ABB IRB 6730 Скачать руководство пользователя страница 263

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Note

Action

xx1300001113

Lift out the carrier from its position.

Removing the cable harness from the wrist and upper arm

Note

Action

Foundry Plus

DressPack:

xx2000000422

Remove the back cover.

Note

Use caution not to damage the gasket.

DressPack

xx2300001040

Locking liquid: Loctite 2400 (or equivalent
Loctite 243)

Protection type Foundry Plus:

Torx pan head screw: M6x16 8.8-A2F (3
pcs)

Continues on next page

Product manual - IRB 6730

263

3HAC085699-001 Revision: B

5 Repair

5.5.1 Replacing the arm house cover including the axis-4 cassette sealing

Continued

Содержание IRB 6730

Страница 1: ...ROBOTICS Product manual IRB 6730 ...

Страница 2: ...Trace back information Workspace 23C version a17 Checked in 2023 10 04 Skribenta version 5 5 019 ...

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

Страница 5: ... 3 2 2 Risk of tipping stability 55 3 3 On site installation 55 3 3 1 Brief installation procedure 56 3 3 2 Installing a base plate 64 3 3 3 Lifting the robot 64 3 3 3 1 Lifting robot with lifting accessory recommended lifting method 66 3 3 3 2 Lifting the robot with fork lift 67 3 3 3 3 Lifting the robot with roundslings 72 3 3 4 Orienting and securing the robot 75 3 3 5 Manually releasing the br...

Страница 6: ...ancing device 172 4 6 Cleaning activities 172 4 6 1 Cleaning the IRB 6730 177 5 Repair 177 5 1 Introduction 178 5 2 General procedures 178 5 2 1 Performing a leak down test 179 5 2 2 Mounting instructions for bearings 181 5 2 3 Mounting instructions for sealings 185 5 2 4 Cut the paint or surface on the robot before replacing parts 186 5 3 Axes 1 and 2 186 5 3 1 Replacing the axis 1 cassette seali...

Страница 7: ...3 Installation locations for the calibration tools 620 6 4 4 Axis Calibration Running the calibration procedure 624 6 4 5 Reference calibration 626 6 5 Verifying the calibration 627 6 6 Checking the synchronization position 629 7 Troubleshooting 629 7 1 Introduction to troubleshooting 631 7 2 Oil and grease stains on motors and gearboxes 632 7 3 Mechanical noise or dissonance 633 7 4 Manipulator c...

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

Страница 10: ...6740 3HAC065041 001 Technical reference manual System parameters 3HAC050944 001 Operating manual Service Information System Tip All documents can be found via myABB Business Portal www abb com myABB Revisions Description Revision First edition A Published in release 23C The following updates are made in this revision New tool for refitting the axis 4 cassette sealing added Illustration of the most...

Страница 11: ... 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 syst...

Страница 12: ...handling of the products The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 12 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved Product documentation Continued ...

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

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

Страница 16: ...fluence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the instructions 16 Product manual IRB 6730 3HAC085699 001 Revis...

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

Страница 18: ...used to indicate where to find additional information or how to do an operation in an easier way TIP 18 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

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

Страница 20: ...000815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will release the brakes This means that the robot arm can fall down Continues on next page 20 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety sy...

Страница 21: ...ip over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 6730 21 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 22: ...1 1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page 22 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 23: ...xx1000001242 Lifting of robot xx0900000822 Oil xx0900000823 Can be used in combination with prohibition if oil is not allowed Mechanical stop xx0900000824 Continues on next page Product manual IRB 6730 23 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 24: ...that this part is pressurized Usually contains additional text with the pressure level Shut off with handle xx0900000827 Use the power switch on the controller Do not step xx1400002648 Warns that stepping on these parts can cause damage to the parts 24 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Contin...

Страница 25: ...ive stops and emergency stops are described in the product manual for the controller For more information see Product manual OmniCore V250XT Type A Product manual IRB 6730 25 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

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

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

Страница 28: ...ment of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment 28 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 5 Safety during operation...

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

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

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

Страница 32: ...quire using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the manipulator does not result in additional hazards for example even more severe injuries on a trapped person DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpected ways Make sure no personnel is near or beneath the robot ...

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

Страница 34: ...ld engineers A risk assessment must be done to address both robot and robot system specific hazards WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Related information See also the safety inform...

Страница 35: ...ment of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Product manual IRB 6730 35 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 1 Safety 1 8 Safety during decommiss...

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

Страница 38: ...operation The values also never reach their maximum at the same time WARNING The robot installation is restricted to the mounting options given in following load table s Floor mounted Maximum load emergency stop Endurance load in operation Force 20 8 kN 8 3 kN Force xy 16 2 17 1 kN 16 2 4 3 kN Force z 42 6 kNm 22 5 kNm Torque xy 13 2 kNm 6 1 kNm Torque z Continues on next page 38 Product manual IR...

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

Страница 40: ...nipulator protection type Foundry Plus 2 i According to IEC 60529 Environmental information The product complies with IEC 63000 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances 40 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 1 Technical dat...

Страница 41: ...ws the unrestricted working range of the robot 2692 3149 216 1920 1189 946 A xx2300000264 Path intersect with axis 5 center A Continues on next page Product manual IRB 6730 41 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range ...

Страница 42: ...icted working range of the robot A 2889 2117 1349 1004 414 3347 xx2300000265 Path intersect with axis 5 center A Continues on next page 42 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Страница 43: ...icted working range of the robot A 3097 2325 1525 1117 622 3555 xx2300000266 Path intersect with axis 5 center A Continues on next page Product manual IRB 6730 43 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Страница 44: ...tricted working range of the robot 2889 2117 1004 414 3347 1657 A xx2300000270 Path intersect with axis 5 center A Continues on next page 44 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Страница 45: ...tricted working range of the robot A 3097 2325 1117 622 3555 1846 xx2300000271 Path intersect with axis 5 center A Continues on next page Product manual IRB 6730 45 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Страница 46: ...x 170 xx2300000267 IRB 6730 240 2 9 IRB 6730 220 2 9 LID R1004 R2889 2x 170 xx2300000268 Continues on next page 46 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Working range Continued ...

Страница 47: ... on page 91 65 80 Axis 2 IRB 6730 270 2 7 IRB 6730 240 2 9 IRB 6730 210 3 1 180 ii 70 Axis 3 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 160 70 300 Axis 4 IRB 6730 270 2 7 IRB 6730 240 2 9 IRB 6730 210 3 1 130 Axis 5 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 120 iii Continues on next page Product manual IRB 6730 47 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator descri...

Страница 48: ...f lower arm DressPack is installed iii Maximum combined movements reduced Working range limitation The working range of axis 1 can be reduced by altering the parameter values Installation of additional mechanical stops is recommended See Working range alterations on page 87 48 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Wor...

Страница 49: ...estroy sensitive electronics Safe handling Use one of the following alternatives Use a wrist strap Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use an ESD protective floor mat The mat must be grounded through a current limiting resistor Use a dissipative table mat The mat should provide a controlled discharge of static voltages and must be ...

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Страница 51: ...dards and regulations The technical data is detailed in section Technical data on page 37 Safety information Before any installation work is commenced all safety information must be observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page1...

Страница 52: ... lifting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 37 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 39 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 39 7 Before taking ...

Страница 53: ...to tip over The transportation position is the most stable position Do not change the robot position before securing it to the foundation Transportation position This figure shows the robot in its transportation position 34 39 7 0 913 65 670 65 645 CL xx1300000356 Continues on next page Product manual IRB 6730 53 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and c...

Страница 54: ...e of axis Axis number 0 Axis 1 34 to 39 Axis 2 70 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 54 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 2 Risk of tipping stability Continued ...

Страница 55: ...he plat form foundation 3 See Orienting and securing the ro bot on page 72 See Product manual OmniCore V250XT Type A Connect the manipulator to the controller 4 See Product manual OmniCore V250XT Type A Configure the safety settings 5 See Product manual OmniCore V250XT Type A How to start and run the robot is described in the product manual for the controller 6 Install required equipment if any 7 ...

Страница 56: ...ening the robot base directly onto The base plate has a greater number of fastening points to the foundation and makes a larger footprint which reduces the load on each fastening point to reduce surface pressure on the foundation contact points which minimizes the risk of wearing down an uneven surface and thereby causing changes in the robot fastening tightening torque to be able to prepare the i...

Страница 57: ... 2x 12H7 0 0 018 2 x 1 x 4 5 2 x 1 8 1 H 7 2 0 1 2 3 2 1 M 5 0 1 A B D A B 0 2 Common Zone E F G H xx1500000246 Description Pos Hole for guide pin cylindrical see Guide pins on page 60 A B Common tolerance zone accuracy all over the base plate from one contact surface to the other E F G H Continues on next page Product manual IRB 6730 57 3HAC085699 001 Revision B Copyright 2023 ABB All rights rese...

Страница 58: ... 0 0 0 7 0 0 1 8 D C L 2x R22 5 B 3 x R 1 3x 90 3 x 4 C C xx1500000247 Continues on next page 58 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Страница 59: ... 9 2x 132 8 87 27 87 27 5x M16 16x 22 1020 950 0 0 0 0 2x 271 2x 774 41 123 358 175 538 721 773 855 896 923 1 933 1 2x 860 2x 726 2x 543 2x 363 2x 206 110 448 786 878 87 1 87 27 1 27 50 18 69 2x 904 50 3 1 xx1500000249 Continues on next page Product manual IRB 6730 59 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Con...

Страница 60: ...ide pins on page 60 A Assembly of guide pins 800 B B B B A B A Description Pos Cylindrical guide pin x2 A M5 x 40 Tightening torque 6 Nm x2 B Continues on next page 60 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Страница 61: ...s for leveling bolts in the base plate A A A B B B B xx1500000312 Orienting grooves 3 pcs A Levelling bolts attachment holes 4 pcs B Continues on next page Product manual IRB 6730 61 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Страница 62: ...Base plate guide sleeve holes The illustration below shows the guide sleeve holes in the base plate A xx0300000045 Guide sleeve holes 2 pcs A Continues on next page 62 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 2 Installing a base plate Continued ...

Страница 63: ...in figure Base plate orienting grooves and leveling bolts on page 61 Fit the base plate and use the levelling bolts to level the base plate 6 If required fit strips of sheet metal underneath the base plate to fill any gaps 7 Secure the base plate to the foundation with screws and sleeves 8 Maximum allowed deviation all over the base plate from one contact surface to the other 0 3 mm Recheck the fo...

Страница 64: ...etailed instruction see the user instructions enclosed with the accessory Note The user manual may be out of date The latest revision is available for download via myABB Business Portal www abb com myABB xx2200002013 Required equipment Note Article number Equipment Includes user instructions 3HAC15971 2 3HAC15607 1 Lifting accessory robot Continues on next page 64 Product manual IRB 6730 3HAC08569...

Страница 65: ... to the robot as de scribed in the enclosed instruction Go to the user instructions enclosed with the lifting accessory DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 3 CAUTION The IRB 6730 robot weighs IRB 6730 270 2 7 1 260 kg IRB 6730 240 2 9 1 270 kg IRB 6730 210 3 1 1 270 kg IRB 6730 220 2 9 LID 1 340 kg IRB 6730 190 3 1 ...

Страница 66: ...ft pockets and all required hardware for installation on robot base User instructions are enclosed with the tool 3HAC047054 003 Fork lift accessory set Required documents Document number Document 3HAC048484 002 Directions for use Fork lift accessory set 3HAC047054 001 Lifting the robot Note Action Lift the robot according to the user instructions enclosed with the fork lift accessory 1 66 Product ...

Страница 67: ...cessory set 3HAC047054 003 See Lifting the robot with fork lift on page 66 The robot can also be lifted with roundslings as detailed in this section Illustration lifting position This figure shows the robot in its lifting and transportation position 34 39 7 0 913 65 670 65 645 CL xx1300000356 Continues on next page Product manual IRB 6730 67 3HAC085699 001 Revision B Copyright 2023 ABB All rights ...

Страница 68: ...m Roundsling B 1 pcs 2 2 5 m depending on robot variant ii Roundsling C 4 pcs Lifting eye M20 D i Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport ii Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport Continues on next page 68 Product manual IRB 6730 3HAC085699 001 Revision B Cop...

Страница 69: ...n page 68 Roundslings and lifting eyes Lifting the robot with roundslings Use this procedure to lift the robot with roundslings Note Action 34 39 7 0 913 65 670 65 645 CL xx1300000356 Make sure the robot is positioned in the recom mended position for transportation and lifting WARNING The robot is mechanically unstable if not se cured to the foundation 1 Continues on next page Product manual IRB 6...

Страница 70: ...B 6730 190 3 1 LID 1 340 kg All lifting accessories used must be sized ac cordingly 2 Lifting eye M20 Fit four lifting eyes to the base of the robot 3 4x xx2100000718 Continues on next page 70 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 3 3 Lifting the robot with roundslings Continued ...

Страница 71: ...pending on robot vari ant ii Roundsling C 4 pcs Lifting eye M20 D i Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport ii Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport WARNING Personnel must not under any circumstances be present under the suspended load 5 Raise the overhead c...

Страница 72: ... foundation on page 39 Securing a floor mounted robot Use this procedure to orient and secure the robot floor mounted Note Action Make sure the installation site for the robot con forms to the specifications in section Technical data on page 37 1 The hole configuration of the base is shown in the figure in Hole con figuration base on page 74 Prepare the installation site with attachment holes The ...

Страница 73: ... the robot gently using the attachment screws while lowering it into its mounting position 7 Screws M24 x 100 8 pcs quality 8 8 Fit the securing screws and washers in the attach ment holes of the base 8 Washers 4 mm flat washer Tightening torque Tighten the bolts in a crosswise pattern to ensure that the base is not distorted 9 550 Nm screws lubricated with Molykote 1000 600 725 Nm typical 650 Nm ...

Страница 74: ... 2 7 0 2 25 H8 R400 0 3 A B 2 x 2 0 25 H8 M M 0 3 A B A CLAxis 1 4x 90 4x 15 2x 7 5 K K Ref C 8x 49 5 4x 16 8 x 5 3 4x 45 H8 8x 30 0 5 K K 0 3 A B 0 12 0 3 A B xx2200001840 74 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 4 Orienting and securing the robot Continued ...

Страница 75: ... is equipped with buttons for controlling the axes brakes The buttons are numbered according to the numbers of the axes Note If the robot is not connected to the controller power must be supplied to the connector R1 MP according to the section Supplying power to connector R1 MP on page 76 1 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpec ted w...

Страница 76: ...nable the brake release buttons Note Action DANGER Incorrect connections such as supplying power to the wrong pin may cause all brakes to be released simultaneously and instantly 1 xx0600002937 Supply 0V on pin 12 24V on pin 11 Note Do not interchange the 24V and 0V pins If they are mixed up damage can be caused to internal electrical components 2 Use the brake releasing button as described in Rel...

Страница 77: ...tops or major damage to the robot Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Stopping time and braking distances The performance of the motor brake depends on if there are any loads attached to the robot See the product specification for the robot listed in References on page 10 Product manu...

Страница 78: ... R4 Measurements The measurements are given in mm R4 R3 R1b R1a G F E D C B A Variant 216 446 558 634 35 345 340 1 170 200 1 182 5 2 336 5 IRB 6730 270 2 7 216 446 558 634 35 345 340 1 170 200 1 382 5 2 336 5 IRB 6730 240 2 9 216 446 558 634 35 345 340 1 170 200 1 592 5 2 336 5 IRB 6730 210 3 1 216 446 558 634 35 345 340 1 170 350 1 382 5 2 336 5 IRB 6730 220 2 9 LID Continues on next page 78 Prod...

Страница 79: ...oad Frame The table and figure shows allowed extra load on the frame Description JH 100 kgm2 Permitted extra load on frame JH JH0 M4 x R2 Recommended position see the fol lowing figure where JH0 is the moment of inertia of the equipment R is the radius m from the center of axis 1 M4 is the total mass kg of the equipment including bracket and harness 250 kg R xx2300000346 Continues on next page Pro...

Страница 80: ...oad up to maximum 200 kg in combination with the reduced payload use RobotStudio add in RobotLoad or contact ABB 200 400 200 C LAxis 3 C LAxis 4 xx2200002036 Continues on next page 80 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 81: ...6 M12 20 A A 80 190 4 x M12 24 min 2 x M12 18 min 2 x M8x1 25 24 2 x M10 15 min 2x 28 120 190 200 C L Axis 3 C L Axis 4 xx2200002039 Continues on next page Product manual IRB 6730 81 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 82: ...C L Axis 4 Axis 6 xx2200002040 Continues on next page 82 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 83: ... 16 min 2x 30 xx2200002055 Continues on next page Product manual IRB 6730 83 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 84: ...2200002056 Continues on next page 84 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 85: ...M10 20 min 30 4x 15 0 4 x M10 15 xx2200002057 Continues on next page Product manual IRB 6730 85 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 86: ... A B 0 07 A B 8 min 100 H7 200 h8 1 X 45 1 X 45 A xx2200002061 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 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 86 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissionin...

