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Refitting the axis-4 primary gearbox

Note

Action

CAUTION

The axis-4 primary gearbox weighs 56 kg.
All lifting accessories used must be sized
accordingly.

Lifting accessory:

Attach the lifting accessories to the gear-
box.

Roundsling 2 m: Roundsling 2 m

xx1500003000

Fit the o-rings in its grooves.

Tip

Put some grease on the o-ring for a better
fitting.

CAUTION

Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.

Loctite 574

xx1600000073

Apply flange sealant.

xx1500003072

Make sure that one of the M8 holes in the
gearbox, will be at twelve o'clock when
lifting the gearbox onto the guide pins.

Continues on next page

772

Product manual - IRB 8700

3HAC052853-001 Revision: F

4 Repair

4.8.5 Replacing the axis-4 primary gearbox

Continued

Содержание IRB 8700 Series

Страница 1: ...ROBOTICS Product manual IRB 8700...

Страница 2: ...Trace back information Workspace R18 1 version a12 Checked in 2018 03 27 Skribenta version 5 2 025...

Страница 4: ...B for losses damages 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 produ...

Страница 5: ...s 39 1 4 1 Safety signals in the manual 41 1 4 2 Safety symbols on product labels 47 2 Installation and commissioning 47 2 1 Introduction 48 2 2 Unpacking 48 2 2 1 Pre installation procedure 52 2 2 2...

Страница 6: ...3 gearbox 153 3 4 4 Changing oil axis 4 primary gearbox 159 3 4 5 Changing oil axis 4 secondary gearbox 164 3 4 6 Changing oil axis 5 gearbox 168 3 4 7 Changing oil axis 6 gearbox 173 3 4 8 Replacing...

Страница 7: ...methods 798 5 1 3 When to calibrate 799 5 2 Synchronization marks and axis movement directions 799 5 2 1 Synchronization marks and synchronization position for axes 800 5 2 2 Calibration movement dire...

Страница 9: ...rough before performing any installation or service work on robot Contains general safety aspects as well as more specific information on how to avoid personal injuries and damage to the product Safet...

Страница 10: ...warning regarding risk of pinching in Description of Axis Calibration on page 805 Added information about inspection of calibration tool prior to usage see Examining the calibration tool on page 807 A...

Страница 11: ...g the hub on page 630 Published in release R17 2 The following updates are made in this revi sion E Caution about removing metal residues added in sections about SMB boards Information about minimum r...

Страница 12: ...s Calibration on page 807 Added sections in General procedures on page 184 Added reference manual for DressPack Safety restructured Updated spare parts number brake release board unit was BRK001 is DS...

Страница 13: ...rence information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists Circuit diagrams or references t...

Страница 14: ...The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 14 Product manual IRB 8700 3HAC052853 001 Revis...

Страница 15: ...include specific safety information when dangerous steps are to be performed Read more in the chapter Safety on page 17 Illustrations The product is illustrated with general figures that does not take...

Страница 16: ...This page is intentionally left blank...

Страница 17: ...rried out by in experienced or non qualified personnel Foreign objects Force majeure Nation region specific regulations To protect personnel the complete system must be designed and installed in accor...

Страница 18: ...ed Determine the maximum speed from the maximum velocities of the robot axes and from the position at which the robot is working in the work cell see the section Robot motion in the Product specificat...

Страница 19: ...l parts through welding riveting or drilling of new holes into the castings The strength could be affected CAUTION Ensure that a gripper is prevented from dropping a work piece if such is used Product...

Страница 20: ...iew The protective stops and emergency stops are described in the product manual for the controller 20 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved 1 S...

Страница 21: ...ishing Note Use a CARBON DIOXIDE CO2 extinguisher in the event of a fire in the manipulator or controller Product manual IRB 8700 21 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserv...

Страница 22: ...may require using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the robot does not increase the pressure on the trapped person furthe...

Страница 23: ...roller before proceeding work Note Switch off all main power switches in a MultiMove system Spot welding cabinet Wait for 5 minutes to let the capacitors discharge after the power has been switched of...

Страница 24: ...fety lock Make sure that no one else can turn on the power to the controller and robot while you are working with the system A good method is to remove the power cable to the controller If the robot i...

Страница 25: ...ications to the robot Connection of external safety devices Apart from the built in safety functions the robot is also supplied with an interface for the connection of external safety devices An exter...

Страница 26: ...stop equipment is cor rectly installed and connected 1 How to use the hold to run function is de scribed in section How to use the hold to run function in the Operating manual IRC5 with FlexPendant U...

Страница 27: ...ore it is powered up 2 Verify that any safety equipment installed to secure the position or restrict the robot motion during service activity is removed 3 Verify that the fixture and work piece are we...

Страница 28: ...n USA or Canada Pay attention to the rotating axes of the robot Keep away from axes to not get entangled with hair or clothing Also be aware of any danger that may be caused by rotating tools or other...

Страница 29: ...anipulator switches to the MOTORS OFF state To ensure safe use of the teach pendant the following must be implemented The enabling device must never be rendered inoperational in any way During program...

Страница 30: ...ated risks IRC5 controller A danger of high voltage is associated with for example the following parts Be aware of stored electrical energy DC link Ultracapacitor bank unit in the controller Units suc...

Страница 31: ...live even if the robot system is in the OFF position Power supply cables which are in motion during the working process may be damaged Product manual IRB 8700 31 3HAC052853 001 Revision F Copyright 2...

Страница 32: ...ics Safe handling Note Action Wrist straps must be tested frequently to ensure that they are not damaged and are operating cor rectly Product manual IRC5 Use a wrist strap The wrist strap button is lo...

Страница 33: ...your hand at some distance to feel if heat is radiating from the potentially hot component before actually touching it Wait until the potentially hot component has cooled if it is to be removed or han...

Страница 34: ...e must be released in the complete pneumatic or hydraulic systems before starting to repair them Work on hydraulic equipment may only be performed by persons with special knowledge and experience of h...

Страница 35: ...s described below 1 Run each robot axis to a position where the combined weight of the robot arm and any load is maximized maximum static load 2 Switch the motor to the MOTORS OFF 3 Inspect and verify...

Страница 36: ...osion fire may follow depending upon the circumstances Note Appropriate disposal regulations must be observed Safe handling Use safety glasses when handling the batteries In the event of leakage wear...

Страница 37: ...on Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn during this activity Changing and draining gearbox oil or grease may require hand ling hot lubrica...

Страница 38: ...time to heat up the oil Warm oil drains quicker than cold oil Heat up the oil After filling verify that the level is correct The specified amount of oil or grease is based on the total volume of the g...

Страница 39: ...cur if the instructions are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with hi...

Страница 40: ...OTE xx0100000004 Describes where to find additional information or how to do an operation in an easier way TIP xx0100000098 40 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB...

Страница 41: ...ish German and French Symbols on safety labels Description Symbol Warning xx0900000812 Warns that an accident may occur if the instructions are not followed that can lead to serious injury possibly fa...

Страница 42: ...Do not disassemble xx0900000815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pre...

Страница 43: ...p over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 8700 43 3HAC052853 001 Revision F Copyright 2015 2018 ABB...

Страница 44: ...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 44 Product manual IRB 8700 3HAC052853 001 Revision F C...

Страница 45: ...001242 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 8700 45 3...

Страница 46: ...at 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 steppi...

Страница 47: ...ortant that all safety information is 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 pe...

Страница 48: ...uired is suitable to handle the weight of the robot as specified in Weight robot on page 49 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page...

Страница 49: ...robots xy xy z z T F F T xx1100000521 Force in any direction in the XY plane Fxy Force in the Z plane Fz Bending torque in any direction in the XY plane Txy Bending torque in the Z plane Tz The table...

Страница 50: ...tion flexibility see Application manual Control ler software IRC5 section Motion Process Mode i The minimum resonance frequency given should be interpreted as the frequency of the robot mass inertia...

Страница 51: ...ty i At low environmental temperature below 10 C a warm up phase is recommended to be run with the robot Otherwise there is a risk that the robot stops or runs with lower performance due to temperatur...

Страница 52: ...s The default working range for axis 6 can be extended by changing parameter values in the software Option 610 1Independent axis can be used for resetting the revolu tion counter after the axis has be...

Страница 53: ...ows the unrestricted working range of the robot 1197 5131 4157 R1174 xx1400002880 Continues on next page Product manual IRB 8700 53 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserve...

Страница 54: ...lustration shows the unrestricted working range of the robot 3487 4093 507 R928 xx1400002879 54 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved 2 Installa...

Страница 55: ...robot position before securing it to the foundation Shipping and transportation position This figure shows the robot in its shipping position and transportation position xx1400002584 Move the robot to...

Страница 56: ...600 IRB 8700 550 4 2 3106 1000 1580 310 149 R 340 515 R 955 257 328 G G 505 LeanID IRB 8700 800 3 5 1010 xx1400002868 56 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All...

Страница 57: ...accessory set is only allowed if lifting is done using all four fork lift accessories Do not lift a robot with the Fork lift accessory set if any of the pockets or attachment screws are damaged or mi...

Страница 58: ...d with the fork lift accessory 3HAC055664 001 Directions for use Fork lift ac cessory for IRB 8700 Preparations before attaching the fork lift accessory set Note Action Note No extra load is permitted...

Страница 59: ...before entering the robot working area 3 Attachment points for the fork lift accessory set Note Action xx1500002297 The attachment points for the fork lift accessory set can be found in the four corn...

Страница 60: ...2 xx1500002295 Unscrew the two attachment screws with washers that secure the robot to the foundation situated closest to where the fork lift accessory pockets will be attached 3 xx1500002294 Remove t...

Страница 61: ...e the robot to the foundation will be removed after the fork lift truck has its forks inserted into the fork lift accessory pockets 7 Lifting with the fork lift accessory set Preparations before lifti...

