страница 677: ...on each axis as follows If there is not enough space on an axis to install a fixed calibration pin the axis is equipped with two bushings instead for installation of two calibration tools when calibration is carried out This is shown in the figure For axis 6 there is only one bushing the second calibration tool is installed at the mounting flange of the turning disk xx2000001310 Continues on next ...

Страница 678: ... xx2200001008 Continues on next page 678 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 6 Calibration 6 4 3 Installation locations for the calibration tools Continued ...

Страница 679: ...g Replace if damaged or missing 3HAC053237 002 Protective plug for 12 mm bushing Replace if damaged or missing 3HAC056253 003 Calibration pin cover 10 mm Replace if damaged or missing 3HAC056253 002 Calibration pin cover 14 mm Replace if damaged or missing 3HAC061327 022 O ring on calibration pin Replace if damaged or missing 3HAC061327 011 O ring on calibration pin Product manual CRB 1300 679 3HA...

Страница 680: ...tion pin cover 10 mm Replace if damaged or missing 3HAC056253 002 Calibration pin cover 14 mm Replace if damaged or missing 3HAC061327 022 O ring on calibration pin Replace if damaged or missing 3HAC061327 011 O ring on calibration pin 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...

Страница 681: ... the robot needs to be connected to power Make sure that the robot s working area is empty as the robot can make unpredictable movements 1 Use a clean cloth Wipe the calibration tool clean Note The calibration method is exact Dust dirt or color flakes will affect the calibration value 2 If the data is optimized the calibra tion routine Wrist Optimization must be re run after standard calib ration ...

Страница 682: ...d the RobotWare program needs to be started again Use this procedure to take required action Action Situation Press and hold the three position enabling device and press Play The three position enabling device on the FlexPendant has been released during robot movement Remove the calibration tool if it is installed and restart the calibration procedure from the beginning See Starting the calibratio...

Страница 683: ...ing on calibration pin 3HAC061327 011 Calibration pin cover 10 mm 3HAC056253 003 Calibration pin cover 14 mm 3HAC056253 002 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not damaged Replace the plug and the sealing with new spare part if missing or damaged 3 Protective plug for 10 mm bushing...

Страница 684: ...ration to save reference values for all axes that is to be replaced Make sure that the values are saved in RobotStudio or FTP program The files are located in Active system folder name HOME RefCalibFiles 7 Perform the repair 8 Make sure that the tooling and process equipment are the same as when creating the reference Use Reference calibration to update the system with new calibration offset value...

Страница 685: ...ie 96 3 94 2 2 1 degrees 8 Manually jog axis 4 the calculated angle difference 2 1 NOTE The direction shall be the same direction as the direction used when axis 4 was manually jogged to coincide with the verification process In the example 2 1 degrees 9 Make a new manual fine calibration of axis 4 with axis in 2 1 degrees position 10 Check again against the verification position 11 Repeat the man...

Страница 686: ...led 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 ...

Страница 687: ...bration data WARNING Robot moves automatically when pressing Calibrate 6 Wrist optimization is finished 7 Redefine verify TCP for all tools Product manual CRB 1300 687 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 6 Calibration 6 5 Calibrating with Wrist Optimization method Continued ...

Страница 688: ...ition program twice Do not change the position of the robot axes after running the program 1 This is detailed in section Synchronization marks and synchronization position for axes on page 667 Adjust the synchronization marks when the calibration is done if necessary 2 Write down the values on a new label and stick it on top of the calibration label 3 The label is located on the base 688 Product m...

Страница 689: ...ectly If they do not update the revolu tion counters 6 Using the jogging window Use this procedure to jog the robot to the synchronization position of all axes Note Action Tap Jog 1 From the Mechanical unit list select a mechanical unit 2 From the Motion mode section select an axis set that need to be jogged 3 For example to jog axis 2 select the axis set Axis 1 3 Follow the screen instruction on ...

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Страница 691: ...and correctly fitted 2 Replace one thing at a time 3 Do not replace units randomly 4 Make sure that there are no loose screws turnings or other unexpected parts remaining after work has been performed 5 When the work is completed verify that the safety functions are working as intended Keep a track of history Make a historical fault log to keep track of problems over time Consult those working wit...