Страница 87: ...e working range values set in the software parameters Note The mechanical stops are only installed as safety precaution to physically stop the robot from exceeding the working range set A collision with a mechanical stop always requires actions for repair and troubleshooting Movable mechanical stopii Fixed mechanical stopi Axis yes The working range can be reduced by altering the parameter values ...

Страница 88: ...duction of working range Graduation of limited working range from 5 and 125 in both directions 15 Illustration reduced working range 5 5 5 0 5 0 125 125 A A xx2100000973 WARNING If the mechanical stop pin is deformed after a hard collision it must be replaced Deformed movable stops and or additional stops as well as deformed attachment screws must also be replaced after a hard collision Continues ...

Страница 89: ...re parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Note Article number Spare part Screws and washers are en closed 3HAC048533 003 Movable mechanical stop set axis 1 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page ...

Страница 90: ...re Location of the mechanical stops on page 89 Note Install the washer with the chamfer turned downwards A A xx2100000974 3 The system parameters that must be changed Upper joint bound and Lower joint bound are described in Technical reference manual System parameters Adjust the software working range limitations system parameter configuration to corres pond to the mechanical limitations 4 DANGER ...

Страница 91: ...ded work range to limit the working range and before removing the mechanical stops For information about the option SafeMove see Application manual Functional safety and SafeMove If the mechanical stop is removed then the manipulator should have a marking for this for example a label If the robot is delivered with the option Extended work range then such a label is included on delivery Extending t...

Страница 92: ...otion The Arm parameters Upper Joint Bound and Lower Joint Bound can be changed to the values corresponding to the actual installation 3 Related information The system parameters are described in detail in the reference manual see References on page 10 For more information about SafeMove see Application manual Functional safety and SafeMove 92 Product manual IRB 6730 3HAC085699 001 Revision B Copy...

Страница 93: ...equipment fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables The customer cables also handle databus communication See the product manual for the controller see document number in References on page 10 Robot cables These cables are included in the standard delivery They are completely pre manufactured and ready to plug in Connect...

Страница 94: ...540 1 Signal cable shielded 22 m 3HAC2566 1 Signal cable shielded 30 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Continues on next page 94 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 5 1 Robot cabli...

Страница 95: ... Harness CP CS 7 m 3HAC085739 002 Harness CP CS 15 m 3HAC085739 003 Harness CP CS 22 m 3HAC085739 004 Harness CP CS 30 m Customer cables Ethernet floor cable Article number Ethernet floor cable length 3HAC079476 001 Ethernet cable 7 m 3HAC079476 002 Ethernet cable 15 m 3HAC079476 003 Ethernet cable 22 m 3HAC079476 004 Ethernet cable 30 m Product manual IRB 6730 95 3HAC085699 001 Revision B Copyrig...

Страница 96: ...ict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that all safety equipment is installed as designed for the application 5 Verify that no personnel are inside the safeguarded space 6 If maintenance or repair has been done verify the function of the part that was main tained 7 Verify the application in the operat...

Страница 97: ... in different sections and divided according to the maintenance activity Safety information Observe all safety information before conducting any service work There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page 15 before performing any service ...

Страница 98: ...pecified in months regardless of whether the system is running or not Operating time specified in operating hours More frequent running means more frequent maintenance activities Robots with the functionality Service Information System activated can show active counters in the device browser in RobotStudio or on the FlexPendant 98 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 AB...

Страница 99: ...lly during the first running hours Wipe down affected areas with a dry cloth x Cleaning the seals Cleaning the IRB 6730 on page 172 x Cleaning the robot Inspecting the balancing device on page 104 x Inspecting the balancing device Inspecting the dampers on page 110 x Inspecting the dampers Inspecting the information labels on page 112 x Inspecting the information labels Inspecting the axis 1 mecha...

Страница 100: ...s 5 gearbox Changing the oil in axis 6 gearbox on page 162 x Changing the oil in axis 6 gearbox Replacing the SMB battery on page 167 x iii Replacing the SMB battery pack Lubricating the spherical roller bearing balancing device on page 170 x iv Lubricating the balancing device bearings i Operating hours counted by the DTC Duty Time Counter ii Replace when damage or cracks is detected or life limi...

Страница 101: ...mal 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 axi...

Страница 102: ...cated on each motor flange The figure shows axis 1 motor as an example xx1500001057 Plug in the evacuation hole New motors have a transparent plug sight glass installed in the evacuation hole Remove the plug or drill a drainage hole with diameter 3 mm if an open evacuation hole is required instead xx2200002188 Continues on next page 102 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2...

Страница 103: ...s or if any oil has been spilled out from the evacuation hole replacement of the motor is recommended Note If oil is present in the evacuation it is an indication that the primary seal of the motor is leaking A secondary seal after the evacuation is keeping the oil out from the motor but it is still recommen ded to replace the motor at a suitable timing if oil is present in the evacuation 3 Replac...

Страница 104: ...ng device is located at the top rear of the frame as shown in the figure The figure also shows the inspection points further described in the instructions xx2200001850 Piston rod inside balancing device A Link ear B Rear attachments of the balancing device rear bearing C Required tools Visual inspection no tools are required Continues on next page 104 Product manual IRB 6730 3HAC085699 001 Revisio...

Страница 105: ...ck for dissonance from the balancing device a tap ping sound caused by the springs inside the cylinder 2 How to replace the device is detailed in section Repla cing the balancing device on page211 This section also specifies the spare part number If dissonance is detected wipe clean the piston rod Check for dissonance from the piston rod squeaking may indicate worn plain bearings internal contamin...

Страница 106: ... power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Check the area around the o ring and radial sealings at the front ear for leakage 4 Maintenance set link ear 3HAC087168 001 Replace o ring and radial sealings if leaks are detected 5 Replacement of the complete bearing is described in section Replacing spherical roller bearing balancing...

Страница 107: ...rded space 1 xx1300000423 Check that there are no obstacles inside the frame that could prevent the balancing device from moving freely Keep the areas around the balancing device clean and free from objects such as service tools 2 Product manual IRB 6730 107 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 2 Inspecting the balancing device Continued ...

Страница 108: ...the cable harness Use this procedure to inspect cable harness of axes 1 6 Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page 108 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 3 Inspecting the cable harness ...

Страница 109: ... Check the connectors and cables at the base visually for any damage 5 xx2200001791 Check the cabling going through the protec tion tube to detect possible cable chafing by using your hands inside the tube to feel the cables Ensure that the cables are un damaged Remove any objects that may cause pos sible cable chafing Replace damaged cabling if any CAUTION Sharp debris might occur Always wear pro...

Страница 110: ...d in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Note Article number Spare part Axis 2 3HAC046884 001 Damper Axis 3 3HAC11750 1 Damper Axis 5 3HAC054956 001 Damper Required equipment Visual inspection no tools are required Continues on next page 110 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All right...

Страница 111: ...k attachment screws for deformation 3 Attachment screws If any damage is detected the damper must be replaced with a new one 4 Axis 2 and axis 3 M6x60 8 8 A2F 9ADA624 65 Axis 5 M6x25 A4 80 9ADA620 58 Locking liquid Loctite 2400 or equi valent Loctite 243 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page...

Страница 112: ...bb com myABB The figures show the location of the information labels to be inspected The symbols are described in section Safety symbols on manipulator labels on page 19 A A 102 102 15 28 SECTION A A D E O P A J L Q R G G R R B F xx2200001847 Continues on next page 112 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 5 Inspecting the inform...

Страница 113: ...ication label Kyodo Yushi TMO 150 3HAC032726 001 B Lubrication label 3HAC032905 001 C Warning label Tipping robot 3HAC9191 1 D ABB logotype label 3HAC0453 5 3HAC077301 002 E Continues on next page Product manual IRB 6730 113 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 5 Inspecting the information labels Continued ...

Страница 114: ...Warning label Stored energy 3HAC9526 1 Q Lubrication label Optimol longtime PD 0 3HAC021525 001 R ABB logotype label 3HAC0453 2 3HAC5127 1 S Instruction label Lifting of robot 3HAC046732 001 T Required tools and equipment Visual inspection no tools are required Inspecting labels Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before ...

Страница 115: ...l electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 1 Mechanical stop pin 3HAC024014 001 Inspect the axis 1 mechanical stop pin If the mechanical stop pin is bent or damaged it must be replaced Note The expected life of gearboxes can be reduced after collision with the mechanical stop 2 Continues on next page Product manual IRB 6...

Страница 116: ...cified tightening torque 3 Locking liquid Loctite 2400 or equivalent Loctite 243 The attachment screw is accessed from the side xx2200001398 Make sure the mechanical stop pin can move in both directions 4 116 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 6 Inspecting the axis 1 mechanical stop Continued ...

Страница 117: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6730 117 3HAC085699 001 Revision B Copy...

Страница 118: ...29 2 Make sure that the oil temperature is 25 C 10 C 3 xx2200002147 Open the oil plug 4 xx2200002147 Check the oil level Required oil level is 0 10 mm below the oil plug hole 5 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 6 Further information about how to drain or fill with oil is found in section Changing the oil in ...

Страница 119: ... DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 8 Product manual IRB 6730 119 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 7 Inspecting the oil level in axis 1 gearbox Continued ...

Страница 120: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page 120 Product manual IRB 6730 3HAC085699 001 Revision B Copy...

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

Страница 122: ... DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 8 122 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 8 Inspecting the oil level in axis 2 gearbox Continued ...

Страница 123: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6730 123 3HAC085699 001 Revision B Copy...

Страница 124: ...c power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2300000203 Open the oil plug 5 Continues on next page 124 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 A...

Страница 125: ...d 8 Further information about how to drain or fill with oil is found in section Changing the oil in axis 3 gearbox on page 147 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 9 Tightening torque 24 Nm xx2300000203 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 10 Product manual IR...

Страница 126: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page 126 Product manual IRB 6730 3HAC085699 001 Revision B Copy...

Страница 127: ...ure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2200001796 Open the oil plug 5 Continues on next page Product manual IRB 6730 127 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 10 Inspec...

Страница 128: ...n section Changing the oil in axis 4 gearbox on page 152 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200001796 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 9 128 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights rese...

Страница 129: ...sumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Continues on next page Product manual IRB 6730 129 3HAC085699 001 Revision B Copy...

Страница 130: ...ure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 4 xx2200001798 Open the oil plug 5 Continues on next page 130 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 11 Inspec...

Страница 131: ...n section Changing the oil in axis 5 gearbox on page 157 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200001798 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 9 Product manual IRB 6730 131 3HAC085699 001 Revision B Copyright 2023 ABB All rights rese...

Страница 132: ... in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Required documents Document number Document name 3HAC042927 001 Technical reference manual Lubrication in gearboxes Inspecting the oil level in axis 6 gearbox Use this procedure to inspect the oil level in the gearbox Note Action Run the robot to calibration position 1 Cont...

Страница 133: ...en the oil plug 5 Check the oil level 6 Required oil level is 51 58 mm below oil plug hole Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 7 Further information about how to drain or fill with oil is found in section Changing the oil in axis 6 gearbox on page 162 Continues on next page Product manual IRB 6730 133 3HAC0856...

Страница 134: ...DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 9 134 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 3 12 Inspecting the oil level in axis 6 gearbox Continued ...

Страница 135: ...of lubrication article number as well as the amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal www abb com myABB Location of gearboxes The figure shows the location of the gearboxes xx2200001901 Axis 1 gearbox A Axis 2 gearbox B Axis 3 gearbox C Axis 4 gearbox D Axis 5 gearbox E Axis 6 gearbox ...

Страница 136: ...uggested dispenser or a similar one Orion OriCan article number 22590 pneumatic Nipple for quick connect fitting with o ring 136 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 1 Type of lubrication in gearboxes Continued ...

Страница 137: ...unt of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting ...

Страница 138: ... risks see Gearbox lubricants oil or grease on page 29 2 Make sure that the oil temperature is 25 C 10 C 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2200002147 Remove the plug from the venting hole WARNING Let the venting hole stay open during draining and filling using the dispenser to avoid ...

Страница 139: ...8 Floor mounted robot Filling oil into the axis 1 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Continues on next page Produc...

Страница 140: ... Note The amount of oil to be filled depends on the amount previously being drained 5 Required oil level 0 10 mm below the oil plug hole Inspect the oil level through the inspection 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 xx2200002147 Remove the oil dispenser and refit the protective cap to t...

Страница 141: ...e robot clean from all surplus oil The robot color can otherwise be discolored 9 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 10 Product manual IRB 6730 141 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 2 Changing the oil in axis 1 gearbox Continued ...

Страница 142: ...e amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refit...

Страница 143: ... several safety risks see Gearbox lubricants oil or grease on page 29 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 3 xx2300000002 Remove the plug from the venting hole WARNING Let the venting hole stay open during draining and filling using the dispenser to avoid damaging vital parts in the gearbox...

Страница 144: ...orma tion 7 Filling oil into the axis 2 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 2 Continues on next page 144 Product manu...

Страница 145: ...f oil to be filled depends on the amount previously being drained 5 Required oil level is 0 10 mm below oil plug hole Inspect the oil level at the ventilation hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 6 More information is found in Inspecting the oil level in axis 2 gearbox on page 121...

Страница 146: ...00002059 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 9 146 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 3 Changing the oil in axis 2 gearbox Continued ...

Страница 147: ...n be found in section Type of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note Doc...

Страница 148: ... pressure supply to the robot before entering the safe guarded space 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Continues on next page 148 Product manual IRB 6730 3HAC085699 001 Revision...

Страница 149: ...he oil hole and connect the oil dis penser 6 Suck out the oil with the oil dispenser Note There will be some oil left in the gear after draining 7 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 635 for more informa tion 8 Continues on next page Product manual IRB 6730 149 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 M...

Страница 150: ...ply to the robot before entering the safe guarded space 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 29 3 xx2300000203 Remove the plug from the ventilation hole WARNING Let the venting hole stay open during draining and filling using the dispenser to avoid damaging vital parts in the gearbox 4 Continues on next page 150 Product manual IR...

Страница 151: ...lation hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 7 Remove the oil dispenser 8 Refit the protective cap on the nipple O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 9 Tightening torque 24 Nm xx2300000203 DANGER Make sure all safety requirements are met when performing ...

Страница 152: ...of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note Document number Document name ...

Страница 153: ...Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Place the oil collecting vessel underneath the oil drain plug 5 xx2100002095 Remove the oil plug from the drain hole and let the oil run into the vessel 6 Continues on next page Product manual IRB 6730 153 3H...

Страница 154: ...l plug for the drainage hole with a new o ring 9 Tightening torque 24 Nm xx2100002095 Filling oil into the axis 4 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page 154 Product manual IRB 6730 3HAC085699 001 Revision...

Страница 155: ...ined 4 Required oil level is 0 10 mm below oil plug hole Inspect the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 See Inspecting the oil level in axis 4 gear box on page 127 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 6 Tightening torque 24 Nm xx2200001796 Continues on ne...

Страница 156: ...t when performing the first test run See Test run after installation maintenance or repair on page 96 7 156 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 5 Changing the oil in axis 4 gearbox Continued ...

Страница 157: ...e of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Required documents Note Document number Document nam...

Страница 158: ...ricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2200001798 Remove the oil plug from the fill hole Note The oil plug hole is opened to speed up the drainage 5 Place the oil collecting vessel underneath the oil drain plug 6 Continues on next page 158 Product manual I...

Страница 159: ... drainage hole with a new o ring 9 Tightening torque 24 Nm xx2200001797 Filling oil into the axis 5 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page Product manual IRB 6730 159 3HAC085699 001 Revision B Copyright 2...

Страница 160: ...10 mm below oil plug hole Inspect the oil level at the oil fill level hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 More information is found in Inspecting the oil level in axis 5 gearbox on page 130 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 6 Tightening torque 24 ...

Страница 161: ...t when performing the first test run See Test run after installation maintenance or repair on page 96 7 Product manual IRB 6730 161 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 6 Changing the oil in axis 5 gearbox Continued ...

Страница 162: ...e of lubric ation in gearboxes on page 135 Oil dispenser Content is defined in section Standard toolkit on page 648 Standard toolkit Required consumables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 135 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Required documents Note Document number Document nam...

Страница 163: ...Gearbox lubricants oil or grease on page 29 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Place the oil collecting vessel underneath the oil drain plug 5 xx2100002101 Remove the oil plug from the drain hole and let the oil run into the vessel 6 Continues on next page Product manual IRB 6730 163 3H...

Страница 164: ...lug for the drainage hole with a new o ring 9 Tightening torque 20 Nm xx2100002101 Filling oil into the axis 6 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page 164 Product manual IRB 6730 3HAC085699 001 Revision B ...

Страница 165: ...nt previously being drained 4 See Inspecting the oil level in axis 6 gear box on page 132 Check the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 5 O ring G 1 4 3HAC061327 060 Refit the oil plug with a new o ring 6 Tightening torque 20 Nm xx2100002077 Continues on next page Product manual IRB 67...

Страница 166: ...t when performing the first test run See Test run after installation maintenance or repair on page 96 7 166 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 7 Changing the oil in axis 6 gearbox Continued ...