Страница 62: ...e fork lift accessory set is properly attached and secured before lifting 4 Lifting the robot Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure ar...

Страница 63: ...ks into the fork lift accessory pockets without damaging anything on the robot or other equipment 5 Use caution and lift the forks of the truck up until they start touching the fork lift accessory set...

Страница 64: ...he robot with low speed to its new location 9 Note If the robot shall be stored or later be further transported make sure to follow appropriate safety measures 10 64 Product manual IRB 8700 3HAC052853...

Страница 65: ...h the robot shall be placed is clean Make sure that all foreign objects has been removed prior to putting down the robot 1 Use caution and put down the robot in its new location 2 Molykote 1000 Lubric...

Страница 66: ...100 one in each pocket Secure the robot to the foundation with the remain ing attachment screws DANGER DO NOT power up the robot until it is secured to the foundation with all 12 attachment screws 7 T...

Страница 67: ...nt 1 pc Lifting eye M24 1 pc Lifting slings Length approx 2 m Hole configuration xx1400002587 Continues on next page Product manual IRB 8700 67 3HAC052853 001 Revision F Copyright 2015 2018 ABB All ri...

Страница 68: ...e of the base plate 2 Fit the roundsling to the lifting eye and lifting accessory Use caution and lift the base plate CAUTION Lift and move the base plate very slowly If the base plate starts to swing...

Страница 69: ...0 465 320 240 4x11 4x 45 4 x 4 5 4 x 1 1 4 x 9 0 320 610 465 240 E 4x 4 3 12x M24 A A 3 2 0 2 A B C D 0 5 18 1 20 1 4x 12 H7 0 018 0 1 X 45 32 1 M5 B B 0 1 F xx1500000820 Common tolerance zone accurac...

Страница 70: ...ing bolts in the base plate A A A A B B B B xx1400002594 Orienting grooves 4 pcs A Levelling bolts attachment holes M20 through 4 pcs B Continues on next page 70 Product manual IRB 8700 3HAC052853 001...

Страница 71: ...page 833 Standard toolkit These procedures include references to the tools required Other tools and procedures may be required See references to these procedures in the step by step instructions below...

Страница 72: ...e 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 screw...

Страница 73: ...reach the length of 2 1 m use roundslings 2 5 m and shorten them to 2 1 m Tip Lifting chains with shorteners is an alternative Continues on next page Product manual IRB 8700 73 3HAC052853 001 Revisio...

Страница 74: ...the robot into position Axis 1 90 optional Axis 2 65 Axis 3 2 Axis 4 90 Axis 5 90 Axis 6 0 WARNING The robot is mechanically unstable if not secured to the foundation 1 CAUTION The IRB 8700 robot weig...

Страница 75: ...s on the counter weight on the out side of the balancing devices CAUTION If the lifting eyes have sharp edges that might damage the roundslings lifting shackles must be used to attach the roundslings...

Страница 76: ...operty of ABB It must therefore be returned within the specified time after the arrival of the robot system If the pallet is not returned it will be invoiced For more information and instructions see...

Страница 77: ...nit on page 77 The internal brake release unit is equipped with buttons for controlling the axes brakes The buttons are numbered according to the numbers of the axes If the robot is not connected to t...

Страница 78: ...der to enable the brake release buttons Note The IRB 8700 has two R1 MP connectors R1 MP A and R1 MP B See table how to supply power to the connectors Note Action DANGER Incorrect connections such as...

Страница 79: ...12 R1 MP B Supply 24V on pin 11 R1 MP B Note Only R1 MP B contact is used when relas ing the brakes on axis 4 5 and 6 3 Product manual IRB 8700 79 3HAC052853 001 Revision F Copyright 2015 2018 ABB Al...

Страница 80: ...and securing the robot Note Seen from below R500 4x 45 8x 11 3 9 5 3 9 5 10 10 D D F F G G K K 1 2 x 5 6 12x 30 0 5 1 2 x 5 3 SECTION D D 3 2 0 3 D E H 2 X 45 2 0 24 5 SECTION K K 3 2 xx1700000972 Des...

Страница 81: ...plate foundation M24 x 100 Suitable screws lightly lubricated 12 pcs Quantity 8 8 Quality 90 v 0 9 Screw tightening yield point utilization factor v according to VDI2230 4 mm flat washer Suitable wash...

Страница 82: ...robot 2 Move robot close to its installation location 3 Make sure the robot base is correctly fitted onto the guide sleeves Guide the robot gently using two M24 screws while lowering it into its moun...

Страница 83: ...robot References Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Operating manual IRC5 with FlexP...

Страница 84: ...arm load and robot payload Frame hip load Extra load can be fitted on the frame Description JH 200 kgm2 Permitted extra load on frame JH JH0 M4 x R2 Recommended position see the fol lowing figure wher...

Страница 85: ...0 mm from the center of gravity in the axis 3 extension a A M1 M1 xx1400002874 Mass center A 510 400 A xx1400002875 Center of gravity 50 kg A Continues on next page Product manual IRB 8700 85 3HAC0528...

Страница 86: ...5 4x M12 22 A 106 4xM12 A A 57 57 R152 5 4x M8 15 A A 38 B B C C xx1400002876 Holes located on both sides A Continues on next page 86 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2...

Страница 87: ...A 257 A D D E E xx1500000869 Measure from center axis 6 A Continues on next page Product manual IRB 8700 87 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved 2 Installation and co...

Страница 88: ...18 400 160 390 80 65 400 4x M10 18 A A B B C L 2 C L 1 C L 2 C L 1 xx1400002877 Continues on next page 88 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved...

Страница 89: ...C D 0 2 DC B 160 H7 0 040 0 14 8 35 0 1 315 h8 0 0 081 1 X 45 290 13 12 8 SECTION B B 1 6 1 6 2 5 0 02 A C 3 0 3 5 M A X SECTION C C xx1400002878 Fastener quality Use suitable screws and tightening to...

Страница 90: ...of the following axes may be restricted Axis 1 hardware mechanical stop This section describes how to install hardware that restricts the working range Note Adjustments must also be made in the robot...

Страница 91: ...tandard without working range limitation 4 3 5x15 75 32 6x15 90 6x15 90 9 2 5x15 75 Min angle 17 positive direction Min angle 32 negative direction Max angle 73 negative direction Min angle 122 negati...

Страница 92: ...hanical stops axis 1 Use this procedure to fit the additional mechanical stops to axis 1 of the robot An assembly drawing is also enclosed with the product Note Action DANGER Turn off all electric pow...

Страница 93: ...range limitations system parameter configuration to corres pond to the mechanical limitations 3 WARNING If the mechanical stop pin is deformed after a hard collision it must be replaced Deformed mova...

Страница 94: ...with equipment fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables option The customer cables also handle databus communication See...

Страница 95: ...ay from the robot base to the inside of the cabinet Fans can also be ordered without cables If equipping the robot with cooling fans use the cabling specified below The cables for cooling fans listed...

Страница 96: ...bly instruction delivered with the signal lamp Function The lamp is active in MOTORS ON mode Further information Further information about the MOTORS ON MOTORS OFF mode may be found in the product man...

Страница 97: ...All required installation information is enclosed with the fan packages sent from ABB Service Product manual IRB 8700 97 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved 2 Instal...

Страница 98: ...egulated with the RAPID instruction VelSet Start the robot with its normal program but with reduced speed 1 Adjusting the speed and acceleration during warm up Depending on how cold the environment is...

Страница 99: ...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 throu...

Страница 100: ...s More frequent running means more frequent maintenance activities Overhaul Depending on application and operational environment a complete overhaul may be necessary in average around 40000 hours ABB...

Страница 101: ...n axis 1 gearbox on page 104 x Inspecting the oil level in axis 1 gearbox Inspecting the oil level in axis 2 and 3 gearboxes on page107 x Inspecting the oil level in axis 2 gearbox Inspecting the oil...

Страница 102: ...ox Replacing the SMB battery on page 173 x iii Replacing the SMB battery pack Lubrication activities Lubricating the spherical roller bearings balancing device on page 176 x iv Lubricating the balanci...

Страница 103: ...ovement most material handling applications ii Severe chemical or thermal environments or similar environments can result in shortened life expectancy iii Examples of extreme usage in regard to moveme...

Страница 104: ...page 833 Standard toolkit Required consumable Note Article number Consumable Information about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required docume...

Страница 105: ...sure 3 xx1500001993 Open the ventilation plug Note The ventilation plug shall be opened prior to the inspection plug in order to release possible pressure inside 4 xx1500001992 Open the inspection plu...

Страница 106: ...t when performing the first test run These are further detailed in the section First test run may cause injury or damage on page 27 10 106 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2...

Страница 107: ...ndard toolkit Required consumable Note Article number Consumable Information about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required documents Note Docu...

Страница 108: ...n page 37 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Use caution when the oil plug is opened in order to let out the excess pressure 3 xx1500001994 Open the ventilat...

Страница 109: ...and ax is 3 gearbox on page 147 Tightening torque 24 Nm Refit the oil plugs 9 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the sec...

Страница 110: ...ndard toolkit Required consumable Note Article number Consumable Information about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required documents Note Docu...

Страница 111: ...in an excess of pressure that can be hazardous Use caution when the oil plug is opened in order to let out the excess pressure 3 xx1500001999 Open the ventilation plug Note The ventilation plug shall...

Страница 112: ...primary gearbox on page 153 Tightening torque 24 Nm Refit the oil plugs 9 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section...

Страница 113: ...n about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required documents Note Document number Document 3HAC042927 001 Technical reference manual Lub rication...

Страница 114: ...is 3 very slowly to approximately 3 5 position until oil starts to spill out 7 Required oil level is when oil starts to spill out with axis 3 in 3 5 position 8 Type of oil and total amount is de taile...

Страница 115: ...ndard toolkit Required consumable Note Article number Consumable Information about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required documents Note Docu...