Страница 692: ...ilities between hardware and software options and their configuration The robot recently had a software upgrade Check connections software versions The robot has recently been moved from one site to another an already working robot 692 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 7 Troubleshooting 7 1 Introduction to troubleshooting Continued ...

Страница 693: ...the oil spill is small this step is sufficient Wipe off the oil or grease see Cleaning the CRB 1300 on page 170 2 Monitor the robot over time to see if new oil or grease occurs Check the gearbox oil level 3 Robots performing certain ex tremely heavy duty work cycles may be fitted with vented oil plugs These are not fitted to normal duty robots but can be purchased from your local ABB representativ...

Страница 694: ...rts If the noise is emitted from a gearbox the following can also apply Overheating Recommended actions The following actions are recommended Information Action CAUTION Allow hot parts to cool down 1 Verify that the service is done according to the maintenance schedule 2 If a bearing is emitting the noise determine which one and make sure that it has suffi cient lubrication 3 If possible disassemb...

Страница 695: ...nding equipment Possible causes The symptom can be caused by Faulty brake Faulty power supply to the brake Recommended actions The following actions are recommended Information Action Determine which motor s causes the robot to collapse 1 See the circuit diagram Check the brake power supply to the col lapsing motor during the Motors OFF state 2 If found faulty the motor must be replaced as a compl...

Страница 696: ...orque or external forces for the joint can also be too high Recommended actions The following actions are recommended Information Action CAUTION Allow hot parts to cool down 1 Verify that the values for payload and arm load are set correctly 2 Verify that the value for ambient temperature setting in the controller is consistent with the actual operating temperature environment 3 The ways could be ...

Страница 697: ...ected Consequences Communication fails to be set up between the laser scanner PLC and OmniCore The safety separation function with the laser scanner cannot be applied Possible causes The firewall for the ProfiNet network is disabled Recommended actions 1 Open RobotStudio 2 In the Controller tab page choose Communication from the Configuration group 3 Select Firewall Manager in the Type pane 4 Set ...

Страница 698: ...C the PROFIsafe device information must be configured on the OmniCore controller s side first Otherwise the configured signals will not be saved in the safety module in the OmniCore controller Recommended actions 1 Open the RobotStudio 2 In the Controller tab page choose Visual SafeMove from Safety in the Configuration group 3 Check the Safe I O configurations For robots running RobotWare 7 5 or e...

Страница 699: ...in the Configuration group 5 Go back to the Visual SafeMove window and write the SafeMove configurations to the controller again You will observe the signals and the communication is correctly set up Product manual CRB 1300 699 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 7 Troubleshooting 7 7 Communication failure between PLC and controller Continued ...

Страница 700: ...e controller s side first Otherwise the configured signals will not be saved in the OmniCore controller Recommended actions 1 Open the RobotStudio 2 In the Controller tab page choose Visual SafeMove from Safety in the Configuration group 3 Check the Safe I O configurations The following signals can be observed xx2200000305 4 If the signals cannot be observed choose I O Engineering Tool from Config...

Страница 701: ...ous situation tap the menu button after the unknown device and tap Identify in the list Verify whether the unknown device is the I O module installed on the controller If yes the LED blinks on the I O module 4 Tap Configure in the list for the unknown device 5 In the displayed I O Modernization window choose Update device in the Configuration area and select CabinetIO from the drop down list This ...

Страница 702: ...tions 1 Reset the template SafeMove configuration file to factory settings and apply it to the controller 2 For scenarios to remove options de select the checkboxes of the options that require to be removed in the Collaborative Speed Control add in and apply it to the controller 3 For scenarios to reselect options de select the checkboxes of the options not required first and then select the requi...

Страница 703: ... Speed Control add in is not loaded or is loaded but Global_SST configuration is removed or the ISH_UserMODE_bNot_IntemitCollab is set to 1 The system is in Auto mode or Manual Full Speed mode The robot was stopped during running a program and then manually moved to another position which is within the range of the robot return path The user stands in Protecting area and restarts the program using...

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Страница 705: ... 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 contro...

Страница 706: ...he respective content see table below xx1800000058 Materials 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 Base swing lower arm etc Aluminium Serial measurement board Batteries Lithium Cable...