Страница 167: ...Only replace with the specified spare part or an ABB approved equivalent 3HAC044075 001 Battery pack Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 648 Standard toolkit Removing the battery Use this procedure to remove the SMB battery Note Action This is done in order to facilitate updating of the revolution counter Jog the robot t...

Страница 168: ... can cause shortage on the boards which can result in hazardous failures 4 Pull out the battery and disconnect the battery cable 5 Remove the SMB battery Note Battery includes protection circuits Only replace with a specified spare part or with an ABB ap proved equivalent 6 Refitting the battery Use this procedure to refit the SMB battery Note Action DANGER Turn off all electric power supply hydra...

Страница 169: ...ector is assembled in the correct direction according to its keying 3 Tightening torque 6 Nm xx2100002131 Secure the SMB battery cover with its attachment screws 4 See Updating revolution counters on page 612 Update the revolution counters 5 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 6 Product...

Страница 170: ...bol GR 100 0 PD 31 ml 3HAA1001 294 Grease Lubricating the spherical roller bearing Use this procedure to lubricate the spherical roller bearing Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 1 Continues on next page 170 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All ri...

Страница 171: ... until new grease appears in the lower hole 2 xx2200001477 Use a grease nipple Refit the two screws and wipe clean from residual grease 3 Product manual IRB 6730 171 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 5 1 Lubricating the spherical roller bearing balancing device Continued ...

Страница 172: ... the oil level again after for example 6 months 3 If the oil level is decreased replace the gearbox 4 Oil spills discolors painted surfaces Oil spills on painted surfaces of the robot can result in discoloration Note After all repair and maintenance work involving oil always wipe the robot clean from all surplus oil WARNING Turn off all electrical power supplies to the robot before starting the cl...

Страница 173: ...ng agent to be tested on a small surface prior usage on complete manipulator Cleaning with water Instructions for rinsing with water ABB robots with protection types Standard or Foundry Plus can be cleaned by rinsing with water water cleaner 1 The following list defines the prerequisites Spray nozzle should be used with minimum 45 spread Minimum distance from nozzle to encapsulation 0 4 m Maximum ...

Страница 174: ...55 Rotational sealings xx2300001057 Connectors xx2300001058 Cable inlets Continues on next page 174 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Cleaning the IRB 6730 Continued ...

Страница 175: ...sand dust and chips if it prevents cable movement Clean the cables if they have a crusty surface for example from dry release agents Cassette sealings Minor seepage of grease from the seals can occur Wipe down affected areas with a dry cloth Product manual IRB 6730 175 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Cleaning the IRB 6730 Continued ...

Страница 176: ...This page is intentionally left blank ...

Страница 177: ...by ABB Report replaced units Note When replacing a part on the IRB 6730 report to your local ABB the serial number the article number and the revision of both the replaced unit and the replacement unit This is particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 15 before commencing ...

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

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

Страница 180: ... started During operation the bearing should be filled to 70 80 of the available volume Ensure that grease is handled and stored properly to avoid contamination Grease the different types of bearings as following description Grooved ball bearings must be filled with grease from both sides Tapered roller bearings and axial needle bearings must be greased in the split condition 180 Product manual IR...

Страница 181: ...clean workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Do not lubricate a static side of a sealing with grease since this may result in movement of the sealing during operation The only exception for lubrication of static sides of a sealing is to use P 80 rubber lubrication gel against certain aluminium surfaces If usage of...

Страница 182: ...ricate the sealing with grease just before fitting Not too early there is a risk of dirt and foreign particles adhering to the sealing 3 A B C xx2000000071 A Main lip B Grease C Dust lip Note Ensure that no grease is ap plied to the red marked surface Fill 2 3 of the space between the dust lip and the main lip with grease If the sealing is without dust lip just lubricate the main lip with a thin l...

Страница 183: ...32 Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the sealing 1 Inspect the mating surfaces on the manipulator before mounting If scratches or damage are found the part must be replaced since it may result in future leakage Do not try to grind or polish the surfaces to get rid of the defect 2 Continues on next page Product manual IRB 6730 183 ...

Страница 184: ...d If the flange surfaces are defective the parts may not be used because leakage could occur Clean the surfaces properly in accordance with the recommendations of ABB 2 Distribute the sealing compound evenly over the surface 3 Tighten 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 u...

Страница 185: ...paint Standard Foundry Plus ABB Orange 3HAC037052 001 Touch up paint Standard Foundry Plus Removing Description Action xx2300000950 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid that the paint cracks 1 Carefully grind the paint edge that is left on the structure to a smooth surface 2 Product manual IRB 6730 185 3HAC085699 001 Revision B C...

Страница 186: ...in axis 1 gearbox 3 Remove the cable harness from the base 4 Remove the protection ring from the frame 5 Replace the cassette sealing Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC070194 011 Cassette sealing Continues ...

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

Страница 188: ...pace 3 Remove any installed equipment on or close to the balancing device 4 See Changing the oil in axis 1 gearbox on page 137 Drain 500 ml of oil from the axis 1 gearbox to lower the oil level beneath the cassette sealing 5 Unloading the balancing device springs and locking position with the Hydraulic press equipment balancing device Use this procedure to unload and lock the balancing device in u...

Страница 189: ...osed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifting accessory to the balancing device Note Action CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 1 ...

Страница 190: ...essory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 190 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cassette sealing Continued ...

Страница 191: ...ruc tions enclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Continues on next page Product manual IRB 6730 191 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5...

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

Страница 193: ...ke the balan cing device go free If this is not possible the shaft end must be pulled out a bit with the dismantle and mounting tool see Removing the shaft end cradle on page 248 5 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 6 Continues on next page Product manual IRB 6730 193 3HAC085699 001 Revision B Copyright 2023...

Страница 194: ...all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 xx2100001109 Loosen the connectors R1 MP R1 SMB 3 Continues on next page 194 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cassette sealing Continued ...

Страница 195: ...tion tube 1 xx2200001740 Pull out the robot cable harness through the protection tube 2 Place the cable harness safely on the frame or on the axis 2 motor 3 Removing the protection ring in the frame Note Action Foundry Plus 1 Cut the flange sealant at the protection ring Continues on next page Product manual IRB 6730 195 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3...

Страница 196: ...e Make sure the tool is centered correctly 1 xx2100001188 xx2100002215 Fit the second part of the mounting tool 2 xx2100002216 Drill three holes in the old cassette sealing through the holes in the tool Use a drill 3 5 mm 3 Continues on next page 196 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cassette sealing Continu...

Страница 197: ...he area from metal shavings with a magnet or a vacuum cleaner 6 Refitting the cassette sealing Use these procedures to refit the cassette sealing Refitting the cassette sealing Note Action xx2100002377 Remove any old assembly lubricant residues or other contamination from the contact surfaces for the sealing in the frame 1 Continues on next page Product manual IRB 6730 197 3HAC085699 001 Revision ...

Страница 198: ...d part of the mounting tool on top of the sealing 4 xx2100001192 First push down the tool by hand to guide down the sealing aligned 5 Then use a rubber mallet to knock down the tool and sealing evenly until the sealing has reached the bottom all the way around Remove the mounting tool 6 Continues on next page 198 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reser...

Страница 199: ... casol 3110 Waxcoat Recommended drying time is 24h Protection type Foundry Plus Apply rust preventive to the outer surface of the gearbox tube and outer surface of the frame hole all the way down to the cassette sealing as shown in the figure 8 xx2100001170 xx2100001172 Continues on next page Product manual IRB 6730 199 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 ...

Страница 200: ...s undamaged and placed in its groove on the protection ring 10 xx2100001136 Replace if damaged Refitting the cable harness in the base Note Action xx2200001924 Run the robot cable harness through the frame recess and down through the protec tion tube 1 Continues on next page 200 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the ax...

Страница 201: ...les are facing the base cover when connected 3 Screw dimension for R1 MP M6x25 A2 70 Connect connectors R1 MP and R1 SMB 4 Tightening torque for R1 MP 10 Nm Tightening torque for R1 SMB 10 Nm xx2100001109 Screw dimension M6x16 Connect the earth cable 5 Washer dimension 6 4x17x3 Tightening torque 10 Nm xx2200001790 Continues on next page Product manual IRB 6730 201 3HAC085699 001 Revision B Copyrig...

Страница 202: ...cor rectly and are not twisted xx1400000078 If used fit the bracket that hold the DressPack to the frame 8 xx1200000052 If used connect the DressPack cable package on the base plate 9 Torx pan head screw M6x16 Stainless steel A2 70 5 pcs Refit the base cover 10 Tightening torque 10 Nm xx2100000981 Continues on next page 202 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All r...

Страница 203: ...Plus Apply Mercasol on matching surfaces on the shaft end in the cradle and the balan cing device See the figure 2 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 3 xx2200001469 Lift the balancing device into position in the cradle 4 Continues on next page Product manual IRB 6730 203 3HAC085699 001 Revision B Copyright 2...

Страница 204: ... insert them on both sides and tighten by hand 7 Washer 3HAC047681 001 The screws are not possible to torque tighten at this point since the front ear is not fastened to the lower arm Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001475 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if not ...

Страница 205: ...01918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page Product manual IRB 6730 205 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacin...

Страница 206: ... will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page 206 Product manual IRB 6730 3...

Страница 207: ...it the two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Securing the shaft ends Note Action Tightening torque 280 Nm Secure both shaft end screws with tighten ing torque 1 xx2200001471 Continues on next page Product manual IRB 6730 207 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cass...

Страница 208: ... to let go of overpressure if the VK covers are hard to fit xx2300000003 2 xx2200001464 Concluded refitting of the front shaft Note Action xx2200001332 Remove the locking screw M16x120 1 Continues on next page 208 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cassette sealing Continued ...

Страница 209: ... incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 4 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Continues on next page Product manual IRB 6730 209 3HAC085699 001 R...

Страница 210: ...ction See Changing the oil in axis 1 gearbox on page 137 Refill oil in the gearbox 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 2 210 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the axis 1 cassette sealing Continued ...

Страница 211: ...e 2 Remove the shaft in the front link ear 3 Replace the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC032124 003 Graphite White 3HAC032124 005 ABB Orange Balancing device Continues on next page Product manual ...

Страница 212: ...the tool 3HAC074411 001 Hydraulic press equipment balan cing device Used for removing and fitting shaft and bearings User instructions are enclosed with the tool 3HAC028920 001 Dismantle and mounting tool To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa To be used with the press and puller too...

Страница 213: ...e weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page Product manual IRB 6730 213 ...

Страница 214: ...alancing device 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attac...

Страница 215: ... accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page Product manual IRB 6730 215 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the balancing device Continued ...

Страница 216: ...instruc tions enclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Continues on next page 216 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repa...

Страница 217: ... is a risk of damaging the bearing inside The damaged VK cover must be replaced with a new Remove the protection plug from the vent hole and use air pressure through the hole to blow out the cover The cover can be reused if not damaged 1 VK cover 100x10 3HAA2166 13 Position for screwdriver xx1300000662 Vent hole for air pressure xx2300000003 Wipe off any residual grease inside the re cess 2 Contin...

Страница 218: ... make the balan cing device go free If this is not possible the shaft end must be pulled out a bit with the dismantle and mounting tool see Removing the shaft end cradle on page 248 5 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 6 Continues on next page 218 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2...

Страница 219: ...ing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 1 Lifting shackle SA 10 8 NA1 Fit a lifting shackle to the balancing device 2 Lifting accessory chain 3HAC15556 1 Fit the lifting accessory to the shackle 3 xx2200001915 Continues on next page Product manual IRB 6730 219 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Repla...

Страница 220: ...o make the piston rod and front ear adjustable when pulling the shaft out 2 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Refitting the balancing device Perform this procedure on both sides Note Action DANGER Mak...

Страница 221: ... cing device See the figure 2 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 3 xx2200001469 Lift the balancing device into position in the cradle 4 Continues on next page Product manual IRB 6730 221 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the balancing device Continued ...

Страница 222: ...ews insert them on both sides and tighten by hand 7 Washer 3HAC047681 001 The screws are not possible to torque tighten at this point since the front ear is not fastened to the lower arm Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001475 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if n...

Страница 223: ...00001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page Product manual IRB 6730 223 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Repla...

Страница 224: ...ctly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page 224 Product manual IRB 67...

Страница 225: ...Refit the two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Securing the shaft ends Note Action Tightening torque 280 Nm Secure both shaft end screws with tighten ing torque 1 xx2200001471 Continues on next page Product manual IRB 6730 225 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the balancin...

Страница 226: ...adle to let go of overpressure if the VK covers are hard to fit xx2300000003 2 xx2200001464 Concluded refitting of the front shaft Note Action xx2200001332 Remove the locking screw M16x120 1 Continues on next page 226 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the balancing device Continued ...

Страница 227: ...ool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 4 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Continues on next page Product manual IRB 6730 227 3HAC085699 00...

Страница 228: ...e met when performing the first test run See Test run after installation maintenance or repair on page 96 5 228 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the balancing device Continued ...

Страница 229: ...erformed 1 Unload the balancing device 2 Remove the shaft in the front link ear 3 Replace the spherical roller bearing 4 Restore the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Continues on next page Product manual IRB 6730 229 3HAC085699 001 ...

Страница 230: ...ss equipment 3HAC11731 1 Hydraulic cylinder To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa SA 10 8 NA1 Lifting shackle Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Content is defined in section Standard toolkit on page 648 Standard toolkit Required service par...

Страница 231: ...re the weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page Product manual IRB 6730...

Страница 232: ... 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifting ac...

Страница 233: ...he shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page Product manual IRB 6730 233 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing spherical roller bearing balancing device link ear Continued ...

Страница 234: ...nclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Continues on next page 234 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replac...

Страница 235: ... to the link ear 1 xx2200001494 Unscrew the attachment screws securing the end cover remove end cover and radial sealing with a screwdriver 2 xx2200001495 Remove the o ring 3 Continues on next page Product manual IRB 6730 235 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing spherical roller bearing balancing device link ear Continued ...

Страница 236: ...ed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Refitting the spherical roller bearing Refitting the spherical roller bearing link ear Note Action Wipe clean all contact surfaces from resid ual grease 1 xx2200001496 Refit the washer 2 Continues on next page 236 Product manual IRB 6730 3HAC085699 001 Revis...

Страница 237: ... ing to the figure 3 xx2200001497 xx2200001498 Use a plastic mallet or similar on the Press tool J and refit the radial sealing 4 Apply some grease on the surface for the bearing 5 Continues on next page Product manual IRB 6730 237 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing spherical roller bearing balancing device link ear Continued ...

Страница 238: ...ad and follow enclosed user instructions for the tool xx2200001495 Refit the o ring 7 xx2200001494 Secure the end cover including the radial sealing ring with the screws 8 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if not already done 1 Lifting accessory chain 3HAC15556 1 Continues on next page 238 P...

Страница 239: ... front ear 4 xx2200001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page Product manual IRB 6730 239 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 R...

Страница 240: ... serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page 240 Product manual IRB 6730 3HAC085699 0...

Страница 241: ...two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Removing the lifting accessory and locking screw Note Action Remove the lifting accessory from the bal ancing device 1 Continues on next page Product manual IRB 6730 241 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing spherical roller bearing balanci...

Страница 242: ...72 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page 242 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 2 Replacing spherical roller bearing balancing device link ear Continued ...

Страница 243: ...nstructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after i...

Страница 244: ...cedure containing the major actions to be performed 1 Unload the balancing device 2 Replace the rear bearing 3 Restore the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Continues on next page 244 Product manual IRB 6730 3HAC085699 001 Revision B...

Страница 245: ...ecifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC11731 1 Hydraulic cylinder SA 10 8 NA1 Lifting shackle Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Content is defined in section Standard toolkit ...

Страница 246: ... the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 3 Remove any installed equipment on or close to the balancing device 4 Continues on next page 246 Product manual IRB 6730 3HAC085699 ...

Страница 247: ...evice 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifti...

Страница 248: ...d raise to unload the weight 3 xx2200001459 Removing the shaft end cradle The procedure of removing the shaft end in the cradle is the same on both sides Note Remove one shaft end at a time Continues on next page 248 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 3 Replacing the rear bearings on the balancing device Continued ...

Страница 249: ...er must be replaced with a new Remove the protection screw from the vent hole and use air pressure through the hole to blow out the cover The cover can be reused if not damaged 1 VK cover 100x10 3HAA2166 13 Position for screwdriver xx1300000662 Vent hole for air pressure xx1700002189 Wipe off all residual grease inside the re cess 2 Continues on next page Product manual IRB 6730 249 3HAC085699 001...

Страница 250: ...001470 Before pulling out the shaft end put a big screw driver between the cradle and balan cing device and use it as a distance tool 5 Continues on next page 250 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 3 Replacing the rear bearings on the balancing device Continued ...

Страница 251: ...ese procedures to refit the bearing in the cradle Refitting the shaft end and rear bearings Note Action Wipe clean all contact surfaces from resid ual grease and other contamination inside the recess 1 A B C xx1400000367 A Mercasol red dotted lines B Balancing device C Shaft Foundry Plus Apply Mercasol on matching surfaces on the axis and balancing device See the fig ure 2 Apply some grease in the...