Страница 116: ...on and ventilation plug Note Open the plug with caution There may be some pressure inside that will be released when the plug is opened 4 Jog axis 4 very slowly until oil is visible in the in spection...

Страница 117: ...irst test run These are further detailed in the section First test run may cause injury or damage on page 27 10 Product manual IRB 8700 117 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights...

Страница 118: ...ndard toolkit Required consumable Note Article number Consumable Information about the oil is found in Technical reference manu al Lubrication in gearboxes Lubrication oil Required documents Note Docu...

Страница 119: ...oil involves several safety risks Before proceeding please read the safety inform ation in the section Safety risks during work with gearbox lubricants oil or grease on page 37 3 xx1700001288 Jog axis...

Страница 120: ...eference manual Lubrication in gearboxes Add or drain oil if required 9 Further information about how to drain or fill with oil is found in sec tion Changing oil axis 6 gearbox on page 168 Tightening...

Страница 121: ...pection no tools are required Inspecting the transparent oil plugs The gearboxes are equipped with transparent plugs through which oil leakage from the hubs can be detected If an oil leakage is detect...

Страница 122: ...main lip Tip Add an extra 2 mm shim between the hub and the radial sealing to eliminate the problem Tip In a clean environment the transparent oil plugs can be removed Do not remove the transparent oi...

Страница 123: ...Inspection points balancing devices The balancing devices are located on either side of the lower arm as shown in the figure The figure also shows the inspection points further described in the instru...

Страница 124: ...such as scratches general wear uneven surfaces or incorrect positions Action Inspection points If damage is detected perform maintenance according to given instructions in the maintenance set Check fo...

Страница 125: ...c power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Keep the areas around the balancing devices clean and free from objects such as servi...

Страница 126: ...e supply air pressure supply to the robot before entering the robot working area 1 Pay special attention to the areas of axis 2 and axis 3 movement Make sure the cabling is not dam aged in any way bet...

Страница 127: ...ct the cable harness running through the protection tube in the frame to detect possible cable chafing Use a hand inside the tube to feel the cables Ensure that the cables are undam aged 6 Remove any...

Страница 128: ...e symbols are described in section Safety symbols on product labels on page 41 Illustration 1 A A SECTION A A A Q Q L M D H H H H H C N C C G C J K xx1700000986 Continues on next page 128 Product manu...

Страница 129: ...ustration Description Calibration label A 3HAC 4517 1 03 xx1700000980 Warning label Risk of crush injuries B Oil specification label C Continues on next page Product manual IRB 8700 129 3HAC052853 001...

Страница 130: ...t off with handle See user documentation Moving robot Brake release buttons E Complete oil specification F 4 xx1700000981 Warning label Tip risk when loosening bolts G Grease specification label H 294...

Страница 131: ...o tools are required Inspecting labels Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Inspect...

Страница 132: ...ng mechanical stop pin Use this procedure to inspect the axis 1 mechanical stop pin Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot bef...

Страница 133: ...damaged it must be replaced Note The expected life of gearboxes can be reduced after collision with the mechanical stop Product manual IRB 8700 133 3HAC052853 001 Revision F Copyright 2015 2018 ABB Al...

Страница 134: ...ical stop pin axis 1 C Required equipment Note Article number Equipment etc Includes Mechanical stop 2 pcs Attachment screw and washer 4 4 pcs Document for mechanical stop pin 3HAC053706 001 Movable m...

Страница 135: ...stops are damaged 2 Make sure the stops are properly attached 3 Correct tightening torque additional mechanical stops Axis 1 300 Nm Article number is specified in Required equipment on page134 If any...

Страница 136: ...d to the robot as shown in the figure A B C xx1400002588 CE label A Fork lift pocket 4 pcs B Attachment screws MC6S 20x60 8 8 2x4 pcs C Continues on next page 136 Product manual IRB 8700 3HAC052853 00...

Страница 137: ...k lift accessory pockets for damage 2 Inspect the attachment screws for deformation and other type of damage 3 Tightening torque 300 Nm Make sure the fork lift pockets are properly attached 4 pcs 4 Ar...

Страница 138: ...that signal lamp is lit when motors are put in operation MOTORS ON 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot work...

Страница 139: ...supply air pressure supply to the robot before entering the robot working area 1 Inspect all dampers for damage cracks or existing impressions larger than 1 mm 2 Inspect the attachment screws for def...

Страница 140: ...ce or changing activities of lubrication always contact the local ABB Service organization for more information For ABB personnel Always check ABB Library for the latest revision of the manual Technic...

Страница 141: ...ended for use of a oil dispenser when filling or draining oil Left Required consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricat...

Страница 142: ...oceeding read the safety information in the section Safety risks during work with gearbox lubricants oil or grease on page 37 2 CAUTION The gearbox may contain an excessive pressure that can be hazard...

Страница 143: ...oil is hazardous material and must be disposed of in a safe way See section Decommissioning on page819 for more in formation 8 Remove the oil dispenser 9 xx1600001405 Remove the oil filling nipple pu...

Страница 144: ...ssure supply air pressure supply to the robot before entering the robot working area 1 WARNING Handling gearbox oil involves several safety risks Before proceeding please read the safety information i...

Страница 145: ...anual Lubrication in gearboxes Refill the gearbox with oil by using the oil dispenser Note The amount of oil to be filled depends on the amount previously being drained 6 See Type and amount of oil in...

Страница 146: ...k in volving oil always wipe the robot clean from all surplus oil The robot color may otherwise discolor 11 DANGER Make sure all safety requirements are met when performing the first test run These ar...

Страница 147: ...earboxes Lubricating oil See Type and amount of oil in gearboxes on page140 Required tools and equipment Note Article number Equipment etc The capacity of the vessel must be sufficient to take the com...

Страница 148: ...the section Safety risks during work with gearbox lub ricants oil or grease on page 37 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in orde...

Страница 149: ...Used oil is hazardous material and must be disposed of in a safe way See section Decommissioning on page819 for more in formation 7 xx1500002014 Remove the oil dispenser and refit the protection cap...

Страница 150: ...area 1 WARNING Handling gearbox oil involves several safety risks Before proceeding please read the safety information in the section Safety risks during work with gearbox lub ricants oil or grease on...

Страница 151: ...e filled depends on the amount previously being drained 6 See Type of lubrication in gearboxes on page 140 Required oil level is Inspect the oil level at the oil inspection plug 7 A few millimeters be...

Страница 152: ...24 Nm xx1500001994 Refit the ventilation plug 10 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section First test run may cause...

Страница 153: ...earboxes Lubricating oil See Type and amount of oil in gearboxes on page140 Required tools and equipment Note Article number Equipment etc The capacity of the vessel must be sufficient to take the com...

Страница 154: ...ring work with gearbox lub ricants oil or grease on page 37 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let out the ex cess pr...

Страница 155: ...l and must be disposed of in a safe way See section Decommissioning on page819 for more in formation 8 xx1500002016 Remove the oil dispenser and refit the protection cap to the nipple of the oil drain...

Страница 156: ...he section Safety risks during work with gearbox lub ricants oil or grease on page 37 3 xx1500002017 Open the ventilation plug Note The ventilation plug is opened to let out air during the filling pro...

Страница 157: ...reviously being drained 7 See Type and amount of oil in gearboxes on page 140 Required oil level is 0 10 mm below the oil plug hole Inspect the oil level 8 See Inspecting the oil level in axis 4 prima...

Страница 158: ...DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section First test run may cause injury or damage on page 27 12 158 Product manual...

Страница 159: ...oil See Type and amount of oil in gearboxes on page140 Required tools and equipment Note Article number Equipment etc The capacity of the vessel must be sufficient to take the complete amount of oil...

Страница 160: ...king area 2 WARNING Handling gearbox oil involves several safety risks Before proceeding please read the safety information in the section Safety risks during work with gearbox lub ricants oil or grea...

Страница 161: ...the robot is secured to the founda tion Ax2 comfortable working position Ax3 3 5 Ax4 0 Ax5 0 Ax6 No significance 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supp...

Страница 162: ...n the gearbox after draining 6 See Type and amount of oil in gearboxes on page 140 The level is measured at the fill hole xx1500002022 Inspect the oil level 7 Required oil level is 0 10 mm below the o...

Страница 163: ...e first test run These are further detailed in the section First test run may cause injury or damage on page 27 9 Product manual IRB 8700 163 3HAC052853 001 Revision F Copyright 2015 2018 ABB All righ...

Страница 164: ...nd in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page140 Required tools and equipment Note Article number Equipment etc The capacit...

Страница 165: ...supply to the robot before entering the robot working area 2 WARNING Handling gearbox oil involves several safety risks Before proceeding please read the safety information in the section Safety risk...

Страница 166: ...e WARNING Used oil is hazardous material and must be disposed of in a safe way See section Decommissioning on page819 for more in formation 9 Tightening torque 24 Nm Refit the oil plugs 10 Filling oil...

Страница 167: ...cation in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 See Type and amount of oil in gearboxes on page 140 See Inspecting...

Страница 168: ...ls and equipment Note Article number Equipment etc The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel Content is defined in section Standard toolkit...

Страница 169: ...ore proceeding please read the safety information in the section Safety risks during work with gearbox lub ricants oil or grease on page 37 4 Place the oil collecting vessel underneath the oil drainin...

Страница 170: ...to the axis 6 gearbox 1 The figure shows axis 5 in position 0 if also axis 2 and axis 3 are standing in 0 The upcoming figures in this procedure are based on this starting position xx1700001291 Jog ax...

Страница 171: ...in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 6 See Type and amount of oil in gearboxes on page 140 xx1700001288 Jog axis...

Страница 172: ...quired 10 Further information about how to drain or fill with oil is found in section Changing oil axis 6 gearbox on page 168 Tightening torque 24 Nm Refit the oil plug 11 DANGER Make sure all safety...