Страница 707: ...ncineration 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 CRB 1300 707 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 8 Decommissioni...

Страница 708: ...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 708 Produc...

Страница 709: ...pter includes general information complementing the more specific information in the different procedures in the manual Product manual CRB 1300 709 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 9 Reference information 9 1 Introduction ...

Страница 710: ...nvironments 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 design normative reference from ISO 10218 1 ISO 13849 1 2006 Robots and robotic devices Collaborative robots ISO TS 15066 This Technical Specification specifies sa...

Страница 711: ...39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume Product manual CRB 1300 711 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 9 Reference information 9 3 Unit conversion ...

Страница 712: ...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...

Страница 713: ...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...

Страница 714: ...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 ...

Страница 715: ...essory 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 CRB 1300 715 3HAC083111 001 Revision B Copyright 2022 2023 ABB A...

Страница 716: ... sum of the standard toolkit and any tools listed in the instruction Contents standard toolkit Rem Tool Qty Ring open end spanner 8 19 mm 1 Socket head cap 2 5 17 mm 1 Torx socket no 20 60 1 Box spanner set 1 Torque wrench 10 100 Nm 1 Torque wrench 75 400 Nm 1 Ratchet head for torque wrench 1 2 1 Hexagon headed screw M10x100 2 Hexagon headed screw M16x90 1 Hex head allen wrench drill bit set M2 M8...

Страница 717: ...uring the timing belt tension Oil dispenser Includes pump with outlet pipe Oil collecting vessel The capacity of the vessel must be sufficient to take the complete amount of oil Connector for quick coupling with outlet pipe Used for draining and filling oil to axis 1 gearbox Connector specification G3 8 Special toolkit 3HAC076396 001 Includes Axis 1 gearbox assembly cap Axis 1 gear box motor seali...

Страница 718: ...ce 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 718 Product manual CRB 1300 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 9 Reference information 9 8 Lifting accessories and lifting instructi...

Страница 719: ...but delivered as a separate document for registered users on myABB Business Portal www abb com myABB Tip All documents can be found via myABB Business Portal www abb com myABB Product manual CRB 1300 719 3HAC083111 001 Revision B Copyright 2022 2023 ABB All rights reserved 10 Spare parts 10 1 Spare part lists and illustrations ...

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Страница 721: ...e 664 carbon dioxide extinguisher 26 changing oil axis 1 195 axis 2 200 cleaning 170 Cold environments 106 connecting the robot and controller cabling 98 copper disposal 706 D damaged bearings 694 dimensions robot 75 direction of axes 668 Dual PROFIsafe based laser scanner laser scanner 90 91 133 141 Dual SafetyIO based laser scanner laser scanner 92 150 E environmental information 706 equipment r...

Страница 722: ...ing 326 lubricants 29 lubricating cable package 185 lubrication amount in gearboxes 194 type of lubrication 194 M maintenance intervals 167 maintenance schedule 167 mechanical stop axis 4 replacing 481 mechanical stop axis 3 replacing 478 mechanical stop axis 2 replacing 324 mechanical stop axis 1 replacing 322 mechanical stops inspecting 175 motor axis 6 replacing 541 motor axis 5 replacing 528 m...

Страница 723: ...ety configuration report 124 Safety configurations lamp indicator 159 speed control 159 template SafeMove configuration file 159 safety devices 27 SafetyIO based laser scanner laser scanner 91 145 safety signals in manual 17 safety standards 710 Safe Zones FlexPendant application 115 scales on robot 667 schedule of maintenance 167 screw joints 712 securing robot 67 securing the robot to foundation...

Страница 724: ...cycling 706 updating revolution counters 669 users requirements 16 V validated configuration file 124 validity and responsibility 15 velocity adjusting 106 verifying calibration 688 W wall mounting 71 weight 36 robot 62 68 working range 47 robot 44 Wrist Optimization overview of method 686 X xx replacing 53 Z zero position checking 689 724 Product manual CRB 1300 3HAC083111 001 Revision B Copyrigh...

Страница 725: ......

Страница 726: ...7 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 3HAC083111 001 Rev B en Copyright 2022 2023 ABB All rights reserved Specifications subject to change without notice ...

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