Страница 252: ...ions for the tool xx2300000006 Fit the retaining ring bore 5 Hex socket head cap screw M16x70 12 9 Gleitmo 603 Geomet 500 Apply locking liquid on the attachment screw 6 Washer 3HAC047681 001 Locking liquid Loctite 2400 or equivalent Loctite 243 Tightening torque 280 Nm While using the screw driver between the cradle and balancing device as a distance tool tighten the attachment screw com pletely 7...

Страница 253: ...4 Remove both the screw and the protection plug then refill grease from the inner hole See figure 9 xx2300000004 xx2300000005 Refit the screw including washer and the protection plug 10 Wipe clean from residual grease 11 Continues on next page Product manual IRB 6730 253 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 3 Replacing the rear bearings on the balancing dev...

Страница 254: ... 1 xx2200001332 Remove the lock screw M16x120 2 xx1400000372 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page 254 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 4 3 Replacing the rear bearings on the balancing device Continued ...

Страница 255: ...er instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for conical fittings Loctite 5400 or equivalent Loctite 577 xx2200001330 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run aft...

Страница 256: ...the upper arm 3 Remove the cable guide 4 Replace the arm house cover including the cassette sealing Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 Gasket and cassette sealing included 3HAC077945 003 Graphite White 3HAC07794...

Страница 257: ...tte sealing Use these procedures to remove the arm house cover including the cassette sealing Preparations before removing the arm house cover Note Action See Draining the axis 4 gearbox on page 153 Drain the axis 4 gearbox 1 xx2200001615 Jog the robot to the specified position Axis 1 0 Axis 2 60 Axis 3 60 Axis 4 0 Axis 5 90 Axis 6 No significance Note The specified position is a recommended posit...

Страница 258: ...66 If DressPack MH3 is installed Remove the wrist bracket with the complete ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed Open the ball joint housing on the arm tube and remove the DressPack cable package 3 Continues on next page 258 Product man...

Страница 259: ... hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page Product manual IRB 6730 259 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Страница 260: ...e screws 6 Remove the motor cables 7 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 260 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Conti...

Страница 261: ... the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page Product manual IRB 6730 261 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Страница 262: ...The screw is located at the bottom of the carrier 2 xx1300000666 Lift out the axis 6 motor cables by holding the cables with one hand at the motor and the other at the carrier 3 Continues on next page 262 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Страница 263: ...over Note Use caution not to damage the gasket DressPack xx2300001040 Locking liquid Loctite 2400 or equivalent Loctite 243 Protection type Foundry Plus 2 Torx pan head screw M6x16 8 8 A2F 3 pcs Continues on next page Product manual IRB 6730 263 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Contin...

Страница 264: ...xis 6 connectors and carrier into a bundle if not already done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 5 Continues on next page 264 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including th...

Страница 265: ...inside the arm tube Note The screw is reached from outside the up per arm 7 xx2300000032 xx2200002142 Remove the arm house metal clamp 8 Continues on next page Product manual IRB 6730 265 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette sealing Continued ...

Страница 266: ...ormed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 10 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pulled out a little th...

Страница 267: ...screw to the part of the tool designed as a cross all the way until it bottoms 2 xx2100001253 xx2100001243 Fit the cross to the tube shaft with four M8 screws 3 xx2100001254 Fit the three armed tool part with three screws and wing nuts 4 Continues on next page Product manual IRB 6730 267 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover i...

Страница 268: ...n the new cover WARNING Oil residues will drip out during removal Make sure that protective gear like goggles and gloves are always worn WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page29 8 WARNING Used oil is hazardous material and must be dis posed of in a safe way See Decommissioning on page 635 for more information Continues on next page 2...

Страница 269: ...designed as a cross 1 xx2100001264 Fit the cross to the tube shaft with four M8 screws CAUTION Center the cross on the tube shaft to not damage the sealing CAUTION Tighten the screws so that the cross bottoms firmly against the tube shaft but make sure not to damage the cassette sealing 2 xx2100001269 Fit the arm house cover to the arm house with guidance from the two guide pins in the cover Tip S...

Страница 270: ...n the arm house 5 Torx pan head screw M6x16 A4 80 Secure the cover with the attachment screws Use locking liquid 6 Locking liquid Loctite 2400 or equivalent Loctite 243 Ensure gap closure between cover and arm house Tightening torque 10 Nm xx2100001255 xx2300001367 Remove the tool 7 See Performing a leak down test on page 178 Perform a leak down test 8 Continues on next page 270 Product manual IRB...

Страница 271: ...crews Use locking liquid 2 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2100001242 Refitting the cable harness to the upper arm Note Action Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 1 Tightening torque 10 Nm xx2200002142 Continues on next page Product manual IRB 6730 271 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Rep...

Страница 272: ... side hole of the arm tube and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable ha...

Страница 273: ...her Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6730 273 3HAC085699 001 Revision B Copyright ...

Страница 274: ...h DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressPack Refit the DressPack tube into the insert 8 Continues on next page 274 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including t...

Страница 275: ...s when fitting the cover xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page Product manual IRB 6730 275 3HAC085699 001 Revision B Copyright ...

Страница 276: ... screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next page 276 Product manu...

Страница 277: ... 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page Product manual IRB 673...

Страница 278: ...position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page 278 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Repla...

Страница 279: ...rew is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connectors to each other in t...

Страница 280: ... the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page 280 Product manual IRB 6730 3HAC085699 001 Revision ...

Страница 281: ...uted and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Continues on next page Product manual IRB 6730 281 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the arm house cover including the axis 4 cassette ...

Страница 282: ... the DressPack xx1200001332 If the robot is equipped with DressPack cable package Refit the connection plate 2 Concluding procedure Note Action See Filling oil into the axis 4 gearbox on page 154 Refill oil to the axis 4 gearbox 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 2 282 Product manual...

Страница 283: ... White 3HAC082942 003 ABB Orange Wrist Required tools and equipment Note Article number Equipment Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 User instructions are enclosed with the tool 3HAC081310 001 Brake release tool Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations Bit holder and hexagon bit SW10 Length 1 m Roundsling 1 m Content is defined in secti...

Страница 284: ...ibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for ...

Страница 285: ...2100002712 3 xx2300001211 xx2100002164 Jog the robot into position Axis 1 no significance Axis 2 jog axis 2 and 3 to a position where the upper arm is horizontal Axis 3 jog axis 2 and 3 to a position where the upper arm is horizontal Axis 4 90 Axis 5 90 Axis 6 no significance 4 Continues on next page Product manual IRB 6730 285 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Rep...

Страница 286: ... turned off 1 xx2300001366 If DressPack MH3 is installed Remove the wrist bracket with the complete ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed Open the ball joint housing on the arm tube and remove the DressPack cable package 3 Continues on n...

Страница 287: ...ctrical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 Continues on next page Product manual IRB 6730 287 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 288: ...00484 Unscrew the attachment screws that hold the cable bracket 1 xx1300000485 Unscrew the M4 screw that holds the carri er Note The screw is located at the bottom of the carrier 2 Continues on next page 288 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 289: ... from its position 4 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 Continues on next page Product manual IRB 6730 289 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 290: ... Disconnect the signal cable connector 4 xx2200001733 Disconnect the power cable connector by removing the attachment screw 5 Continues on next page 290 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 291: ...1 m Attach a roundsling to the wrist as shown in the figure CAUTION The roundsling placement shown in the figure keeps the wrist balanced when lifted which reduces risk of damage or injury Do not attach the roundsling around the axis 5 gearbox 2 xx2100001290 Stretch the roundsling so it carries the weight of the wrist 3 Continues on next page Product manual IRB 6730 291 3HAC085699 001 Revision B C...

Страница 292: ...he wrist unit and then re move the remaining screw 3 xx2300000016 Bit holder and hexagon bit SW10 Pull out the wrist a bit and bring out the cabling from the wrist unit CAUTION Make sure that the cabling does not get damaged 4 Bit holder dimension 5 16 14x18 mm xx2200001808 Continues on next page 292 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 293: ...structions are enclosed with the tool xx2100000666 Release the brakes of the axis 5 motor with the brake release tool 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Hand...

Страница 294: ... damage any part of the cable harness xx2200001808 Slide the wrist into fitting position 2 Hex socket head cap screw Fit the attachment screws and washers 3 M12x50 12 9 Gleitmo 603 Geomet 500 Then remove the guide pins and fit the re maining two screws Bit holder and hexagon bit SW10 Bit holder dimension 5 16 14x18 mm xx2300000020 Tightening torque standard torque 120 Nm Tightening torque for lubr...

Страница 295: ...o secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the ma...

Страница 296: ...m aged 6 Torx pan head screw M5x12 Stainless steel A2 70 Refit the motor cover and the cable protec tion with its attachment screws 7 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid Tightening torque 6 Nm xx2100002495 Continues on next page 296 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Contin...

Страница 297: ...the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 xx1300000667 Push the cable harness into the wrist re cess and up into the axis 6 motor Tip Moisten the rubber carrier slightly with water or grease around the contact surface to make it easier to fit into place 2 xx1300001113 Push the carrier carefully into position 3 Continues on next page Product manual IRB 6730 297 ...

Страница 298: ...ct the motor cables 1 Connect in accordance with the markings on the connectors Tightening torque 1 Nm Position the power connector to the bracket with a screw Note The purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to ...

Страница 299: ...hanical damage Handle it with care to avoid dam age to the cabling or the connector avoid any kind of tilt or skew 4 xx2200001730 xx2300000920 Verify correct cable layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Continues on next page Product manual IRB 6730 299 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacin...

Страница 300: ...ION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 70 6 pcs Refit the motor cover 8 Tightening torque 6 Nm xx2200001434 Continues on next page 300 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 301: ... A4 80 Refit the wrist cover and secure with screws 3 Tightening torque 10 Nm Foundry Plus xx2000000373 Fit all the screws first then torque tighten Concluding procedure Note Action Foundry Plus 1 Refit protection plugs See product manual for the DressPack If used refit the DressPack cable package on the wrist 2 See Calibration on page 605 Calibrate the robot 3 Continues on next page Product manua...

Страница 302: ...nts are met when performing the first test run See Test run after installation maintenance or repair on page 96 4 302 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 1 Replacing the wrist Continued ...

Страница 303: ... See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC082952 002 Turning disc L2 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 3HAC079304 004 Process turning disc Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 648 Standard toolkit Continues on next page Produ...

Страница 304: ...leted for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 614 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibrated with fine calibration Remove all external ca...

Страница 305: ... the turning disc 2 Refitting the turning disc Use these procedures to refit the turning disc Refitting the turning disc Note Action Wipe clean the contact surfaces 1 Continues on next page Product manual IRB 6730 305 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Replacing the turning disc Continued ...

Страница 306: ...ation marks 3 Hex socket head cap screw M8x25 12 9 Gleitmo 603 Geomet 500 Secure the turning disc with its attachment screws and washers 4 Washer Steel 8 4x13x1 5 Tightening torque standard torque 35 Nm Tightening torque for lubric ated screws Molykote Gleitmo or equivalent with allen head screws on page 646 xx2200001807 Continues on next page 306 Product manual IRB 6730 3HAC085699 001 Revision B ...

Страница 307: ...quirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 1 Product manual IRB 6730 307 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 6 2 Replacing the turning disc Continued ...

Страница 308: ...date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 IRB 6730 270 2 7 3HAC083039 001 Cable harness L2 IRB 6730 240 2 9 IRB 6730 210 3 1 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 3HAC078462 001 Cable harness Continues on next page 308 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserve...

Страница 309: ...ble to 90 to be able to open the axis 6 motor cover and to remove the axis 6 motor cables The axis 5 position is also important to avoid the spiral of the cable harness in the carrier being unwound or placed in wrong position Depending on what tool is used the other axes may need to be jogged to another position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure sup...

Страница 310: ...move the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 4 xx2200001433 Remove the metal clamp at the arm house 5 Continues on next page 310 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 311: ... cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300001366 If DressPack MH3 is installed Remove the wrist bracket with the complete ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 Continues on next page P...

Страница 312: ...g the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 312 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 313: ...t the motor cables 5 Pushing out the axis 6 motor cables Note Action xx1300000484 Unscrew the attachment screws that hold the cable bracket 1 Continues on next page Product manual IRB 6730 313 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 314: ...motor and the other at the carrier 3 xx1300001113 Lift out the carrier from its position 4 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 314 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable ...

Страница 315: ... xx2200001734 Disconnect the signal cable connector 4 xx2200001733 Disconnect the power cable connector by removing the attachment screw 5 Continues on next page Product manual IRB 6730 315 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 316: ...ectrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page 316 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Cont...

Страница 317: ... out 4 xx2200001738 Remove the cable bracket by removing the screws 5 Remove the motor cables from the motor 6 Continues on next page Product manual IRB 6730 317 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 318: ...01040 Locking liquid Loctite 2400 or equivalent Loctite 243 Protection type Foundry Plus 2 Torx pan head screw M6x16 8 8 A2F 3 pcs xx2100002677 DressPack Loosen the insert Cable guard C is available for protection type Foundry Plus 3 Continues on next page 318 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continue...

Страница 319: ... done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 5 xx2300000031 Remove the side cover on the arm tube 6 Continues on next page Product manual IRB 6730 319 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 320: ... the arm tube Note The screw is reached from outside the up per arm 7 xx2300000032 xx2200002142 Remove the arm house metal clamp 8 Continues on next page 320 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 321: ...is step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 10 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pu...

Страница 322: ...ake sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 xx2100001109 Loosen the connectors R1 MP R1 SMB 3 xx1400000366 If used disconnect the DressPack hoses in the base 4 Continues on next page 322 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the ca...

Страница 323: ... pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page Product manual IRB 6730 323 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 324: ...e the motor cables from the motor 6 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 Continues on next page 324 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 325: ... shortage on the boards which can result in hazardous failures 4 Disconnecting the SMB and brake release units Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Disconnect all connectors from the SMB board 2 Disconnect the connectors R2 BU1 and R2 BU2 from the brake release ...

Страница 326: ...1739 Loosen the cable inlet by cutting any seal ing compound and carefully knocking the inlet loose 3 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressPack cables through the protection tube 1 Continues on next page 326 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness ...

Страница 327: ...rame recess Guide the SMB cables out from the SMB recess at the same time 2 xx2200001741 Place the cable harness over the balancing device 3 Continues on next page Product manual IRB 6730 327 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 328: ...lower arm by removing the attach ment screws Note The screws are reached from the outside of the lower arm 1 xx2100002183 xx2300000052 Use caution and pull the cable harness out 2 328 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Removing the cable harness Continued ...

Страница 329: ...e latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 IRB 6730 270 2 7 3HAC083039 001 Cable harness L2 IRB 6730 240 2 9 IRB 6730 210 3 1 IRB 6730 220 2 9 LID IRB 6730 190 3 1 LID 3HAC078462 001 Cable harness Continues on next page Product manual IRB 6730 329 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 330: ...d On axis 4 motor 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange Connection box cover FS130 with gasket Replace if damaged On axis 5 motor 3HAC072863 003 Connection box cover with gasket Replace if damaged On axis 6 motor 3HAC079381 003 Graphite White 3HAC079381 004 ABB Orange Connection box cover MT100X with gasket Replace if damaged 3HAC078635 004 Graphite White 3HAC078635 005 ABB Orang...

Страница 331: ...1 Lay the new cable harness on the floor and place the lower part around the manipulator to under stand the layout Refitting the cable harness in the lower arm Note Action xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make i...

Страница 332: ...arm 2 Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 3 Tightening torque 10 Nm xx2200001433 Continues on next page 332 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 333: ... of the lower arm 4 Tightening torque 6 Nm xx2100002182 Note Check that the cabling will stay a little bit twisted between the cable clamps Do not change the position of the brackets xx1300000595 xx2100002183 Continues on next page Product manual IRB 6730 333 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 334: ...ugh the base Make sure that the cables are not twisted Each cable must be in line with its position on the base plate Make sure that the R1 SMB cable will run on the correct side of the R1 MP1 see the figure 2 Make sure that the markings on the cables are facing the base cover when connected 3 Continues on next page 334 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All right...

Страница 335: ...bles through the protection tube in the base 6 If necessary lubricate the cables with grease to make them run more smoothly If used run the DressPack hoses through the protection tube in the base 7 Make sure that the hoses are running cor rectly and are not twisted xx1400000078 If used fit the bracket that hold the DressPack to the frame 8 Continues on next page Product manual IRB 6730 335 3HAC085...

Страница 336: ...100000981 Refitting the SMB cabling Note Action xx2200001725 Refit and secure the cable inlet with the screws inside the SMB recess 1 Sealing compound 3HAC026759 002 Seal the cable inlet with sealing compound 2 Sikaflex 521 FC Continues on next page 336 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 337: ...ling is used for 7th axis option refit the connector R1 SMB7 3 Connect the connectors R2 BU1 and R2 BU2 to the brake release board 4 Refitting the electronic box Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Torx pan head screw M6x60 4 pcs Refit the electronic box with t...