Страница 173: ...38213 Battery charge low is displayed when the battery needs to be replaced The recommendation to avoid an unsynchronized robot is to keep the power to the controller turned on until the battery is t...

Страница 174: ...ndling the unit please read the safety information in the sec tion The unit is sensitive to ESD on page 32 3 xx1500002052 Remove the SMB battery cover CAUTION Clean cover from metal residues before op...

Страница 175: ...page 32 2 xx1500002052 Reconnect the battery cable and install the battery pack into the SMB battery recess 3 Secure the SMB battery cover with its attachment screws 4 See Updating revolution counters...

Страница 176: ...wer ends of the balancing devices xx1500002056 Consumable Note Article number Equipment etc Tribol GR 100 0 PD 50 ml 3HAC042534 001 Grease Used for lubrication of the spherical roller bearing Continue...

Страница 177: ...3HAC042534 001 xx1500002055 Unscrew both screws on either side of the bearing and fill grease from one of the holes until grease appears in the other hole 2 Refit the two screws 3 Wipe clean from resi...

Страница 178: ...oss roller bearing Lubricating the cross roller bearing Use this procedure to lubricate the cross roller bearing Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pre...

Страница 179: ...Refit the two screws 3 Wipe clean from residual grease 4 Note Inspect the cross roller bearing after a few days running Some of the refilled grease may have emerged from the bearing Wipe clean from re...

Страница 180: ...n page 104 2 Write down the oil level 3 Inspect the oil level again after for example 6 months 4 If the oil level is decreased then replace the gearbox Oil spills discolors painted surfaces Oil spills...

Страница 181: ...er water cleaner 1 The following list defines the prerequisites Maximum water pressure at the nozzle 700 kN m2 7 bar I Fan jet nozzle should be used min 45 spread Minimum distance from nozzle to encap...

Страница 182: ...oling fans Inspect the air supply inlet of the the motor cooling fans Clean to remove any contamination that could hinder the air supply 182 Product manual IRB 8700 3HAC052853 001 Revision F Copyright...

Страница 183: ...erform a specific repair activity are listed in the respective procedures The details of equipment are also available in different lists in the chapter Reference information on page 825 Safety informa...

Страница 184: ...e 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 compress...

Страница 185: ...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 tho...

Страница 186: ...rted 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 f...

Страница 187: ...of the correct type provided with cutting edge There is no damage to the sealing edge feel with a fingernail 1 Inspect the sealing surface before mounting If scratches or damage are found the seal mu...

Страница 188: ...ly when fastening the flange joint 4 O rings The following procedure describes how to fit o rings Note Action Ensure that the correct o ring size is used 1 Defective o rings including damaged or defor...

Страница 189: ...2 001 Touch up paint Standard Foundry Plus ABB Orange Removing Description Action xx0900000121 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid...

Страница 190: ...to the robot Elimination To eliminate the danger after service work has been performed inside the SMB recess follow the procedure below Action Make sure the power is turned off 1 Remove the push butt...

Страница 191: ...Equipment etc Lifting capacity 2 000 kg Roundsling 2 5 m Lifting capacity 2 000 kg Roundsling 3 m M12 3HAC16131 1 Lifting eye Outer diameter minimum 26 mm hole diameter 13 mm thickness 3 mm Fender wa...

Страница 192: ...r supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 Attaching lifting accessories to the upper arm complete Note Action CAUTION The complete up...

Страница 193: ...m Roundsling 2 5 m Lifting capacity 2 000 kg xx1500002713 Attach a roundsling looped to the Lifting eye and to an overhead crane or similar xx1400002599 5 Roundsling 3 m Lifting capacity 2 000 kg xx15...

Страница 194: ...es to take the weight of the upper arm 7 Adjust the lifting accessories if needed 8 194 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reserved 4 Repair 4 3 1 Att...

Страница 195: ...B 6700 but the principle is the same Required tools and equipment Note Article number Equipment etc Lifting capacity 2 000 kg Roundsling 2 5 m Continues on next page Product manual IRB 8700 195 3HAC05...

Страница 196: ...no significance 1 Attaching lifting accessories to the wrist Note Action CAUTION The complete wrist weighs 500 kg All lifting accessories used must be sized accordingly 1 Mobile platform ladder xx150...

Страница 197: ...head crane or similar xx1400000730 3 Stretch the lifting accessories to take the weight of the wrist 4 Adjust the lifting accessories if needed 5 Product manual IRB 8700 197 3HAC052853 001 Revision F...

Страница 198: ...e the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC050792 001 Cable harness Required tools and equipment Note Article number Equipment etc C...

Страница 199: ...axis 5 as close as possible to 90 2 Jog the robot to the specified position Axis 1 0 Axis 2 comfortable working position Axis 3 comfortable working position Axis 4 0 Axis 5 90 Axis 6 Depending on whic...

Страница 200: ...Cut the cable tie that secures the axis 6 motor cable 3 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure ar...

Страница 201: ...nscrew the attachment screws and re move the motor cover Note Do not damage the gasket Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holdin...

Страница 202: ...ion and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all...

Страница 203: ...2 xx1200001070 Note Make sure the o ring is present when re moving the cover 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 203 3HAC052853 001 Revision F C...

Страница 204: ...s 6 Disconnecting the axis 1 axis 2 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 xx1200001135...

Страница 205: ...facing if the motor will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the cable harness in the upper arm Note Action DANGER...

Страница 206: ...is 3 bracket 3 xx1500002719 Remove the protection cover Make sure not to damage the surface exposed 4 xx1500002720 Unscrew the nut holding the bracket inside the upper arm Note The nut is reached from...

Страница 207: ...remove the cable harness out of the upper arm 9 Disconnecting the cable harness in the base Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are...

Страница 208: ...rench xx1500003084 Disconnect R1 SMB Tip Use a Sparkplug wrench or similar xx1200000888 4 xx1500003085 Remove the two earth cables 5 Continues on next page 208 Product manual IRB 8700 3HAC052853 001 R...

Страница 209: ...Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Axis 2 motor cable xx1500003091 Cut the cable ties that secure the axis 2 and axis 3 motor cables...

Страница 210: ...e harness in the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1500002695 If not already done unscrew the screws...

Страница 211: ...pressure supply to the robot before entering the robot working area 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit please read the safety information in the sectio...

Страница 212: ...e are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit please read the safety information in the section The unit is sensitive to ESD on page 32 2 xx13000...

Страница 213: ...unit 6 ESD bag Keep the SMB unit in an ESD bag until it shall be re fitted 7 Removing the SMB BU cables Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air...

Страница 214: ...00003089 Use caution and pull out the cable harness from the SMB recess 4 Concluding procedure Note Action Use caution and remove the cable harness from the robot 1 214 Product manual IRB 8700 3HAC052...

Страница 215: ...l spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC050792 001 Cable harness Required tools and equipment Note Article number Equipment etc Content is defined in section Standard...

Страница 216: ...wer hydraulic pressure and air pressure are turned off 1 Attachment screws M6x16 stainless steel A2 70 4 pcs Refit the connection plate in the base if it has been removed 2 Tightening torque 6 Nm xx15...

Страница 217: ...twisted or tangled Do not fasten the axis 1 bracket yet 4 A B xx1600000078 A Bar code B Hole for pin 1 Before refitting the R1 MP A and R1 MP B contacts make sure that the hole for pin 1 as well as th...

Страница 218: ...the two earth cables 9 Refitting the cable harness in the lower arm Note Action Run the cable harness up through the lower arm 1 Note Make sure the cable harness is rotated one revolution between the...

Страница 219: ...ws are reached from the outside 3 xx1600000075 Refit upper and lower cable guides 4 The figure show the positions of the cable guides Continues on next page Product manual IRB 8700 219 3HAC052853 001...

Страница 220: ...the cables for SMB and brake release units into the SMB recess 5 Attachment screws M6x16 4 pcs xx1500003086 Use caution and refit the SMB BU cover in its hole from inside the SMB recess without damag...

Страница 221: ...cables must be placed so that they don t rub against any part of the robot 7 xx1500003086 Secure the SMB BU cover from inside the SMB recess 8 Refitting the SMB unit Note Action DANGER Make sure that...

Страница 222: ...ors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB 4 xx1300000730 Carefully push the SMB unit into position and refit the bracket 5 X9 X8 X10 xx1700000978 If disconnected reconnect the connectors X8...

Страница 223: ...Nm 9 Refitting the SMB battery Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit please read the safety information in the section The unit is sensitive to...

Страница 224: ...nts down through the hole in the frame to the base plate to the axis 1 motor to the axis 2 motor to the axis 3 motor to the SMB BU recess Adjust the cables if needed The different cables must not be t...

Страница 225: ...2 and axis 3 motor cables with cable ties 6 xx1500003090 Connecting the axis 1 axis 2 axis 3 and axis 4 motor cables Note Action xx1300000738 Push the motor cables in through the cable gland opening...

Страница 226: ...o ring and o ring groove 4 xx1200001070 Inspect the o ring Note Replace if damaged 5 O ring 3HAC054692 002 Refit the o ring 6 CAUTION When refitting the motor cover make sure none of the cables insid...

Страница 227: ...y sealed 9 Refitting the cable harness in the upper arm Note Action Carefully push the cable harness in through the upper arm and out off the wrist 1 Nut M6 xx1500002720 Refit the cable clamp inside t...

Страница 228: ...94 Make sure that the gasket on the cover is correctly fitted Note Replace if damaged The gasket is covered with adhesive on the side facing the upper arm cover The three washers are pressed into the...

Страница 229: ...es in through the cable gland opening 1 Attachment screws M5x16 2 pcs xx1200001016 Refit the cable gland cover Note Replace the gasket if damaged 2 Continues on next page Product manual IRB 8700 229 3...

Страница 230: ...es inside will be dam aged 5 Attachment screws M5x12 8 8 7 pcs xx1200001013 Refit the motor cover Note Do not reuse the self threading attachment screws Replace with standard attachment screws or the...