Страница 338: ...6 003 1 pcs Collect the cables for axis 1 and axis 2 motors and secure them at the frame with straps 2 xx2200001752 Reconnecting the axis 1 and axis 2 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page 338 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 339: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6730 339 3HAC085699 001 Re...

Страница 340: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Страница 341: ... Action Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 1 Tightening torque 10 Nm xx2200002142 xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the cable harness through the ins...

Страница 342: ...ot Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable harness into the DressPack tube Note Do not run the cable harness into the DressPack tube if one is fitted xx1300000820 Continues ...

Страница 343: ...side the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6730 343 3HAC085699 001 R...

Страница 344: ...r 6 xx2100002677 With DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressPack Refit the DressPack tube into the insert 8 Continues on next page 344 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable h...

Страница 345: ...DressPack Make sure that the tube is fitted correctly in both ends when fitting the cover xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Reconnecting the axis 3 and axis 4 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6730 345 3HAC085699 001 Revision B Copyright 2023 ABB All rights reser...

Страница 346: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 346 Product manual IRB 6730 3HAC085699 001 Re...

Страница 347: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Страница 348: ...d routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page 348 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB...

Страница 349: ... and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next p...

Страница 350: ... Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page 35...

Страница 351: ...rier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page Product manual IRB 6730 351 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved ...

Страница 352: ...he purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connector...

Страница 353: ...e layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page Product manual IRB 6730 353 3HAC...

Страница 354: ... cable harness is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Continues on next page 354 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 355: ...n head screw M6x16 A4 80 Refit the cable bracket underneath the tube shaft 2 Tightening torque 10 Nm xx2200001432 See product manual for the DressPack If used refit the DressPack cable package on the wrist 3 See Inspecting the cable harness on page 108 Make an overall inspection of the installed cable harness 4 See Updating revolution counters on page 612 Update the revolution counters 5 Continues...

Страница 356: ...are met when performing the first test run See Test run after installation maintenance or repair on page 96 6 356 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Refitting the cable harness Continued ...

Страница 357: ...el Note Article number Spare part L2 3HAC073540 001 Brake release unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB Orange Cover electronics Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 648 Standard toolkit Continues on next page Product ...

Страница 358: ...r pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Continues on nex...

Страница 359: ... sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Disconnect all connectors from the SMB board 3 xx2200001723 Remove the screws that secure the SMB unit 4 Continues on next page Product ma...

Страница 360: ...nnect the connectors R2 BU1 and R2 BU2 from the brake release board 3 xx2200001728 Remove the brake release unit by removing the screws Put the unit in an ESD bag 4 Refitting the brake release unit Use this procedure to refit the brake release unit Refitting the brake release unit Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety informat...

Страница 361: ...d off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Cover electronics Check the electronic box gasket 3 3HAC081189 003 Graphite White Replace if damaged 3HAC081189 004 ABB Orange xx2200001724 Fit the SMB unit into the electronic box 4 Continues on next page Product manual IRB 6730...

Страница 362: ...keying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Reconnecting the brake release unit Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Continues on next page 362 ...

Страница 363: ...e to ESD on page 49 1 Torx pan head screw M6x60 4 pcs Refit the electronic box with the attachment screws 2 Tightening torque 10 Nm xx2200001721 Concluding procedures Note Action See Updating revolution counters on page 612 Update the revolution counters if the battery has been disconnected 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after ins...

Страница 364: ...cle number Spare part L2 3HAC043904 001 Serial measurement unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB Orange Cover electronics Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 648 Standard toolkit Continues on next page 364 Product man...

Страница 365: ... pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Continues on next...

Страница 366: ... Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Disconnect all connectors from the SMB board 3 xx2200001723 Remove the screws that secure the SMB unit 4 Continues on next page 366 P...

Страница 367: ...HARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 2 Cover electronics Check the electronic box gasket 3 3HAC081189 003 Graphite White Replace if damaged 3HAC081189 004 ABB Orange xx2200001724 Fit the SMB unit into the electronic box 4 Continues on next page Product manual IRB 6730 367 3HAC085699 001 Revisi...

Страница 368: ...g to its keying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Refitting the electronic box Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 49 1 Continues on next page 36...

Страница 369: ... See Updating revolution counters on page 612 Update the revolution counters 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 2 Product manual IRB 6730 369 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the SMB unit Continued ...

Страница 370: ...Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC077936 003 Graphite White 3HAC077936 004 ABB Orange Motor unit including connection box and pinion Continues on next page 370 Product manual IRB 6730 3HAC085699 001 Revisio...

Страница 371: ...de pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 User instructions are enclosed with the tool 3HAC081310 001 Brake release tool Used to rotate the motor pinion Add screw M4 3HAB7887 1 Rotation tool M4 Delivered as a set of calibration tools Required if Axis Calibration is the valid calibratio...

Страница 372: ...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 614 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibrated with fine calibration Remove all external cable packages DressPack and to...

Страница 373: ...g the attachment screws 5 Floor mounted robot Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues on next page Product manual IRB 6730 373 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the ax...

Страница 374: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page 374 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 motor Continued ...

Страница 375: ...sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender to reach the screws Continues on next page Product manual IRB 6730 375 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 motor Continued ...

Страница 376: ...pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 5 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for mo...

Страница 377: ...r to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for c...

Страница 378: ...d to the new spare part motor 4 Floor mounted robot Refitting the axis 1 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2200001819 CAUTION The weight of the motor is 19 kg 2 Rotation tool M4 3HAB7887 1 Fit the rotation tool 3 Continues on next page 378 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All right...

Страница 379: ...d with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 5 xx2200001793 Lower the motor into position Make sure that the motor pinion is properly mated...

Страница 380: ...he brake release tool 8 See Performing a leak down test on page 178 Perform a leak down test 9 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001738 Continues on next page 380 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserve...

Страница 381: ...n ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6730 381 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 R...

Страница 382: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Страница 383: ... Refit the axis 1 cable protection plates with the attachment screws 1 Hex socket head cap screw M10x16 stainless steel A2 70 3 pcs xx2200001430 Concluding procedure Use this procedure for the concluding refitting Note Action O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 1 Tightening torque 24 Nm xx2200002147 See Calibration on page 605 Re calibrate the robot 2 Continues on next...

Страница 384: ...are met when performing the first test run See Test run after installation maintenance or repair on page 96 3 384 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 motor Continued ...

Страница 385: ...3 Replace the motor Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC077935 003 Graphite White 3HAC077935 004 ABB Orange Motor unit including connection box and pinion Continues on next page Product manual IRB 6730 385 3H...

Страница 386: ...ser instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits 1 2 3HAC12342 1 Bits extender Always use guide pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 Used to rotate the motor pinion Add screw M4 3HAB7887 1 Rotation tool M4 Delivered as a set of calibration too...

Страница 387: ...ues These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 614 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the ro...

Страница 388: ...box on page 142 Drain the oil from the gearbox 4 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 5 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues ...

Страница 389: ...ttachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6730 389 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 motor Continued ...

Страница 390: ... gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the lower arm will be movable and may fall down if not secured Verify that the lower arm is secured as previously de scribed before continuing 2 Continues on next page 390 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 motor Continued ...

Страница 391: ... to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is sup...

Страница 392: ...non threaded hole 7 Removal tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2300000043 CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the...

Страница 393: ...tting the motor Use these procedures to refit the axis 2 motor Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts ...

Страница 394: ...2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2100000593 CAUTION The weight of the motor is 22 kg 2 Continues on next page 394 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing ...

Страница 395: ...7 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page Product manual IRB 6730 395 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 motor Continued ...

Страница 396: ... may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 6 Rotation tool M4 3HAB7887 1 Apply the rotation tool 7 Use caution and fit the motor in its final position while at the same time rotating the motor pinion s...

Страница 397: ...ve the guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 178 Perform a leak down test 12 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6730 397 3HAC085699 001 Revision B Copy...

Страница 398: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 398 Product manual IRB 6730 3HAC085699 001 R...

Страница 399: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Страница 400: ... lock screw that secures the lower arm 1 xx2200001332 Remove the lock screw 2 See Filling oil into the axis 2 gear box on page 144 Refill the gearbox with oil 3 See Calibration on page 605 Re calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 5 400 Product manual IRB 6730 3HAC085...

Страница 401: ... service parts Note Article number Consumable Replace if damaged On axis 3 motor 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Connection box cover FS180 with gasket Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 See Type of lubrication in gear boxes on page 135 Lubricating oil Loctite 5800 Flange sealant Required tools and equipment Note Article numb...

Страница 402: ...e these procedures to remove the motor Preparations before removing the motor Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 See Draining the axis 3 gearbox on page 148 Drain the axis 3 gearbox 2 xx2200001810 Unload the upper arm using one of these meth ods Use caution and jog axis 3 to maximum position Release the brakes ...

Страница 403: ... Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page Product manual IRB 6730 403 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserv...

Страница 404: ...he screws 5 Remove the motor cables from the motor 6 Removing the axis 3 motor Note Action Before removing the motor make sure that the gearbox is completely drained 1 Continues on next page 404 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 3 Replacing the axis 3 motor Continued ...

Страница 405: ...3 motor results in weight transfer of upper arm weight Verify that the upper arm rests against the mechanical stop or installed lifting accessories before releasing the brakes 3 User instructions are enclosed with the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may oc...

Страница 406: ... is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 21 kg 11 xx2100002149 Remove the motor by sliding it out on the guide ...

Страница 407: ...Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 3 motor Note Action Guide pin M10x150 3HAC15...

Страница 408: ...e release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 second...

Страница 409: ...e attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the screws xx2100002152 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Remove the guide pins and replace with the remaining attachment screws 8 xx2100002153 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 See Performing a leak down test on page 178...

Страница 410: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 410 Product manual IRB 6730 3HAC085699 001 R...

Страница 411: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Страница 412: ...A4 80 Refit the metal clamp beneath the arm house 2 Tightening torque 10 Nm xx2200002142 See Filling oil into the axis 3 gear box on page 150 Refill the gearbox with oil 3 See Calibration on page 605 Re calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 5 412 Product manual IRB 6...

Страница 413: ...t L2 3HAC081177 003 Graphite White 3HAC081177 004 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 4 motor 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange Connection box cover FS130 with gasket Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Loctite 5800 Flange sealant Continues on next page P...

Страница 414: ...ation toolbox Axis Calibra tion Content is defined in section Standard toolkit on page 648 Standard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the motor Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 xx2200001812 Jog the robot into position Axis 1 no significance Axis 2...

Страница 415: ...4 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page Product manual IRB 6730 415 3HAC085699 001 Revision B...

Страница 416: ...ve the motor cables from the motor 6 Removing the axis 4 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 416 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 4 motor Continued ...

Страница 417: ...guide pins in pairs xx2300000009 Removal tool motor M12 3HAC14631 1 Fit removal tools in the threaded holes 4 Used to push out the motor if ne cessary Always use removal tools in pairs xx2300000047 Continues on next page Product manual IRB 6730 417 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 4 motor Continued ...

Страница 418: ...ith the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gearbox the gears may be damaged if ex...

Страница 419: ... any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groo...

Страница 420: ...t guide pins in opposite holes 1 Always use guide pins in pairs xx2100002201 CAUTION The weight of the motor is 12 kg 2 Rotation tool M4 3HAB7887 1 Apply the rotation tool 3 Continues on next page 420 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 4 Replacing the axis 4 motor Continued ...

Страница 421: ...e the spe cified brake release tool to eliminate the risk xx2300000007 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear Use caution and fit the motor in its final position while at the same time rotating the motor pinion slightly using the rotation tool Make sure that the motor pinion is properly mated to the gear...

Страница 422: ... the guide pins and replace with the remaining attachment screws 8 xx2300000011 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 See Performing a leak down test on page 178 Perform a leak down test 11 Connecting the motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page 422 Product manual IRB 6730 3HAC085699 001 Revision B C...

Страница 423: ... secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page Product manual IRB 6730 423 3HAC085699 001 R...

Страница 424: ...ange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will...

Страница 425: ...See Filling oil into the axis 4 gear box on page 154 Refill the gearbox with oil if drained 1 See Calibration on page 605 Re calibrate the robot 2 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 3 Product manual IRB 6730 425 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 426: ... Article number Consumable Loctite 5800 Flange sealant Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Replace if damaged On axis 5 motor 3HAC072863 003 Connection box cover with gasket 3HAC057966 003 Cable strap outdoor Required tools and equipment Note Article number Equipment User instructions are enclosed with the tool 3HAC081310 001 Brake release tool Always use guide pins in pairs 3H...

Страница 427: ...te Action Decide which calibration routine to use and take actions accordingly prior to begin ning the repair procedure 1 xx2200001814 Jog the robot into position Axis 1 no significance Axis 2 suitable working position to replace axis 5 motor for example 25 Axis 3 suitable working position to replace axis 5 motor for example 35 Axis 4 90 Axis 5 no significance Axis 6 no significance With the robot...

Страница 428: ... ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed Open the ball joint housing on the arm tube and remove the DressPack cable package 3 xx2000000373 Remove the wrist cover 4 Continues on next page 428 Product manual IRB 6730 3HAC085699 001 Revision ...

Страница 429: ...ssure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 xx2200001734 Disconnect the signal cable connector 4 Continues on next page Product manual IRB 6730 429 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 5 Replacing the axis 5 motor Continued ...

Страница 430: ...otor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws that secure the motor using a bits extender 2 xx2100002204 Continues on next page 430 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 5 Replacing the axis 5 motor C...

Страница 431: ...ol xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION The weight of the motor is 11 kg All lifting accessories used must be sized accord ingly 5 CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 6 Used t...

Страница 432: ...continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 5 motor Note Action Guide pin M10x150 Apply two guide pins in opposite holes 1 3HAC15521 2 CAUTION Whenever parting mating motor and gea...

Страница 433: ... motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION The weight of the motor is 11 kg All lifting accessories used must be sized accordingly 5 Rotation tool M4 3HAB7887 1 Use caution and lower the motor into posi tion on the guide pins while at the same time rotating the motor pinion slightly 6 xx230...

Страница 434: ...rm a leak down test 9 Disconnect the brake release tool 10 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page 434 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 5 Replacing th...

Страница 435: ... and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next p...

Страница 436: ... equivalent Loctite 243 Use locking liquid Tightening torque 6 Nm xx2100002495 Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Refitting the wrist cover Note Action xx2100002626 Make sure that the cable harness is routed and secured as shown in the figure 1 Continues on next page 436 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All ri...

Страница 437: ...ing procedure Note Action See product manual for the DressPack If used refit the DressPack cable package on the wrist 1 See Filling oil into the axis 5 gearbox on page 159 Refill the gearbox with oil if drained 2 See Calibration on page 605 Re calibrate the robot 3 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or rep...

Страница 438: ... L2 3HAC079162 003 Graphite White 3HAC079162 004 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 6 motor 3HAC079381 003 Graphite White 3HAC079381 004 ABB Orange Connection box cover MT100X with gasket Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Loctite 5800 Flange sealant Continues on next page 4...

Страница 439: ...dard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the axis 6 motor Note Action Decide which calibration routine to use and take actions accordingly prior to begin ning the repair procedure 1 xx2200001818 Jog the robot to a position where axis 5 can be positioned with the axis 6 motor pointing straight up at an acceptable working position With axi...

Страница 440: ...1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page 440 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 6 Replacing the axis 6 motor Continued ...

Страница 441: ...he tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified ...

Страница 442: ... refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for clean...

Страница 443: ...ool 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 3 User...

Страница 444: ...tor pinion is properly mated to the gear of the gearbox the motor pinion does not get dam aged Remove the guide pins 6 Hex socket head cap screw M8x30 12 9 Gleitmo 603 Geomet 500 4 pcs Secure the motor with its attachment screws 7 Tightening torque 24 Nm xx2200001806 See Performing a leak down test on page 178 Perform a leak down test 8 Continues on next page 444 Product manual IRB 6730 3HAC085699...

Страница 445: ...ording to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connectors to each other in the bracket 3 Torx pan head screw M5x12 Stainless steel A2 70 Refit the connector bracket assembly to the motor CAUTION The cabling is sensitive to mechanical damage Handle it with care to avoid dam age to...

Страница 446: ...Replace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 70 6 pcs Refit the motor cover 8 Tightening torque 6 Nm xx2200001434 Continues on next page 446 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 6 ...

Страница 447: ...age 613 Re calibrate the robot 2 General calibration information is included in section Calibration on page 605 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 3 Product manual IRB 6730 447 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 8 6 Replacing the axis 6 motor Co...

Страница 448: ...ns to be performed 1 Drain the axis 1 gearbox 2 Remove the cabling from the base 3 Remove the axis 1 motor 4 Remove the complete arm system complete robot excluding the base and axis 1 gearbox as an assembly 5 Replace the axis 1 gearbox The axis 1 cassette sealing must also be replaced Continues on next page 448 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserv...

Страница 449: ...luded in gearbox spare part but replace if damaged xx2200001407 A 3HAB3772 164 B 3HAC061327 065 O ring Replace if damaged On axis 1 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Connection box cover FS180 with gasket On axis 1 protection ring 3HAB3772 58 O ring Isopropanol Cleaning agent...