Страница 231: ...esult will be damage to the cable harness 1 xx1300001113 Use caution and push the carrier into posi tion 2 Attachment screws M4x10 xx1300000485 Secure the carrier with the M4 screw Note The screw is l...

Страница 232: ...able underneath the motor cable 5 xx1500003095 Make sure the gasket on the motor cover is undamaged Note Replace if damaged 6 CAUTION Make sure not to damage the cables inside the motor when refitting...

Страница 233: ...sealant and other contamination from the contact sur faces of the wrist cover 10 xx1600000046 Make sure the contact surface of the wrist cover is undamaged 11 Loctite 574 Apply flange sealant on the w...

Страница 234: ...procedure Note Action See Updating revolution counters on page 801 Update the revolution counters 1 DANGER Make sure all safety requirements are met when performing the first test run These are furthe...

Страница 235: ...f Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part RMU102 3HAC043904 001 SMB Required tools and equipment Note Article number Equipment etc Content is defined in secti...

Страница 236: ...e to ESD on page 32 2 xx1300000829 Open the small battery cover on the SMB cover dis connect the battery cable and remove the battery 3 xx1300000669 Remove the SMB cover CAUTION Clean cover from metal...

Страница 237: ...hat hold bracket with the SMB unit 4 xx1300000728 Carefully pull the SMB unit out a little and disconnect the connectors from the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB Battery cable connector R2 G...

Страница 238: ...lic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit please read the safety information in the section The unit is sensitive...

Страница 239: ...ors X8 X9 and X10 to the brake release board Be careful not to damage the sockets or pins Make sure the connector and its locking arms are snapped down properly 6 xx1300000834 Take a hold of the SMB c...

Страница 240: ...y information in the section The unit is sensitive to ESD on page 32 1 Get a hold of the battery cable in the recess for the battery and reconnect 2 xx1300000829 Place the battery in the recess 3 Atta...

Страница 241: ...erforming the first test run These are further detailed in the section First test run may cause injury or damage on page 27 2 Product manual IRB 8700 241 3HAC052853 001 Revision F Copyright 2015 2018...

Страница 242: ...duct manual spare parts IRB 8700 on ABB Library Note Article number Spare part Brake release unit DSQC1052 and harness 3HAC065021 001 Brake release unit Required tools and equipment Note Article numbe...

Страница 243: ...ion The unit is sensitive to ESD on page 32 2 xx1300000743 Remove the push button guard from the SMB cover The push button guard must be removed to ensure a correct refitting of the brake release unit...

Страница 244: ...to the brake release board 3 xx1300000670 Use caution and remove the connectors X8 X9 and X10 from the brake release board 4 Removing the brake release unit Note Action DANGER Make sure that all supp...

Страница 245: ...o the bracket 2 xx1300000744 Refit the bracket with the brake release unit fitted Make sure the unit is placed as straight as possible on the bracket The push buttons can otherwise get jammed when the...

Страница 246: ...ment screws M6x16 8 8 6 pcs xx1300000742 Refit the SMB cover with its attachment screws Note Do not refit the push button guard at this point 6 WARNING Before continuing any service work follow the sa...

Страница 247: ...counters must be updated if the battery has been disconnected 10 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section First te...

Страница 248: ...are part numbers that are listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048079 006 Upper arm e...

Страница 249: ...49 001 Press plate Used to disassemble and assemble the parallel rod Round plate To be used with the press tool 3HAC11731 1 Hydraulic cylinder To be used with the hydraulic cylinder 3HAC13086 1 Hydrau...

Страница 250: ...lues 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...

Страница 251: ...vices Use this procedure to unload both balancing devices Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Mobile platform ladde...

Страница 252: ...ews reaches the piston Then alternately little by little attach the screws at least another five mil limeters The pressure is now unloaded 5 Screw M16x80 2 pcs In a procedure where both balancing devi...

Страница 253: ...ing 1 m Lifting capacity 1 000 kg xx1500001983 Attach a roundsling to the lifting hole on top of the balancing device and to an overhead crane or similar 4 Stretch the lifting accessories to take the...

Страница 254: ...sent on the shaft No need to remove 8 Pallet Put the balancing device down Tip Turn a pallet upside down and place the balancing device in the opening for the trucks forks This will prevent the balanc...

Страница 255: ...ir pressure supply to the robot before entering the robot working area 2 Retrieving access to the wrist cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure a...

Страница 256: ...draulic pressure and air pressure are turned off 1 Make sure that the axis 5 is as close to 90 or 90 position as possible depend ing on what repair work is being done Note Not needed if only replacing...

Страница 257: ...ket Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holding the cable bracket 5 Continues on next page Product manual IRB 8700 257 3HAC052853...

Страница 258: ...ution and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that a...

Страница 259: ...r 2 xx1200001070 Note Make sure the o ring is present when re moving the cover 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 259 3HAC052853 001 Revision F...

Страница 260: ...he motor cables 6 Disconnecting the axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew th...

Страница 261: ...tor will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the cable harness in the upper arm Note Action DANGER Make sure that al...

Страница 262: ...xis 3 bracket 3 xx1500002719 Remove the protection cover Make sure not to damage the surface exposed 4 xx1500002720 Unscrew the nut holding the bracket inside the upper arm Note The nut is reached fro...

Страница 263: ...ies to the upper arm complete Note Action CAUTION The complete upper arm weighs 900 kg All lifting accessories used must be sized accordingly 1 Mobile platform ladder If needed use a Mobile platform l...

Страница 264: ...hickness 3 mm Roundsling 2 5 m Lifting capacity 2 000 kg xx1500002713 Attach a roundsling looped to the Lifting eye and to an overhead crane or similar xx1400002599 5 Roundsling 3 m Lifting capacity 2...

Страница 265: ...ce of wood or similar between parallel arm and parallel rod used as pro tection to prevent the rod from moving un expectedly during the continued procedure 1 xx1400002600 Remove the attachment screw w...

Страница 266: ...in the holes and adjust the screws against the parallel rod from both sides 4 Attachment screws M10x80 4 pcs xx1500002300 xx1500001967 Remove the protection plug Note Keep the protection plug It shal...

Страница 267: ...ly 5 mm on one side of the parallel rod Leave the screws on the other side 8 xx1500001964 Right side Left side Cover washer Thrust washer Remove the thrust washer and cover washer on either side of th...

Страница 268: ...hat the up per arm is secured in the lifting accessories and overhead crane Stretch the lifting accessories to take the weight of the upper arm CAUTION The upper arm including the wrist weighs approxi...

Страница 269: ...C038174 067 xx1500002726 Use a Sleeve KM nut to release the torque on one of the KM nuts Note Do not remove this KM nut at this point Only release the torque 6 xx1500002727 Use the Sleeve KM nut open...

Страница 270: ...clean 10 Glycerine adapter xx1600000081 Attach the Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage 11 xx1500002729 Remove the small VK cover 12 Continues on next page 27...

Страница 271: ...haft including the removal tool weighs approximately 25 kg 15 Secure the shaft and the removal tool to the upper arm using lifting eyes and a short roundsling This is done as a safety precau tion Tip...

Страница 272: ...pressure are turned off 1 Make sure that the roundslings are stretched and so that they will carry the weight of the upper arm 2 xx1500002732 Use caution and lift the upper arm complete off 3 Pallet 2...

Страница 273: ...arm housing with a Fender washer underneath xx1400002196 4 Lifting eye M12 Fender washer Outer diameter minimum 26 mm hole diameter 13 mm thickness 3 mm Roundsling 2 5 m Lifting capacity 2 000 kg xx15...

Страница 274: ...if needed 8 Preparations before refitting the upper arm shafts Make the preparations on both sides of the robot and on both upper arm shafts Note Action xx1500002731 Remove residues of Loctite and ot...

Страница 275: ...with Isopropanol Note Do not touch the cleaned cone surface of the shaft with anything after cleaning 3 Scotch brite abrasive cleaning hand pad xx1500002750 Use a Scotch brite abrasive cleaning hand...

Страница 276: ...ed 6 Isopropanol xx1500002748 Wipe the sealing rings clean with Isopro panol 7 Attach the sealing rings onto the shafts 8 Refitting the upper arm and the upper arm shafts Note Start the refitting of t...

Страница 277: ...on the shaft is turned downwards 4 CAUTION The shaft weighs 19 kg 5 xx1500002731 Use caution and lift the shaft into mounting position Note Do not touch the surfaces cleaned with Isopropanol 6 Glyceri...

Страница 278: ...tool 3HAC056095 002 Set of tools Instruction 3HAC056526 002 en closed Attach the assembly tool Tip How to use the assembly tool is described in the instruction 3HAC056526 002 de livered with the tool...

Страница 279: ...lycerine tools 22 xx1500003125 Refit the magnetic plug 23 Refit the other shaft by repeating the pro cedure Note Leave the horseshoe shim fitted on the axis 2 side also when fitting the axis 3 shaft D...

Страница 280: ...ct sealing ring 2 xx1600000084 Refit sealing ring 3 xx1600000193 Wipe clean the KM nut 4 Wipe clean the o ring in the KM nut 5 Continues on next page 280 Product manual IRB 8700 3HAC052853 001 Revisio...

Страница 281: ...AC038174 067 Secure the KM nut with the Sleeve KM nut 8 Tightening torque 300 Nm xx1600000187 Wipe the shaft clean 9 Dial gauge value 0 38 mm xx1700000970 Attach the attachment of the dial gauge in th...

Страница 282: ...side Do not remove or add another shim 1 xx1600000083 Inspect the pre mounted gamma sealing on the KM nut 2 xx1600000084 Inspect sealing ring 3 xx1600000084 Refit sealing ring 4 Continues on next page...