Страница 450: ...s use guide pins in pairs 3HAC062397 001 3HAC062398 001 Guide pin M16x120 Guide pin M16x250 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations Bit holder and hexagon bit SW10 User instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits...

Страница 451: ...rence 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 614 If no previous reference values exist and no new reference values can be created then reference calibration is not possible ...

Страница 452: ...the frame attachment screws Note Action xx2200001458 Jog the robot into calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 2 Continues on next page 452 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Cont...

Страница 453: ... Remove six of the seven attachment screws under the balancing device Note Leave the screw closest to the axis 1 motor fitted 4 xx2200001402 Position for the floor mounted robot Note Action Turn on the power to the robot temporarily 1 Continues on next page Product manual IRB 6730 453 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Conti...

Страница 454: ...ed space 3 Attaching the lifting accessories to the arm system Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 CAUTION The weight of the complete arm system is 955 980 kg depending on robot variant All lifting accessories must be sized accordingly 2 Continues on next page 454 Product manual IRB 6730 3HAC085699 001 Revision B ...

Страница 455: ...m Fit a roundsling to the lifting eye 4 xx2200001523 Roundsling 2 m Run a roundsling through the hole in the frame 5 xx2200001524 Continues on next page Product manual IRB 6730 455 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 456: ...hich risks to damage the gear 7 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 8 Lifting eye 3HAC16131 1 Fit a lifting eye in the arm house with a fender washer underneath 9 Fender washer Outer diameter minimum 26 mm maximum 30 mm hole diameter 13 mm thickness 3 mm xx1400002196 Fender washer xx2100002146 Co...

Страница 457: ... chain a shorter than chain b Preparations before removing the axis 1 gearbox Use this procedure to do the necessary preparations before removing the gearbox Note Action Decide which calibration routine to use and take actions accordingly prior to beginning the repair procedure 1 DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 2 Continues ...

Страница 458: ... 138 Begin draining the axis 1 gearbox Note There will be some oil left in the gear after draining 5 Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 Continues on next page 458 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ...

Страница 459: ...tachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6730 459 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 460: ...ll supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender to reach the screws Continues on next page 460 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 461: ...ressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 5 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for mor...

Страница 462: ...inion parted from the gear 9 Disconnect the brake release tool 10 Preparations before removing the cable harness in the base Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 Continues on next page 462 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5...

Страница 463: ...0 Disconnect the earth cable 5 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressPack cables through the protection tube 1 Continues on next page Product manual IRB 6730 463 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 464: ...away the complete arm system Note Action Check that the axis 1 gearbox is drained and then remove the draining equipment 1 xx2300000034 Raise the overhead crane to stretch all lifting accessories 2 Continues on next page 464 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 465: ...hment screws that hold the frame to the axis 1 gearbox 3 xx2200001405 xx2200001404 Continues on next page Product manual IRB 6730 465 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 466: ...de better 4 Always use guide pins in pairs xx2200001423 xx2200001424 CAUTION The weight of the complete arm system is 955 980 kg depending on robot variant All lifting accessories must be sized accord ingly 5 Continues on next page 466 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 467: ...m on the floor 7 DANGER When the complete arm system is removed and resting by itself on the floor make sure it is resting completely stable before remov ing the lifting accessories Do not change the position of the axes from the position de scribed earlier 8 Continues on next page Product manual IRB 6730 467 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing...

Страница 468: ...1 Fit two lifting eyes manually in opposite holes in the gearbox CAUTION Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to damage the surface of the gearbox which is a sealing surface 3 xx2200001410 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly 4 Continues on next page...

Страница 469: ...portant when refitting the arm system if it needs to be installed in the same orienta tion as removed 6 Lifting accessory chain 3HAC15556 1 Attach the lifting accessory chain to the lifting eyes and lift away the gearbox 7 xx2200001411 Continues on next page Product manual IRB 6730 469 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Cont...

Страница 470: ...aged 1 Guide pin M12x200 3HAC13056 3 Fit guide pins in opposite holes in the base Tip Lubricate the guide pins with some grease to make the gearbox slide better 2 Always use guide pins in pairs xx2200001415 Wipe clean the contact surfaces on the base and the surfaces of the sealing tube from any contamination 3 Put grease on the sealing tube 4 Continues on next page 470 Product manual IRB 6730 3HA...

Страница 471: ...N Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to damage the surface of the gearbox which is a sealing surface 2 xx2200001416 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly 3 Continues on next page Product manual IRB 6730 471 3HAC085699 001 Revision B Copyright 2023 A...

Страница 472: ...17 O ring A 3HAB3772 164 B 3HAC061327 065 Grease Shell Gadus S2 3HAC042536 001 Check the o ring and lubricate Replace if damaged 5 xx2200001407 Continues on next page 472 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 473: ...surfaces of the hole in axis 1 gearbox Protection type Foundry Plus 7 xx2100001169 Apply rust preventive to the inner surface of the hole as shown in the figure Removing the protection ring in the frame Note Action Foundry Plus 1 Cut the flange sealant at the protection ring xx2200001610 Remove the protection ring 2 Continues on next page Product manual IRB 6730 473 3HAC085699 001 Revision B Copyr...

Страница 474: ...e Note Check that the gearbox is oriented in the same direction as the old gearbox by checking the orientation of the guiding pin Note Make sure that the o ring is still fitted cor rectly when the gearbox is being fitted 1 Remove the guide pins 2 Remove the lifting accessory and the lifting eyes 3 Continues on next page 474 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All r...

Страница 475: ...s before refitting the arm system Note Action Wipe clean the contact surfaces from any contamination 1 Flange sealant Loctite 5800 Protection type Foundry Plus 2 xx2200001609 Apply flange sealant to the mounting interface on the gearbox both inside and outside of the screw holes Apply some grease on the edge of the sealing tube the edge around the gearbox 3 Continues on next page Product manual IR...

Страница 476: ...er 4 Always use guide pins in pairs xx2200001419 xx2200001420 Refitting the arm system Note Action CAUTION The weight of the complete arm system is 955 980 kg depending on robot variant All lifting accessories must be sized accord ingly 1 Continues on next page 476 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox C...

Страница 477: ...he hole pattern match and that the guide pins will enter the correct holes in the frame Note Also check that the guiding pin in the gearbox is aligned with the pin hole in the frame xx2300000013 5 Lower the arm system to align the longest guide pin into the hole 6 xx2200001420 Lower the arm system to align the other guide pin into the hole 7 Continues on next page Product manual IRB 6730 477 3HAC0...

Страница 478: ...from the front back that the frame is coming down completely level against the gearbox If the frame is somewhat tilted adjust the lifting position with the overhead crane Note While lowering the complete arm system check that the cylindrical pin is fitted cor rectly 9 xx1700002043 Lower the complete arm system into posi tion on top of the gearbox 10 Continues on next page 478 Product manual IRB 67...

Страница 479: ...e axis 1 gearbox 11 Tightening torque standard torque 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 646 xx2200001421 Continues on next page Product manual IRB 6730 479 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 480: ...ews on page 646 Remove the two guide pins and refit remain ing attachment screws Tighten the remaining accessible attach ment screws 12 xx2200001403 xx2200001405 xx2200001404 Continues on next page 480 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 481: ...80 001 Fit the first part of the mounting tool to the frame 2 xx2100001188 xx2100001189 Fit the cassette sealing on the tool with the plain side facing upwards groove down wards 3 xx2100001191 Fit the second part of the mounting tool on top of the sealing 4 Continues on next page Product manual IRB 6730 481 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing t...

Страница 482: ...d the axis 1 tube upper edge at four 4 locations The measurement is approximately 9 mm 7 Rust preventive 3HAC034903 001 Mer casol 3110 Waxcoat Recommended drying time is 24h Protection type Foundry Plus Apply rust preventive to the outer surface of the gearbox tube and outer surface of the frame hole all the way down to the cassette sealing as shown in the figure 8 xx2100001170 xx2100001172 Contin...

Страница 483: ...ction DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface ...

Страница 484: ... to the new spare part motor 4 Floor mounted robot Refitting the axis 1 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2200001819 CAUTION The weight of the motor is 19 kg 2 Rotation tool M4 3HAB7887 1 Fit the rotation tool 3 Continues on next page 484 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights...

Страница 485: ... with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 5 xx2200001793 Lower the motor into position Make sure that the motor pinion is properly mated ...

Страница 486: ...k down test on page 178 Perform a leak down test 9 Refilling oil in the gearbox Note Action See Changing the oil in axis 1 gearbox on page 137 Refill oil in the gearbox 1 Refitting the cable harness in the base Note Action xx2200001924 Run the robot cable harness through the frame recess and down through the protec tion tube 1 Continues on next page 486 Product manual IRB 6730 3HAC085699 001 Revis...

Страница 487: ...e cables are facing the base cover when connected 3 Screw dimension for R1 MP M6x25 A2 70 Connect connectors R1 MP and R1 SMB 4 Tightening torque for R1 MP 10 Nm Tightening torque for R1 SMB 10 Nm xx2100001109 Screw dimension M6x16 Connect the earth cable 5 Washer dimension 6 4x17x3 Tightening torque 10 Nm xx2200001790 Continues on next page Product manual IRB 6730 487 3HAC085699 001 Revision B Co...

Страница 488: ...ing cor rectly and are not twisted xx1400000078 If used fit the bracket that hold the DressPack to the frame 8 xx1200000052 If used connect the DressPack cable package on the base plate 9 Torx pan head screw M6x16 Stainless steel A2 70 5 pcs Refit the base cover 10 Tightening torque 10 Nm xx2100000981 Continues on next page 488 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB A...

Страница 489: ...ss steel A2 70 Refit the cable bracket with the screws 2 xx2200001738 Connect the motor cables Note Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IRB 6730 489 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Continued ...

Страница 490: ...t is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 490 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing the axis 1 gearbox Conti...

Страница 491: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Страница 492: ...cal stop Note Action Rust preventive 3HAC034903 001 Mer casol 3110 Waxcoat Recommended dry ing time is 24h Protection type Foundry Plus Apply rust preventive on the surfaces shown in the figure on stop pin and in the hole as shown in the figure 1 xx2100001139 Continues on next page 492 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 1 Replacing...

Страница 493: ...top pin can move some millimeters in vertical direction This verifies that the screw is inserted in the groove and not against the flange 3 Tighten the screw with tightening torque xx2200001500 Refitting the covers for Foundry Plus and floor mounted robots Note Action Torx pan head screw M6x16 A4 80 4 pcs Protection type Foundry Plus Refit the axis 1 cable protection plates with the attachment scr...

Страница 494: ... standard torque 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 646 xx2200001401 See Calibration on page 605 Calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 5 494 Product manual IRB 6730 3HAC085699 001 Revision B Co...

Страница 495: ...terial nearby the robot If needed run axis 1 into a position that gives the required space The figure shows an example xx2300000026 Note Keeping the cable harness and DressPack fitted on the robot during gearbox replacement is only a recommendation If it is not possible to put the lower and upper arm close enough to the robot the cable harness and DressPack in the base and in the frame must be rem...

Страница 496: ...kets inside the lower arm and on the frame 4 Remove the upper and lower arm mounted together as an assembly 5 Remove the axis 2 motor 6 Replace the axis 2 gearbox Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Continues on next page 496 Product manual IRB 6730 3H...

Страница 497: ...aulic cylinder M12 2 pcs 3HAC16131 1 Lifting eye SA 10 8 NA1 Lifting shackle Outer diameter minimum 26 mm maximum 30 mm hole diameter 13 mm thickness 3 mm Fender washer Lifting instruction 3HAC15880 2 enclosed 3HAC15556 1 Lifting accessory chain Length 1 5 m Roundsling 1 5 m Length 1 m Roundsling 1 m User instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits 1 2 3HA...

Страница 498: ...g Replace if damaged On axis 2 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Connection box cover FS180 with gasket Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1 2 Isopropanol Cleaning agent Shell Gadus S2 3HAC042536 001 Grease Mercasol 3110 Waxcoat Re...

Страница 499: ...w reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 614 If no previous reference values exist and no new reference values can be created then reference calibration is not pos...

Страница 500: ...ocking position with the Hydraulic press equipment balancing device Use this procedure to unload and lock the balancing device in unloaded position with the Hydraulic press equipment balancing device 3HAC074411 001 Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 500 Product manual IRB 6730 3HAC085699 00...

Страница 501: ...enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Attaching lifting accessory to the balancing device Note Action CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingl...

Страница 502: ...g accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 502 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 503: ...3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Note Action xx2200001462 Put down the balancing device and let it rest on the frame 1 Continues on next page Product manual IRB 6730 503 3HAC085699 001 Revision B C...

Страница 504: ...ric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 See Draining the axis 2 gearbox on page 143 Begin draining the gearbox 4 Attaching lifting accessories to the lower and upper arm Note Action CAUTION The weight of the complete upper and lower arm together is 490 515 kg depending on robot vari ant All lifting accessories used must be...

Страница 505: ... slide de pends on robot variant insert a M12x50 securing screw not more than 10 15 mm into the screw hole shown in the figure If DressPack cable package is installed use the ball joint housing instead in the same way xx2100001412 5 Example where securing screw is not needed xx2100001469 Stretch the roundsling between the wrist and the lower arm by slowly jogging the axis 3 Note Make sure the roun...

Страница 506: ...s 3 mm xx2100002146 xx1400000355 If the robot is equipped with DressPack unscrew the attachment screws of the bracket that holds the ball joint housings on the wrist The DressPack can stay fitted in the ball joint housing 9 Move the DressPack cable package over to the other side of where the lifting accessory will be attached to the shackle on the arm house 10 Continues on next page 506 Product ma...

Страница 507: ...between the wrist and the lower arm is stretched Loosening the cable brackets Use this procedure to lift the lower and upper arm mounted together with the cable harness and DressPack kept installed in the base and in the frame Note Keeping the cable harness and DressPack fitted on the robot during gearbox replacement is only a recommendation If it is not possible to put the lower and upper arm clo...

Страница 508: ...ve the mounting plate from the arm house 2 xx2100001104 Unscrew the attachment screws that secure the axis 2 lower arm metal clamp and the axis 3 lower arm metal clamp located on the inside of the lower arm by removing the attachment screws 3 Continues on next page 508 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearb...

Страница 509: ...t all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the connector 3 Continues on next page Product manual IRB 6730 509 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing ...

Страница 510: ...e screws 5 Remove the motor cables from the motor 6 Removing the axis 2 motor Note Action Before removing the motor make sure that the gearbox is completely drained 1 Continues on next page 510 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 511: ...th the tool xx2100000666 Release the brakes on the motor with the brake release tool to unload the weight 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the too...

Страница 512: ...emoval tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2000000456 Bits extender 3HAC12342 1 Remove the remaining two screws 6 xx2200001150 Continues on next page 512 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Con...

Страница 513: ...in re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 22 kg 11 xx2000000457 Remove the motor by sliding it out on the guide pins and lift it off Tip Make a note in which direction the cable gland hole is facing The motor shall be...

Страница 514: ...ace them with guide pins Tip Use different lengths on the guide pins to simplify guidance 1 Always use guide pins in pairs xx2300000153 Tip Lubricate the guide pins with some grease to make the lower arm slide better xx2300000152 Remove all but one of the remaining attach ment screws that secure the lower arm to the axis 2 gearbox 2 Continues on next page 514 Product manual IRB 6730 3HAC085699 001...

Страница 515: ...Note Keeping the cable harness and DressPack fitted on the robot during gearbox replace ment is only a recommendation If it is not possible to put the lower and upper arm close enough to the robot the cable har ness and DressPack in the base and in the frame must be removed first 1 CAUTION The weight of the complete upper and lower arm together is 490 515 kg depend ing on robot variant All lifting...

Страница 516: ... away the arms The cable harness is still partly con nected xx2100001103 Lift the arm system and lay it down safely on the boards Use a higher block as support under the wrist unit when the arms are put down on the boards CAUTION Check that the cable bracket underneath the arm housing is not damaged 4 Continues on next page 516 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB A...

Страница 517: ...pins with some grease to make the lower arm slide better xx2300000156 Leave one of the upper attachment screws and remove the rest The remaining screw is used to prevent the gearbox from falling down 2 CAUTION The weight of the gearbox is 78 kg All lifting accessories used must be sized accordingly 3 xx2300000158 Remove the remaining screw left in the gearbox 4 Continues on next page Product manua...

Страница 518: ...Attach the lifting accessory to the gearbox 7 Remove the stoppers from the guide pins and remove the gearbox 8 Refitting the gearbox Use these procedures to refit the gearbox Preparations before refitting the axis 2 gearbox Note Action CAUTION The weight of the gearbox is 78 kg All lifting accessories used must be sized accordingly 1 Continues on next page 518 Product manual IRB 6730 3HAC085699 00...