Страница 283: ...xx1600000192 Apply locking liquid on the threads and refit the KM nut 8 xx1700000970 Make sure that the dial gauge attachment is fitted 9 Sleeve KM nut D 152 L 220 3HAC038174 067 Secure the axis 2 KM...

Страница 284: ...1965 Take a firm grip of the parallel rod and lift it up into mounting position 2 xx1500001963 Put a piece of wood or similar between parallel arm and parallel rod used as pro tection to prevent the r...

Страница 285: ...e parallel rod without problems and to be able to find the correct position of the parallel rod 5 Attachment screws M10x50 4 pcs xx1500002300 Place the parallel rod into position and reattach the two...

Страница 286: ...ocking liquid on the attachment screw and secure shaft 10 Loctite 243 xx1400002600 xx1500001961 Remove the four M10x50 screws and refit the protection plugs 4 4 pcs 11 Continues on next page 286 Produ...

Страница 287: ...s attached from the outside 2 Attachment screw M8 xx1500002719 Refit the protection cover 3 xx1500002718 Refit the cable clamp on the axis 3 bracket 4 xx1500003092 Refit the cable clamp on the axis 3...

Страница 288: ...asket is covered with adhesive on the side facing the upper arm cover The three washers are pressed into the holes in the gasket Make sure all three washers are fitted 7 xx1500002722 Refit the cover 8...

Страница 289: ...fit the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page Product manual I...

Страница 290: ...ake sure that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachme...

Страница 291: ...able gland opening 1 Attachment screws M5x16 2 pcs xx1200001016 Refit the cable gland cover Note Replace the gasket if damaged 2 Continues on next page Product manual IRB 8700 291 3HAC052853 001 Revis...

Страница 292: ...bles inside will be dam aged 5 Attachment screws M5x12 8 8 7 pcs xx1200001013 Refit the motor cover Note Do not reuse the self threading attachment screws Replace with standard attachment screws or th...

Страница 293: ...ng else of the axis 6 mo tor cables at this point The remaining refit ting must wait until the axis 5 has been moved into 90 position Axis 5 must be in 90 position when the carrier and cable bracket a...

Страница 294: ...TION Make sure that the cable spiral is not twis ted an extra revolution The result will be damage to the cable harness xx1300001113 Use caution and push the carrier into posi tion 2 Attachment screw...

Страница 295: ...motor and make sure they are connected Note The resolver cable shall be placed under neath the motor cable 5 Gasket 3HAC033489 001 xx1200001095 Inspect the gasket Note Replace if damaged 6 Continues...

Страница 296: ...replacing the balancing device Note Action xx1500002310 Jog the robot to calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot be...

Страница 297: ...y 1 000 kg xx1500001983 Attach a roundsling to the lifting hole on top of the balancing device and to an overhead crane or similar 3 Use caution and lift the balancing device up an let it hang in the...

Страница 298: ...DANGER Do not use the robot as ladder 1 xx1500002735 Use caution and raise the balancing device into mounting position 2 xx1500002306 Note Make sure the bearings are axially centered in the balancing...

Страница 299: ...nd put the balancing device onto upper and lower shafts 5 Locking liquid Loctite 243 xx1500002307 Apply locking liquid on the threads of the lock nuts 6 Inspect that the bearings are axially centered...

Страница 300: ...with 30 gram of bearing grease 10 Wipe away surplus grease and refit the M6x10 screws 11 If both balancing devices shall be refitted refit the other in the same way 12 Restoring the pressure of the ba...

Страница 301: ...16x35 screws in the holes on top of the balancing device 4 Concluding procedure Note Action Clean the wrist cover from residues of sealant and other contamination 1 xx1600000046 Make sure the contact...

Страница 302: ...edure 5 Tightening torque 24 Nm xx1500003100 xx1500002330 Axis Calibration is described in Calibrating with Axis Calibration method on page 805 Recalibrate the robot 6 General calibration information...

Страница 303: ...in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC048653 006 Graphite White Wrist 3HAC048653 004 AB...

Страница 304: ...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...

Страница 305: ...Mobile platform ladder xx1500001985 Use a Mobile platform ladder or similar to reach the wrist DANGER Do not use the robot as ladder 4 DANGER Turn off all electric power supply hydraulic pressure supp...

Страница 306: ...331 Cut the cable tie that secures the axis 6 motor cable 3 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressur...

Страница 307: ...0 Unscrew the attachment screws and re move the motor cover Note Do not damage the gasket Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws hol...

Страница 308: ...caution and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that...

Страница 309: ...ver 2 xx1200001070 Note Make sure the o ring is present when re moving the cover 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 309 3HAC052853 001 Revision...

Страница 310: ...apacity 1 000 kg xx1300000673 The figure show the IRB 6700 but the prin ciple is the same Attach a roundsling choked as shown in the figure CAUTION It is very important that the roundsling is placed a...

Страница 311: ...ssure are turned off 1 xx1500003103 Remove two attachment screws in opposite holes and replace them with guide pins Tip Lubricate the guide pins with some grease to make the wrist slide better 2 xx150...

Страница 312: ...xx1500003107 CAUTION When the wrist is hanging free the front end will tend to lean slightly downwards 6 Put down the wrist on a pallet or similar 7 Refitting the wrist Use these procedures to refit...

Страница 313: ...in the figure CAUTION It is very important that the roundsling is placed as shown in the figure in order to keep the wrist balanced when it is removed Placed at a different position there is a risk o...

Страница 314: ...nd arm tube flange 2 xx1500003107 CAUTION When the wrist is hanging free the front end will tend to lean slightly downwards 3 Run the cable harness into the wrist carefully 4 Use caution and slide the...

Страница 315: ...ing screws 7 Tightening torque 120 Nm Secure the wrist 8 Remove the lifting accessories 9 Connecting the axis 5 motor cables Note Action xx1500002717 Push the motor cables in through the cable gland o...

Страница 316: ...th the markings on the connectors 3 O ring 3HAC054692 002 xx1200001070 Inspect the o ring Note Replace if damaged 4 CAUTION When refitting the motor cover make sure that none of the cables inside will...

Страница 317: ...tor cables Note Action Make sure that the axis 5 is in 90 position before continuing If not the cable spiral will be attached in the wrong position and cause damage to the cable harness CAUTION Make s...

Страница 318: ...evel and completely pressed against the bottom 3 Attachment screws M6x16 2 pcs xx1300000484 Secure the cable bracket with its attach ment screws 4 xx1300000488 Reconnect the connectors to the axis 6 m...

Страница 319: ...e sure not to damage the cables inside the motor when refitting the motor cover 7 Attachment screws M5x20 5 pcs xx1200001080 Refit the motor cover 8 Continues on next page Product manual IRB 8700 319...

Страница 320: ...on from the contact sur faces of the wrist cover 10 xx1600000046 Make sure the contact surface of the wrist cover is undamaged 11 Loctite 574 Apply flange sealant on the wrist cover flange 12 Place th...

Страница 321: ...in Calibrating with Axis Calibration method on page 805 Re calibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements...

Страница 322: ...te See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048651 006 Axis 6 Unit Required tools and equipment Note Article number Equipment et...

Страница 323: ...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 refe...

Страница 324: ...robot before entering the robot working area 4 Retrieving access to the wrist cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned...

Страница 325: ...raulic pressure and air pressure are turned off 1 Make sure that the axis 5 is as close to 90 or 90 position as possible depend ing on what repair work is being done Note Not needed if only replacing...

Страница 326: ...et Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holding the cable bracket 5 Continues on next page 326 Product manual IRB 8700 3HAC052853...

Страница 327: ...ion and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Removing the axis 6 motor Note Action 24 VDC power supply To release the br...

Страница 328: ...N The motor weighs 14 kg 5 xx1500003098 Remove the motor by lifting it straight up from the gear Make sure the motor pinion is not dam aged 6 Disconnect the 24 VDC power supply 7 Attaching lifting acc...

Страница 329: ...VK covers on the axis 5 gearbox cover Always replace VK covers with a new one Note Do not remove any other VK cover 1 Note Before removing the attachment screws on the axis 5 side plan in advance in...

Страница 330: ...e axis 6 unit weight the unit will start to rotate uncontrolled Make sure that the axis 6 unit is securely attached to the lifting accessory before the last screw is removed 6 Removing the axis 6 unit...

Страница 331: ...milar on the floor to be used for putting the axis 6 unit on 6 Lower the axis 6 unit towards the pallet Grab the roundslings by hand to be able to force the axis 6 unit to lay on the side on the palle...

Страница 332: ...or similar 3 Use caution and raise the axis 6 unit up and let it hang in the lifting accessories 4 Refitting the support shaft side Note Action Wipe clean all contact surfaces including the o ring gro...

Страница 333: ...ng 7 Tightening torque 24 Nm xx1600000197 Refitting the axis 5 gearbox side Note Action Refitting of the axis 6 unit must start with the turning disc facing upwards When the last screws are attached t...

Страница 334: ...s M16x80 Attach and secure these three screws 5 Tightening torque 300 Nm Continue to lower the axis 6 unit in steps until all 21 screws are attached and se cured in the same way 6 Note Make sure that...

Страница 335: ...10 Remove old paint residues and other contamina tion from the contact surfaces on both motor and gearbox 11 Wipe clean the contact surfaces from any remain ing contamination 12 Also wipe clean the o...

Страница 336: ...new spare part remove the motor cover 16 Securing the axis 6 motor Note Action To release the brakes connect the 24 VDC power supply 1 Connect to connector R2 MP6 pin 2 24V pin 5 0V CAUTION Parting m...

Страница 337: ...its attachment screws 5 Screw dimension M8x25 quality 12 9 Gleitmo 4 pcs xx1200001090 Make sure that the gasket is fitted correctly Disconnect the 24 V DC power supply 6 Continues on next page Produc...

Страница 338: ...the carrier into posi tion 2 Attachment screws M4x10 xx1300000485 Secure the carrier with the M4 screw Note The screw is located at the bottom of the carrier Tip The screw that secure the carrier may...