Страница 519: ...ropanol Wipe clean the contact surfaces on both the gearbox and the frame from any con tamination Note Also wipe clean the o ring groove 4 O ring 3HAC061327 068 Check the o ring 5 xx2100001132 Replace if damaged Continues on next page Product manual IRB 6730 519 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 520: ... Apply rust preventive to the gearbox sur face shown in the figures 7 xx2100001105 Refitting the axis 2 gearbox Use this procedure to refit the gearbox Note Action CAUTION The weight of the gearbox is 78 kg All lifting accessories used must be sized accordingly 1 Continues on next page 520 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Repla...

Страница 521: ...x slide better xx2300000157 Lift the gearbox and let it rest on the guide pins CAUTION Use stoppers on the guide pins 3 Remove the lifting accessory DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 4 Continues on next page Product manual IRB 6730 521 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserve...

Страница 522: ... and fit the remain ing attachment screws and washers 6 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 646 Tighten the attachment screws 7 Continues on next page 522 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Conti...

Страница 523: ...me grease to make the lower arm slide better CAUTION The weight of the complete upper and lower arm together is 490 515 kg depend ing on robot variant All lifting accessories used must be sized accordingly 2 Attach the lifting accessories to the arm assembly if not already fitted 3 xx2300000027 Use caution and slowly lift the lower and upper arm together Make sure not to stretch any of the cables ...

Страница 524: ... the hole pattern does not match use the adjustment tool in the axis 2 gear and ro tate until a matching hole pattern is achieved xx1300000819 xx2300000028 Slide the arms into position on the guide pins 6 Continues on next page 524 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 525: ... 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 646 Tighten the attachment screws 9 Remove the lifting accessories 10 Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 6730 525 3HAC085699...

Страница 526: ...1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2100000593 CAUTION The weight of the motor is 22 kg ...

Страница 527: ... Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page Product manual IRB 6730 527 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 528: ...may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 6 Rotation tool M4 3HAB7887 1 Apply the rotation tool 7 Use caution and fit the motor in its final position while at the same time rotating the motor pinion sl...

Страница 529: ...he guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 178 Perform a leak down test 12 Connecting the axis 2 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6730 529 3HAC085699 001 Revision B C...

Страница 530: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 530 Product manual IRB 6730 3HAC085699 001 Re...

Страница 531: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Страница 532: ... arm 1 Torx pan head screw M6x16 A4 80 Secure the upper and lower cable clamps inside the lower arm with the attachment screws Note The screws are reached from the outside of the lower arm 2 Tightening torque 6 Nm xx2100001104 Note Check that the cabling will stay a little bit twisted between the cable clamps Do not change the position of the brackets xx1300000595 Continues on next page 532 Produc...

Страница 533: ... the in side of the lower arm with attachment screws 4 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid xx2300001088 The dress pack cables between the upper and lower bracket may not be twisted more than 1 2 turn xx2300001089 Torx pan head screw M6x16 Stainless steel A2 70 2 pcs Continues on next page Product manual IRB 6730 533 3HAC085699 001 Revision B Copyright 2023 ABB ...

Страница 534: ... all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Refitting the front shaft of the balancing device Note Action Lifting shackle SA 10 8 NA1 Apply the lifting accessory to the balancing device if not already done 1 Lifting accessory chain 3HAC15556 1 Remove all residue of Loctite in the screw hole of the shaft 2 Wipe all co...

Страница 535: ...e link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces where Mercasol is ap plied 6 Continues on next page Product manual IRB 6730 535 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 2 Replacing the axis 2 gearbox Continued ...

Страница 536: ...ectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2200001916 Tightening torque 200 Nm Secure the shaft with screw and washer 9 xx2200001461 Continues on next page 536 Product manual IRB 6...

Страница 537: ...ing the Hydraulic press equipment balancing device Note Action User instructions are enclosed with the tool Restore the balancing device and remove the press equipment according to instruc tions for the press equipment xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for t...

Страница 538: ...kets of the ball joint housings on the wrist 1 Remove the lifting accessory from the balancing device 2 See Filling oil into the axis 2 gear box on page 144 Refill oil to the axis 2 gearbox 3 See Calibration on page 605 Calibrate the robot 4 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 5 538 Pro...

Страница 539: ...lace the axis 3 gearbox Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6730 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 Includes o ring 3HAC082815 003 Graphite White 3HAC082815 004 ABB Orange Gearbox Required service parts Note Article number Consumable 3HAC061327 066 O r...

Страница 540: ...HAC14631 1 Removal tool motor M12 Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 For lifting the gearbox 3HAC081585 001 Lifting accessory for gear Used to push out the gearbox if necessary Screws M10x80 fully threaded Used to rotate the gear for matching hole pattern with frame 3HAC080331 001 Adjustment tool for gear Used to rotate the motor pinion Add screw M4 3HAB7887 1 Rotation to...

Страница 541: ...re to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 614 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibr...

Страница 542: ... pressure supply to the robot before entering the safe guarded space 4 xx1200001331 A Attachment screw to be removed B Attachment screw not to be removed If robot is equipped with DressPack Unscrew the uppermost attachment screw that holds the bracket of the DressPack cable package and let it fall down See figure Note It is not needed to disconnect the lower end connectors of the DressPack as the ...

Страница 543: ...he DressPack cable package 6 xx2200001432 Remove the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 7 xx2200001433 Remove the metal clamp at the arm house 8 Continues on next page Product manual IRB 6730 543 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 g...

Страница 544: ...ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed Open the ball joint housing on the arm tube and remove the DressPack cable package 3 xx2000000373 Remove the wrist cover 4 Continues on next page 544 Product manual IRB 6730 3HAC085699 001 Revision B...

Страница 545: ... xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page Product manual IRB 6730 545 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 546: ... the carri er Note The screw is located at the bottom of the carrier 2 xx1300000666 Lift out the axis 6 motor cables by holding the cables with one hand at the motor and the other at the carrier 3 Continues on next page 546 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 547: ...upplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page Product manual IRB 6730 547 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 548: ...by removing the screws 6 Remove the motor cables 7 Disconnecting the axis 3 and axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 548 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 549: ...by first removing the attachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6730 549 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 550: ...om the wrist and upper arm Note Action Foundry Plus Foundry Plus DressPack 1 xx2000000422 Remove the back cover Note Use caution not to damage the gasket DressPack xx2300001040 Continues on next page 550 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 551: ...Pack tube a little back wards 4 xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 5 Continues on next page Product manual IRB 6730 551 3HAC085699 001 Revision B Copyright 2023...

Страница 552: ...axis 4 metal clamp inside the arm tube Note The screw is reached from outside the up per arm 7 xx2300000032 xx2200002142 Remove the arm house metal clamp 8 Continues on next page 552 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 553: ...s step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move the cable harness out of the arm tube 10 xx2300000037 Person 2 working at the back Note To be able to remove the cable harness with the DressPack tube fitted the tube needs to be pul...

Страница 554: ...2196 xx2100002146 Lifting accessory chain 3HAC15556 1 Attach the Lifting accessory chain to an overhead crane or similar then to the lifting eye in the arm house and to a roundsling run through the wrist 3 Roundsling 1 m xx2100002145 Adjust the chain lengths to make the lift as level as possible The figure shows an example of lifting chain lengths Keep chain b shorter than chain a Raise the liftin...

Страница 555: ... sure that the gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the upper arm will be movable and falls down if not secured Verify that the upper arm is secured as previously de scribed before continuing 2 Continues on next page Product manual IRB 6730 555 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearb...

Страница 556: ...mechanical stop or installed lifting accessories before releasing the brakes 3 User instructions are enclosed with the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake rel...

Страница 557: ...is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The weight of the motor is 21 kg 11 xx2100002149 Remove the motor by sliding it out on the guide p...

Страница 558: ...6 Leave one of the remaining attachment screws fitted remove the other screws 2 Removing the upper arm Note Action xx1400002197 Note Make sure the lift is done completely leveled In case of necessary adjustments use the shortening loops on the lifting ac cessory chain and make sure to place the chain the right way through the loops 1 Continues on next page 558 Product manual IRB 6730 3HAC085699 00...

Страница 559: ...one in order to keep the axis 3 gearbox in a vertical position and to get the best position to replace the axis 3 gearbox if applicable 4 Removing the axis 3 gearbox Use this procedure to remove the gearbox Note Action Guide pin M12x150 Guide pin M12x200 3HAC13056 2 3HAC13056 3 Remove two attachment screws in opposite holes and replace them with guide pins Tip Lubricate the guide pins with some gr...

Страница 560: ...er below the gearbox 4 xx2300000149 Remove the remaining attachment screw and loosen the gearbox with help of the removal tools Only pull out the gearbox a little bit on the guide pins DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 5 Continues on next page 560 Product manual IRB 6730 3HAC085699 001 Revision B C...

Страница 561: ...etting it slide out on the guide pins 8 xx2300000202 Remove the gearbox 9 Refitting the gearbox Use these procedures to refit the axis 3 gearbox Preparations before refitting the axis 3 gearbox Note Action CAUTION The weight of the gearbox is 56 kg All lifting accessories used must be sized accordingly 1 Continues on next page Product manual IRB 6730 561 3HAC085699 001 Revision B Copyright 2023 AB...

Страница 562: ...of both the gearbox and the upper arm from any con tamination 4 O ring 3HAC061327 066 Check the o ring 5 xx2100001237 Replace if damaged Grease Shell Gadus S2 3HAC042536 001 Lubricate the contact surface inside the upper arm with grease 6 xx2100002775 Continues on next page 562 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axi...

Страница 563: ...Lift the gearbox and let it rest on the guide pins 2 Remove the lifting accessory DANGER There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used 3 Hex socket head cap screw M12x50 12 9 Gleitmo 603 Geomet 500 32 pcs Slide the gearbox into position and fit the attachment screws and washers 4 xx2300000154 Continues on next page P...

Страница 564: ...s in the axis 3 gearbox Tip Lubricate the guide pins with some grease to make the upper arm slide better 2 Always use guide pins in pairs xx2300000212 Securing the upper arm Note Action CAUTION The weight of the complete upper arm in cluding the wrist is 345 370 kg depending on robot variant All lifting accessories used must be sized accordingly 1 See Attaching the lifting accessories to the upper...

Страница 565: ...12x40 12 9 Gleitmo 603 Geomet 500 39 pcs Insert all but two of the screws and wash ers 5 Washer Steel 13x19x1 5 39 pcs xx2300000206 xx2300000205 Remove the guide pins and fit the two re maining screws and washers 6 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 646 Tighten the attachment screws 7 Contin...

Страница 566: ...ing the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 3 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposit...

Страница 567: ... release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds...

Страница 568: ... Gleitmo 603 Geomet 500 2 pcs Fit two of the attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the screws xx2100002152 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Remove the guide pins and replace with the remaining attachment screws 8 xx2100002153 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 ...

Страница 569: ...nd axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the cable harness through the inside of the robot 2 Continues on next page Product manual IRB 6730 569 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis ...

Страница 570: ...t Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of the DressPack tube if used through the arm tube Do not run the cable harness into the DressPack tube Note Do not run the cable harness into the DressPack tube if one is fitted xx1300000820 Continues o...

Страница 571: ...ide the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm tube Note The screw is reached from outside the up per arm 5 Tightening torque 10 Nm xx2300000033 xx2300000032 Continues on next page Product manual IRB 6730 571 3HAC085699 001 Re...

Страница 572: ... 6 xx2100002677 With DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressPack Refit the DressPack tube into the insert 8 Continues on next page 572 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 g...

Страница 573: ...DressPack Make sure that the tube is fitted correctly in both ends when fitting the cover xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Reconnecting the axis 3 and axis 4 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page Product manual IRB 6730 573 3HAC085699 001 Revision B Copyright 2023 ABB All rights reser...

Страница 574: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 4 xx2200001736 Continues on next page 574 Product manual IRB 6730 3HAC085699 001 Re...

Страница 575: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange Axis 4 Connection box cover FS130 with gasket 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange xx2100000600 CAUTION When fitting the motor cover make sure that none of the cables inside will ...

Страница 576: ... routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70 Refit the cable bracket with the screws 2 xx2200001735 Continues on next page 576 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB ...

Страница 577: ...and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector Connect in accordance with the markings on the connectors 4 Connection box cover with gasket 3HAC072863 003 Inspect the gasket Replace if damaged 5 xx2200002141 Continues on next pa...

Страница 578: ... Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation of the cable harness in the wrist If not connect the brake release tool to the axis 5 motor connector release the brakes and move axis 5 manually to 90 1 Continues on next page 57...

Страница 579: ...rier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Continues on next page Product manual IRB 6730 579 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved ...

Страница 580: ...he purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connector...

Страница 581: ... layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Continues on next page Product manual IRB 6730 581 3HAC0...

Страница 582: ...cable harness is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gasket is damaged xx2100001407 Continues on next page 582 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 3 Replacing the axis 3 gearbox Continued ...

Страница 583: ...s and DressPack back to the correct side of the robot 2 xx1800000042 Refit the axis 3 lower arm metal clamp the one closest to the axis 3 gearbox located on the inside of the lower arm Note The screw is reached from the outside of the lower arm 3 Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 4 Tightening torque 10 Nm xx2200001433 Continues on next page Product manual IRB 6...

Страница 584: ...ble fixing bracket is replaced by the cable guide xx1300001973 6 Tightening torque 10 Nm xx2200001432 xx2200001432 Secure the cable harness to the arm house eyelet with a cable tie Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 7 Continues on next page 584 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Re...

Страница 585: ...valent Loctite 243 If robot is equipped with DressPack Fit the cable package bracket to the arm house with the attachment screws 9 xx2300001090 Twist the dress pack cables between the upper and lower arm according to the pic ture xx1900001684 Hex socket head cap screw M10x16 8 8 A3F 2 pcs Continues on next page Product manual IRB 6730 585 3HAC085699 001 Revision B Copyright 2023 ABB All rights res...

Страница 586: ...01088 The dress pack cables between the upper and lower bracket may not be twisted more than 1 2 turn xx2300001089 Torx pan head screw M6x16 Stainless steel A2 70 2 pcs Refitting DressPack cable packages Note Action xx1200001332 Fit the bracket of the DressPack cable package if one is fitted under the arm house with its screws 1 Continues on next page 586 Product manual IRB 6730 3HAC085699 001 Rev...

Страница 587: ...ures Note Action Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 1 Tightening torque 10 Nm xx2200001433 See Filling oil into the axis 3 gearbox on page 150 Refill oil in the gearbox 2 See Calibration on page 605 Calibrate the robot 3 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on pa...

Страница 588: ...eplace if damaged 3HAB3772 170 O ring Replace if damaged On axis 6 motor 3HAC079381 003 Graphite White 3HAC079381 004 ABB Orange Connection box cover MT100X with gasket Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Isopropanol Cleaning agent P 80 Emulsion IFC 3HAC074427 001 P 80 rubber lubrication gel Loctite 5800 Flange sealant Mercasol 3110 Waxcoat Recom men...

Страница 589: ...Pack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Cr...

Страница 590: ...d on the turning disc 4 xx2300001210 If used open the DressPack axis 6 cable support and remove the DressPack cable package from the process turning disk Note Use caution not to lose the two clamp jaws on either side of the DressPack cable package xx2100002712 5 xx2300001211 Continues on next page 590 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair...

Страница 591: ...is 6 0 6 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 7 Removing the turning disc Note Action xx2200001807 Remove the screws and washers that se cure the turning disc 1 Continues on next page Product manual IRB 6730 591 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 Repla...

Страница 592: ...l supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 592 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 Replacing the axis 6 gearbox Continued ...

Страница 593: ...ct the motor cables 5 Removing the axis 6 gearbox Note Action xx2200001804 Unscrew the attachment screws that secure the axis 6 gearbox 1 Continues on next page Product manual IRB 6730 593 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 Replacing the axis 6 gearbox Continued ...

Страница 594: ... 2 Guide pin M6x150 3HAC080345 001 Fit guide pins 3 Always use guide pins in pairs xx2200001821 Continues on next page 594 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 Replacing the axis 6 gearbox Continued ...

Страница 595: ... follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 5 xx22000018...

Страница 596: ...sopropanol Wipe clean the contact surfaces of both gearbox and wrist from any contamination 2 O ring 3HAB3772 170 Check the o ring 3 xx2100002258 Replace if damaged P 80 rubber lubrication gel 3HAC074427 001 Lubricate the contact surface inside the wrist with grease 4 xx2100002791 Continues on next page 596 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 ...

Страница 597: ...ds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 6 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk Refitting the axis 6 gea...

Страница 598: ... pinion slightly using the rotation tool Make sure that the motor pinion is properly mated to the gear of the gearbox CAUTION Be careful not to damage motor pinion or gears Tip Verify that the oil plug is removed so the air can be pressed out during fitting of the gearbox 4 Continues on next page 598 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 599: ...crews on page 646 xx2200001804 Disconnect the brake release tool 6 See Performing a leak down test on page 178 Perform a leak down test 7 Jog axis 5 to horizontal position 8 See Filling oil into the axis 6 gearbox on page 164 Refill oil in the gearbox 9 xx2300001097 Refit the axis 6 synchronization plate 10 Continues on next page Product manual IRB 6730 599 3HAC085699 001 Revision B Copyright 2023...

Страница 600: ...rding to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connectors to each other in the bracket 3 Torx pan head screw M5x12 Stainless steel A2 70 Refit the connector bracket assembly to the motor CAUTION The cabling is sensitive to mechanical damage Handle it with care to avoid dam age to ...

Страница 601: ...eplace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 70 6 pcs Refit the motor cover 8 Tightening torque 6 Nm xx2200001434 Continues on next page Product manual IRB 6730 601 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 R...

Страница 602: ...c according to the synchronization marks 3 Hex socket head cap screw M8x25 12 9 Gleitmo 603 Geomet 500 Secure the turning disc with its attachment screws and washers 4 Washer Steel 8 4x13x1 5 Tightening torque standard torque 35 Nm Tightening torque for lubric ated screws Molykote Gleitmo or equivalent with allen head screws on page 646 xx2200001807 Continues on next page 602 Product manual IRB 67...

Страница 603: ... Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 96 2 Product manual IRB 6730 603 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 5 Repair 5 9 4 Replacing the axis 6 gearbox Continued ...

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Страница 605: ... generic term for all calibration methods that aim to move the robot to calibration position Standard calibration A calibration routine that generates a new zero posi tion of the robot Fine calibration A calibration routine that in the first step generates a reference to current zero position of the robot The same calibration routine can later on be used to re calibrate the robot back to the same ...

Страница 606: ...ccuracy has the option information printed on its name plate OmniCore To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy after repair or maintenance that affects the mechanical structure Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 6730 It is the recommended ...

Страница 607: ...s after replacements that do not include taking apart the robot structure standard calibration is sufficient The Absolute Accuracy option varies according to the robot mounting position This is printed on the robot name plate for each robot The robot must be in the correct mounting position when it is recalibrated for absolute accuracy References Article numbers for the calibration tools are liste...

Страница 608: ... counter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 612 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...

Страница 609: ...the position of the synchronization marks and the synchronization position for each axis Synchronization marks IRB 6710 IRB 6720 IRB 6730 IRB 6740 xx2200002087 Continues on next page Product manual IRB 6730 609 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes ...

Страница 610: ...xx2200002088 610 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes Continued ...

Страница 611: ... in gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions xx2200002089 Product manual IRB 6730 611 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 6 Calibration 6 2 2 Calibration movement dire...

Страница 612: ...lution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant OmniCore Action On the start screen tap Calibrate 1 The calibration summary page for the mechanical unit is displayed In the Calibration Methods menu select Revolution Counters 2 In the Selection column select the axes for which revolution counters need to be up dated 3 Tap Update A dialog ...

Страница 613: ...ovable calibration tool is inserted by the operator into a calibration bushing on the axis chosen for calibration according to instructions on the FlexPendant WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB Using other pins in the calibration bushings may cause severe damage to the robot and or personnel WARNING The calibration tool must be fully ins...

Страница 614: ...technical data about the tool installed A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory The reference value will be named according to tool name date etc Follow the instructions given in the reference calibration routine on the FlexPendant to create reference values When reference calibration is performed t...

Страница 615: ...s allowed to be jogged to other position than 0 degrees Axis must be put in position 0 degrees 0 System containing SafeMove SafeMove will lose its synchronization to the controller if a new calibration is done New calibration values have to be downloaded to SafeMove and a new SafeMove calibration has to be done Make sure that the user rights admit to change the safety settings and to synchronize S...

Страница 616: ...damage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools Required if Axis Calibration is the valid calib ration method for the robot 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 001 axes 5 and 6 Calibration toolbox Ax is Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure that the tube inser...

Страница 617: ...d solution Note Action It is possible to use any RFID solution with the correct dimensions ABB has verifed function on some suppliers fulfilling the requirements of NFC compatible devices 13 56 Mhz according to ISO 14443 or ISO 15693 Note The maximum dimensions on the RFID chip must not exceed Ø7 9 mm x 8 0 mm Ø5 9 mm x 8 0 mm or Ø3 9 mm x 8 0 mm depending on calibra tion tool size 1 There is a ca...

Страница 618: ...pin and a bushing for the movable calibration tool are located on each axis as follows If there is not enough space on an axis to install a fixed calibration pin the axis is equipped with two bushings instead for installation of two calibration tools when calibration is carried out This is shown in the figure xx2300000256 Continues on next page 618 Product manual IRB 6730 3HAC085699 001 Revision B...

Страница 619: ...Replace damaged parts with new Note Article number Spare part Contains replacement calibration pin covers and protective plugs for the bushings 3HAC064875 001 axes 1 2 3 and 4 3HAC059487 001 axes 5 and 6 Protection cover and plug set Product manual IRB 6730 619 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 6 Calibration 6 4 3 Installation locations for the calibration tools Cont...

Страница 620: ...cover and plug set Overview of the calibration procedure on the FlexPendant The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Use the following list to learn about the calibration procedure before running the RobotWare program on the FlexPendant It gives you a...

Страница 621: ...l affect the calibration value 2 Starting the calibration procedure Use this procedure to start the Axis Calibration routine on the FlexPendant Note Action Tap the calibration icon and enter the calibration main page 1 All mechanical units connected to the system are shown with their calibration status 2 Tap the mechanical unit in question Note For RobotWare 7 the mechanical unit page is displayed...

Страница 622: ...calibration tool is in contact the robot axis needs to be jogged in order to release the calibration tool Jogging the axis in wrong direction will cause the calibration tool to break Directions of axis movement is shown in Calibration movement directions for all axes on page 611 Axis Calibration with SafeMove option To be able to run Axis Calibration SafeMove needs to be unsynchronized The Axis Ca...

Страница 623: ...es 1 2 3 and 4 3HAC059487 001 axes 5 and 6 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not damaged Replace the plug and the sealing with new spare part if missing or damaged 3 Protection cover and plug set 3HAC064875 001 axes 1 2 3 and 4 3HAC059487 001 axes 5 and 6 Product manual IRB 6730 ...

Страница 624: ...calibration to save reference values for all axes that is to be replaced Make sure that the values are saved in RobotStudio or FTP program The files are located in Active 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 ...

Страница 625: ...ce ie 96 3 94 2 2 1 degrees 8 Manually jog axis 4 the calculated angle difference 2 1 NOTE The direction shall be the same direction as the direction used when axis 4 was manually jogged to coincide with the verification process In the example 2 1 degrees 9 Make a new manual fine calibration of axis 4 with axis in 2 1 degrees position 10 Check again against the verification position 11 Repeat the ...

Страница 626: ...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 609 Adjust the synchronization marks when the calibration is done if necessary 2 Write down the values on a new label and stick it on top of the calibration label 3 The label is located on the lower arm 626 Prod...

Страница 627: ...rrectly If they do not update the revolu tion counters 6 Using the jogging window Use this procedure to jog the robot to the synchronization position of all axes Note Action Tap Jog 1 From the Mechanical unit list select a mechanical unit 2 From the Motion mode section select an axis set that need to be jogged 3 For example to jog axis 2 select the axis set Axis 1 3 Follow the screen instruction o...

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Страница 629: ...ms 2 Divide the fault chain in two 3 Check communication parameters and cables 4 Check that the software version is compatible with the hardware Work systematically 1 Take a look around to make sure that all screws connectors and cables are secured and that the robot and other parts are clean not damaged and correctly fitted 2 Replace one thing at a time 3 Do not replace units randomly 4 Make sure...

Страница 630: ...ed Check all connections to the replaced part power supplies that the correct part has been fitted the last repair documents The robot has recently been repaired Check software versions compatibilities between hardware and software options and their configuration The robot recently had a software upgrade Check connections software versions The robot has recently been moved from one site to another...

Страница 631: ...f the oil spill is small this step is sufficient Wipe off the oil or grease see Cleaning the IRB 6730 on page 172 2 Monitor the robot over time to see if new oil or grease occurs Check the gearbox oil level 3 Robots performing certain ex tremely heavy duty work cycles may be fitted with vented oil plugs These are not fitted to normal duty robots but can be purchased from your local ABB representat...

Страница 632: ...parts If the noise is emitted from a gearbox the following can also apply Overheating Recommended actions The following actions are recommended Information Action CAUTION Allow hot parts to cool down 1 Verify that the service is done according to the maintenance schedule 2 If a bearing is emitting the noise determine which one and make sure that it has suffi cient lubrication 3 If possible disasse...

Страница 633: ...ounding equipment Possible causes The symptom can be caused by Faulty brake Faulty power supply to the brake Recommended actions The following actions are recommended Information Action Determine which motor s causes the robot to collapse 1 See the circuit diagram Check the brake power supply to the col lapsing motor during the Motors OFF state 2 If found faulty the motor must be replaced as a com...

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Страница 635: ...ry in which the robot and the control unit are installed If the robot or the control unit is partially or completely disposed of the various parts must be grouped together according to their nature which is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the robot and cont...

Страница 636: ... and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Wrist house tilt house covers connection box mo tor housing Aluminium Serial measurement board Batteries Lithium Calibration protection cap and plug and couplings connectors and nuts in cable harness Brass zink alloys St...

Страница 637: ... for oil and grease to be recycled Dispose of via an authorized person contractor in accordance with local regulations Do not dispose of oil and grease near lakes ponds ditches down drains or onto soil Incineration must be carried out under controlled conditions in accordance with local regulations Also note that Spills can form a film on water surfaces causing damage to organisms Oxygen transfer ...

Страница 638: ...orch it will explode Always remove all oil grease in gearboxes If exposed to heat for example from a blow torch the oil grease will catch fire When motors are removed from the robot the robot will collapse if it is not properly supported before the motor is removed A used robot does not have the same performance as on delivery Springs brakes bearings and other parts might be worn or broken 638 Pro...

Страница 639: ...se procedures in the step by step in structions below DANGER Do not under any circumstances deal with the balancing device in any other way than that detailed in the product documentation For example attempting to open the balancing device is potentially lethal Action on field decommissioning The procedure below details the actions to perform on field when the balancing device is to be decommissio...

Страница 640: ... distance and somewhat from above 2 DANGER The hole must be cut as specified in the figure Pieces of the spring can be thrown out from the cylinder at high speed if the hole is cut larger than specified 3 Use a cutting torch with a long shaft Cut a hole in the housing as shown in the figure 4 The measurements shown below are maxim um values 400 m m 200 mm xx0700000391 Use a cutting torch with a lo...

Страница 641: ...chapter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 6730 641 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 9 Reference information 9 1 Introduction ...

Страница 642: ...f machines Part 1 General requirements normative reference from ISO 10218 1 IEC 60204 1 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61000 6 2 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments IEC 61000 6 4 Safety of machinery Safety related parts of control systems Part 1 Gen...

Страница 643: ...y 39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume Product manual IRB 6730 643 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 9 Reference information 9 3 Unit conversion ...

Страница 644: ...carded and replaced with a new one When handling screws treated with Gleitmo protective gloves of nitrile rubber type should be used Generally screws are lubricated with Gleitmo 603 mixed with Geomet 500 or Geomet 702 in proportion 1 3 Geomet thickness varies according to screw dimensions refer to the following Geomet thickness Lubricant Dimension 3 5 μm Gleitmo 603 Geomet 500 M6 M20 any length ex...

Страница 645: ...is do not jerk Tighten the screw in a slow flowing motion Maximum allowed total deviation from the specified value is 10 Tightening torque for oil lubricated screws with slotted or cross recess head screws The following table specifies the recommended standard tightening torque for oil lubricated screws with slotted or cross recess head screws Note A special torque specified in the repair maintena...

Страница 646: ... for screws lubricated with Molycote 1000 Gleitmo 603 or equivalent with allen head screws Note A special torque specified in the repair maintenance or installation procedure overrides the standard torque Tightening torque Nm Class 12 9 lubricated i Tightening torque Nm Class 10 9 lubricated i Dimension 8 M5 14 M6 35 28 M8 70 55 M10 120 96 M12 300 235 M16 550 460 M20 950 790 M24 i Lubricated with ...

Страница 647: ...ccessory when handling components with a weight exceeding 22 kg A wide range of lifting accessories and devices are available for each manipulator model Example Following is an example of a weight specification in a procedure Note Action CAUTION The arm weighs 25 kg All lifting accessories used must be sized accord ingly Product manual IRB 6730 647 3HAC085699 001 Revision B Copyright 2023 ABB All ...

Страница 648: ...r and hexagon bit SW10 Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations 1 xx2200001085 Socket head cap 2 5 17 mm 1 Torx socket no 10 30 1 Box spanner set 1 Torque wrench 10 100 Nm 1 Torque wrench 75 400 Nm 1 Ratchet head for torque wrench 1 2 1 Hexagon headed screw M10x100 2 Hexagon headed screw M16x90 1 Hex bit socket head cap no 14 socket 40 mm L 100 mm 1 To be shorte...

Страница 649: ... toolkit on page 648 and of special tools listed directly in the instructions and also gathered in this section Special tools Note If the replacing procedure is not listed in the table below only standard tools are needed for the procedure Continues on next page Product manual IRB 6730 649 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 9 Reference information 9 7 Special tools ...

Страница 650: ...l refitting tools 1 1 xx2100002288 Replacement tool for cassette sealing 3HAC079880 001 1 xx2100002289 Replacement tool for arm house cover 3HAC079878 001 1 1 1 1 1 Dismantle and mounting tool 3HAC028920 001 2 2 2 2 2 2 2 2 Removal tool motor M12 3HAC14631 1 2 Removal tool motor M10 3HAC14972 1 2 Screws M8x75 fully threaded 2 Screws M10x80 fully threaded 1 1 1 1 1 1 1 1 Bits extender 3HAC12342 1 1...

Страница 651: ...ordered from ABB 1 1 1 1 1 xx2000001376 Hydraulic press equipment balancing device 3HAC074411 001 1 1 1 1 1 Hydraulic pump 80 MPa 3HAC13086 1 1 1 1 1 1 Hydraulic cylinder 3HAC11731 1 Lifting accessories 1 Roundsling 0 5 m 1 1 1 1 Roundsling 1 m 1 Roundsling 1 5 m 1 Roundsling 2 m 1 1 xx2100002415 Lifting accessory for gear 3HAC081585 001 1 1 1 Fender washer 1 1 1 1 1 1 1 1 xx1200001241 Lifting acc...

Страница 652: ...HAC15520 2 2 2 2 2 2 2 2 2 Guide pin M10x150 3HAC15521 2 2 2 1 2 Guide pin M12x150 3HAC13056 2 1 Guide pin M12x200 3HAC13056 3 1 Guide pin M16x120 3HAC062397 001 1 Guide pin M16x250 3HAC062398 001 Brake release 1 1 1 1 1 1 1 1 1 1 1 xx2100000666 Brake release tool 3HAC081310 001 Calibration tools 1 1 1 1 1 1 1 1 1 1 Calibration toolbox Axis Calibration 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 00...

Страница 653: ...including arm house cover Axis 1 cassette sealing Axis 6 motor Axis 5 motor Axis 4 motor Axis 3 motor Axis 2 motor Axis 1 motor Tools and equipment with spare part number These tools can be ordered from ABB 2 Screw M6 x minimum 70 mm 1 Continues on next page Product manual IRB 6730 653 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 9 Reference information 9 7 Special tools ...

Страница 654: ...iece of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories should be stored for later reference 654 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved 9 Reference information 9 8 Lifting accessories and lifting instructions...

Страница 655: ...alancing device front eye 170 Brake power supply faulty 633 brake release unit replacing 357 brake releasing 75 brakes testing function 33 C cabinet lock 27 cable harness inspecting 108 refitting 329 removing 308 cabling between robot and controller 93 calibrating robot 613 roughly 612 calibrating robot 613 calibration Absolute Accuracy type 606 rough 612 standard type 606 verification 626 when to...

Страница 656: ...2 installation equipment 78 installation procedure 55 instructions for assembly 51 integrator responsibility 26 intervals for maintenance 99 L labels robot 19 leak down test 178 leaking sealing 631 lifting robot 66 67 lifting accessory 647 lifting accessory robot 64 lifting robot with lifting accessory 64 limitation of liability 15 lithium disposal 636 Lithium disposal 636 loads on foundation 38 l...

Страница 657: ...g 78 labels 19 lifting 66 67 protection class 40 protection types 40 symbols 19 technical data 37 working range 41 S safety brake testing 33 ESD 49 fire extinguishing 27 release robot axes 32 signals 17 signals in manual 17 symbols 17 symbols on robot 19 test run 96 safety devices 27 safety signals in manual 17 safety standards 642 scales on robot 609 schedule of maintenance 99 screw joints 644 se...

Страница 658: ...ncing device 189 193 203 214 218 219 221 232 247 501 complete arm system 454 466 476 robot 65 69 70 72 upper and lower arm 504 515 523 upper arm complete 554 564 wrist 291 working range 47 robot 41 wrist replacing 283 X xx replacing 53 Z zero position checking 627 658 Product manual IRB 6730 3HAC085699 001 Revision B Copyright 2023 ABB All rights reserved Index ...

Страница 659: ......

Страница 660: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong New District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC085699 001 Rev B en Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

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Содержание IRB 6730

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ABB IRB 6730, Руководство по эксплуатации продукта, Страница: 263 / 660

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