Страница 339: ...cover is undamaged Note Replace if damaged 6 CAUTION Make sure not to damage the cables inside the motor when refitting the motor cover 7 Attachment screws M5x20 5 pcs xx1200001080 Refit the motor cov...

Страница 340: ...from the contact sur faces of the wrist cover 10 xx1600000046 Make sure the contact surface of the wrist cover is undamaged 11 Loctite 574 Apply flange sealant on the wrist cover flange 12 Place the c...

Страница 341: ...Calibrating with Axis Calibration method on page 805 Recalibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements ar...

Страница 342: ...latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048445 003 Turning disc Required tools and equipment Note Article number Equipment etc Content...

Страница 343: ...ore entering the robot working area 2 Remove any tools or other equipment fitted to the turning disk 3 Removing the turning disk Note Action DANGER Make sure that all supplies for electrical power hyd...

Страница 344: ...g disk Refitting the turning disk Note Action xx1500002319 Wipe clean the contact surfaces 1 xx1500002984 Make sure the sealing ring is fitted 2 Continues on next page 344 Product manual IRB 8700 3HAC...

Страница 345: ...d with the calibration tools Recalibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements are met when performing the...

Страница 346: ...n section Standard toolkit on page 833 Standard toolkit Removing the process turning disc Use these procedures to remove the process turning disc Preparations before removing the process turning disk...

Страница 347: ...ng the process turning disc Use these procedures to refit the process turning disk Refitting the process turning disk Note Action CAUTION The process turning disc weigh 50 kg All lifting accessories m...

Страница 348: ...s included in section Calibration on page 795 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section First test run may cause inj...

Страница 349: ...re parts Note The spare part numbers that are listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700on ABB Library Note Article number Spare part 3HAC048...

Страница 350: ...nd assemble the parallel rod 3HAC051000 001 Assembly tool Used to disassemble and assemble the parallel rod 3HAC050949 001 Press plate Used to disassemble and assemble the parallel rod Round plate To...

Страница 351: ...reate 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 re...

Страница 352: ...upply air pressure supply to the robot before entering the robot working area 2 Removing the counterweight Note Action CAUTION The counterweight weighs 1200 kg All lifting accessories used must be siz...

Страница 353: ...accessory to take the weight of the counterweight 5 Attachment screws M16x70 10 pcs xx1500001981 Unscrew the attachment screws with washers that hold the counterweight 6 xx1500001982 Use caution lift...

Страница 354: ...ply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 Unloading the pressure of the balancing devices Use this procedure to unload both balancing devi...

Страница 355: ...500002303 Apply some Molykote on threads and at the bottom end of two fully threaded screws 4 Screws M16x80 fully threaded xx1500002309 Unload the pressure of the balancing device by inserting the scr...

Страница 356: ...the upper end of the balancing device DANGER Do not use the robot as a ladder 2 CAUTION The balancing device weights 200 kg All lifting accessories used must be sized accordingly 3 Roundsling 1 m Lif...

Страница 357: ...x1500001975 Verify that the support ring V ring and spacer ring are present on the shaft No need to remove 8 Pallet Put the balancing device down Tip Turn a pallet upside down and place the balancing...

Страница 358: ...tric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 2 Removing the attachment screws in the first area Remove attachment screws in the f...

Страница 359: ...the position of the robot is changed Note The screws are reached from the outside 1 xx1500002695 Robot position when removing the upper arm Note Action xx1700001306 Turn on the power and jog the robo...

Страница 360: ...ll supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1500003100 Remove the wrist cover Note Do not damage the sealing Replace if damaged Note The position of axis 4...

Страница 361: ...00 kg All lifting accessories used must be sized accordingly 1 Mobile platform ladder If needed use a Mobile platform ladder or similar to attach the lifting accessories DANGER Never use the robot as...

Страница 362: ...ess 3 mm Roundsling 2 5 m Lifting capacity 2 000 kg xx1500002713 Attach a roundsling looped to the Lifting eye and to an overhead crane or similar xx1400002599 5 Roundsling 3 m Lifting capacity 2 000...

Страница 363: ...wood or similar between parallel arm and parallel rod used as pro tection to prevent the rod from moving un expectedly during the continued procedure 1 xx1400002600 Remove the attachment screw with w...

Страница 364: ...he holes and adjust the screws against the parallel rod from both sides 4 Attachment screws M10x80 4 pcs xx1500002300 xx1500001967 Remove the protection plug Note Keep the protection plug It shall be...

Страница 365: ...mm on one side of the parallel rod Leave the screws on the other side 8 xx1500001964 Right side Left side Cover washer Thrust washer Remove the thrust washer and cover washer on either side of the be...

Страница 366: ...6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Make sure that the axis 5 is as close to 90 or 90 position as p...

Страница 367: ...Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holding the cable bracket 5 Continues on next page Product manual IRB 8700 367 3HAC052853 001...

Страница 368: ...and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all su...

Страница 369: ...x1200001070 Note Make sure the o ring is present when re moving the cover 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 369 3HAC052853 001 Revision F Copy...

Страница 370: ...otor cables 6 Disconnecting the axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew the at...

Страница 371: ...will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the cable harness in the upper arm Note Action DANGER Make sure that all su...

Страница 372: ...3 bracket 3 xx1500002719 Remove the protection cover Make sure not to damage the surface exposed 4 xx1500002720 Unscrew the nut holding the bracket inside the upper arm Note The nut is reached from th...

Страница 373: ...ove the cable harness out of the upper arm 9 Removing the cable harness in the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are tur...

Страница 374: ...outside 2 xx1600000075 Remove the upper and lower cable guides 3 The figure show the positions of the cable guides Use caution and remove the cable harness from the lower arm 4 Continues on next page...

Страница 375: ...24 VDC power supply 2 Connect connector R2 MP2 pin 2 24V pin 5 0V Release the brakes on axis 2 to allow the lower arm to position according to the lift ing force applied from the overhead crane This...

Страница 376: ...emove the KM nut on the other side Note Make sure not to lose gamma sealing and sealing ring 7 Note Continue the removal on the same side until the shaft is removed completely Leave the other shaft fi...

Страница 377: ...00000081 Attach the Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage 11 xx1500002729 Remove the small VK cover 12 Continues on next page Product manual IRB 8700 377 3HAC0...

Страница 378: ...including the removal tool weighs approximately 25 kg 15 Secure the shaft and the removal tool to the upper arm using lifting eyes and a short roundsling This is done as a safety precau tion Tip How t...

Страница 379: ...r electrical power hydraulic pressure and air pressure are turned off 1 Make sure that the roundslings are stretched and so that they will carry the weight of the upper arm 2 xx1500002732 Use caution...

Страница 380: ...aking the weight of the parallel rod 3 xx1500001966 Remove the attachment screw with washer that secure the rod shaft 4 xx1500001968 Remove the protection plug Note Keep the protection plug It shall b...

Страница 381: ...er on either side of the bearing are present Tip Make a note on which side the respective washer is fitted for a correct assembly later 8 xx1500002745 Use caution and lift the parallel rod off 9 Conti...

Страница 382: ...he lower arm complete weighs 600 kg All lifting accessories used must be sized accordingly 1 Roundsling 2 m Lifting capacity 2 000 kg xx1500002708 Attach a roundsling to the lower arm and to an overhe...

Страница 383: ...as possible to calibration position 5 Remove the 24 VDC power supply 6 Unscrewing the axis 1 bracket Note Action xx1500002372 Remove the axis 1 cable bracket to protect the lower end of the cable harn...

Страница 384: ...similar 1 CAUTION The parallel arm weighs 255 kg All lifting accessories used must be sized accordingly 2 Stretch the lifting accessories to take the weight of the parallel arm 3 To release the brakes...

Страница 385: ...et lashing belt 6 With the brakes still released on axis 3 use the ratchet belt and manually move the parallel arm the last bit against the lower arm 7 Secure with the ratchet belt Remove the 24 VDC p...

Страница 386: ...cordingly 1 Roundsling 2 m Lifting capacity 2 000 kg xx1500002733 Attach a roundsling to the lower arm as sembly and to an overhead crane or simil ar Attach the roundsling through the holes in the upp...

Страница 387: ...ining attachment screws that secure the lower arm to the axis 2 gearbox and the parallel arm to the axis 3 gearbox 4 Crowbar small Use a Crowbar small or similar and press the lower arm and parallel a...

Страница 388: ...e parallel arm Note Action CAUTION The lower arm complete weighs 600 kg All lifting accessories used must be sized accordingly 1 Endless ratchet lashing belt DANGER Make sure that the parallel arm is...

Страница 389: ...ical position 4 xx1500002700 Move the lower arm assembly into mount ing position 5 Continues on next page Product manual IRB 8700 389 3HAC052853 001 Revision F Copyright 2015 2018 ABB All rights reser...

Страница 390: ...e pattern between lower arm and axis 2 gearbox Tip Use caution and rotate the small gear on the axis 2 gearbox 2 xx1500002740 Attach as many screws as possible with the robot in this position Tip Begi...

Страница 391: ...ting screws in the most outer holes in the outer ring of holes to make sure the hole pattern will be matching If needed use caution and turn the small gear in the gearbox to find the hole pattern 6 Ti...

Страница 392: ...to the parallel arm 1 xx1500002743 Remove the Endless ratchet lashing belt 2 Stretch the roundsling to take the weight of the parallel arm 3 Continues on next page 392 Product manual IRB 8700 3HAC0528...

Страница 393: ...Action Roundsling 2 m Lifting capacity 2 000 kg xx1500002747 Attach a roundsling to the lower arm 1 Stretch the roundsling to take the weight of the parallel arm 2 Continues on next page Product manua...

Страница 394: ...imately 30 mm 3 Remove the 24 VDC power supply 4 Remove the lifting accessories 5 Refitting the axis 1 bracket Note Action xx1500002372 Refit the axis 1 cable bracket with the screws 1 Continues on ne...

Страница 395: ...er and cover washer and wipe them clean Note Make a note on which side the covers are placed 2 Wipe the shafts and the holes for the shafts clean 3 Mercasol xx1500002100 Apply corrosion protection on...

Страница 396: ...lel rod has been removed from the robot always start refitting at the lower end 1 CAUTION The parallel rod weighs 55 kg 2 Roundsling 1 m Lifting capacity 1 000 kg Attach a roundsling to the parallel r...

Страница 397: ...plate 5 xx1500002098 Thrust washer Left side Cover washer Right side Make sure that the thrust washer and cover washer on either side of the bearing are in position Note Make sure that the washers ar...

Страница 398: ...on and press the shaft in 8 xx1500001968 Refit the protection plug 9 Attachment screw M10x16 8 8 Apply locking liquid on the screw and se cure the shaft 10 Loctite 243 xx1500001966 Continues on next p...

Страница 399: ...he back hole of the arm housing 3 Attach a Lifting eye to the hole in the arm housing with a Fender washer underneath xx1400002196 4 Lifting eye M12 Fender washer Outer diameter minimum 26 mm hole dia...

Страница 400: ...needed 8 Preparations before refitting the upper arm shafts Make the preparations on both sides of the robot and on both upper arm shafts Note Action xx1500002731 Remove residues of Loctite and other...

Страница 401: ...h Isopropanol Note Do not touch the cleaned cone surface of the shaft with anything after cleaning 3 Scotch brite abrasive cleaning hand pad xx1500002750 Use a Scotch brite abrasive cleaning hand pad...

Страница 402: ...Isopropanol xx1500002748 Wipe the sealing rings clean with Isopro panol 7 Attach the sealing rings onto the shafts 8 Refitting the upper arm and the upper arm shafts Note Start the refitting of the sh...

Страница 403: ...e shaft is turned downwards 4 CAUTION The shaft weighs 19 kg 5 xx1500002731 Use caution and lift the shaft into mounting position Note Do not touch the surfaces cleaned with Isopropanol 6 Glycerine ad...

Страница 404: ...3HAC056095 002 Set of tools Instruction 3HAC056526 002 en closed Attach the assembly tool Tip How to use the assembly tool is described in the instruction 3HAC056526 002 de livered with the tool 11 P...

Страница 405: ...ine tools 22 xx1500003125 Refit the magnetic plug 23 Refit the other shaft by repeating the pro cedure Note Leave the horseshoe shim fitted on the axis 2 side also when fitting the axis 3 shaft Do not...

Страница 406: ...ealing ring 2 xx1600000084 Refit sealing ring 3 xx1600000193 Wipe clean the KM nut 4 Wipe clean the o ring in the KM nut 5 Continues on next page 406 Product manual IRB 8700 3HAC052853 001 Revision F...

Страница 407: ...8174 067 Secure the KM nut with the Sleeve KM nut 8 Tightening torque 300 Nm xx1600000187 Wipe the shaft clean 9 Dial gauge value 0 38 mm xx1700000970 Attach the attachment of the dial gauge in the ho...

Страница 408: ...Do not remove or add another shim 1 xx1600000083 Inspect the pre mounted gamma sealing on the KM nut 2 xx1600000084 Inspect sealing ring 3 xx1600000084 Refit sealing ring 4 Continues on next page 408...

Страница 409: ...0000192 Apply locking liquid on the threads and refit the KM nut 8 xx1700000970 Make sure that the dial gauge attachment is fitted 9 Sleeve KM nut D 152 L 220 3HAC038174 067 Secure the axis 2 KM nut w...

Страница 410: ...ower bracket inside the lower arm when refitted 2 Screws M6x16 4 pcs xx1500002695 Refit the two cable brackets inside the lower arm Note The screws are reached from the outside 3 xx1600000075 Refit up...

Страница 411: ...ached from the outside 2 Attachment screw M8 xx1500002719 Refit the protection cover 3 xx1500002718 Refit the cable clamp on the axis 3 bracket 4 xx1500003092 Refit the cable clamp on the axis 3 brack...

Страница 412: ...is covered with adhesive on the side facing the upper arm cover The three washers are pressed into the holes in the gasket Make sure all three washers are fitted 7 xx1500002722 Refit the cover 8 Cont...

Страница 413: ...the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IRB 8...

Страница 414: ...ure that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment sc...

Страница 415: ...gland opening 1 Attachment screws M5x16 2 pcs xx1200001016 Refit the cable gland cover Note Replace the gasket if damaged 2 Continues on next page Product manual IRB 8700 415 3HAC052853 001 Revision F...

Страница 416: ...inside will be dam aged 5 Attachment screws M5x12 8 8 7 pcs xx1200001013 Refit the motor cover Note Do not reuse the self threading attachment screws Replace with standard attachment screws or the thr...

Страница 417: ...lse of the axis 6 mo tor cables at this point The remaining refit ting must wait until the axis 5 has been moved into 90 position Axis 5 must be in 90 position when the carrier and cable bracket are r...

Страница 418: ...Make sure that the cable spiral is not twis ted an extra revolution The result will be damage to the cable harness xx1300001113 Use caution and push the carrier into posi tion 2 Attachment screw M4x1...

Страница 419: ...r and make sure they are connected Note The resolver cable shall be placed under neath the motor cable 5 Gasket 3HAC033489 001 xx1200001095 Inspect the gasket Note Replace if damaged 6 Continues on ne...

Страница 420: ...ot to the spe cified position Axis 2 No significance as long as the ro bot is secured to the foundation Axis 2 20 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 No significance 1 Refit the remaining screws that se...

Страница 421: ...sed as pro tection to prevent the rod from moving un expectedly during the procedure 3 xx1500001964 Right side Left side Cover washer Thrust washer Place the thrust washer and cover washer on either s...

Страница 422: ...ion and reattach the two M10x50 screws against the parallel rod Note This is done to prevent the arm housing from being deformed when pressing the shaft and thereby making it more difficult to press t...

Страница 423: ...ion when replacing the balancing device Note Action xx1500002310 Jog the robot to calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the...

Страница 424: ...00 kg xx1500001983 Attach a roundsling to the lifting hole on top of the balancing device and to an overhead crane or similar 3 Use caution and lift the balancing device up an let it hang in the lifti...

Страница 425: ...ER Do not use the robot as ladder 1 xx1500002735 Use caution and raise the balancing device into mounting position 2 xx1500002306 Note Make sure the bearings are axially centered in the balancing devi...

Страница 426: ...ut the balancing device onto upper and lower shafts 5 Locking liquid Loctite 243 xx1500002307 Apply locking liquid on the threads of the lock nuts 6 Inspect that the bearings are axially centered in t...

Страница 427: ...30 gram of bearing grease 10 Wipe away surplus grease and refit the M6x10 screws 11 If both balancing devices shall be refitted refit the other in the same way 12 Restoring the pressure of the balanc...

Страница 428: ...f the balancing device 4 Robot position when refitting the counterweight Note Action xx1500002096 If not already in this position turn on the power and jog to a position where the area the counterweig...

Страница 429: ...if not already done 2 Lifting accessory chain with four chains Attach the lifting accessory chain with four chains to the lifting eyes 3 Stretch the lifting accessory to take the weight of the counte...

Страница 430: ...the lifting eyes 8 xx1500001980 If used refit the plastic plugs in the holes for the lifting eyes 9 Concluding procedure Note Action Axis Calibration is described in Calibrating with Axis Calibration...

Страница 431: ...ng the first test run These are further detailed in the section First test run may cause injury or damage on page 27 2 Product manual IRB 8700 431 3HAC052853 001 Revision F Copyright 2015 2018 ABB All...

Страница 432: ...e listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC049074 003 Graphite White 3HAC049074 004 ABB O...

Страница 433: ...ed to disassemble and assemble the parallel rod 3HAC051000 001 Assembly tool Used to disassemble and assemble the parallel rod 3HAC050949 001 Press plate Used to disassemble and assemble the parallel...

Страница 434: ...ropanol Glycerine Mercasol 3110 Waxcoat Recom mended drying time is 24h 3HAC034903 001 Rust preventive Tribol GR 100 0 PD 3HAA1001 294 Grease Loctite 243 3HAB7116 1 Locking liquid Cable ties Deciding...

Страница 435: ...ration Remove all external cable packages DressPack and tools from the robot Removing the parallel arm Use these procedures to remove the parallel arm Preparations before removing the parallel arm Not...

Страница 436: ...pcs xx1500002087 Attach lifting eyes 3 Lifting accessory four chains Attach the lifting accessory chain with four chains to the lifting eyes 4 Stretch the lifting accessory to take the weight of the...

Страница 437: ...ing the pressure of balancing device Note Action xx1500002310 Jog the robot to calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the rob...

Страница 438: ...vice DANGER Do not use the robot as ladder 2 xx1500001971 Remove the screws fitted in the screw holes on top of the balancing device Note Keep the screws They shall be refitted after the work is done...

Страница 439: ...cing devices Use this procedure to remove both balancing devices Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Mobile platfor...

Страница 440: ...1500001973 Remove upper and lower KM nuts V rings and support rings 6 Crowbar small xx1500002735 Use caution and lift the balancing device off Tip If needed use a Crowbar small to care fully help pres...

Страница 441: ...this position it is possible to reach the screws in the first of the three areas of screws that secure the axis 2 gearbox to the lower arm and the axis 3 gearbox to the parallel arm Note Action Jog th...

Страница 442: ...reach 2 Unscrewing the brackets that secure cable harness in lower arm Note Action xx1500002694 Unscrew the screws of the two brackets that secure the cable harness inside the lower arm In order to be...

Страница 443: ...pressure supply to the robot before entering the robot working area 2 Retrieving access to the wrist cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and...

Страница 444: ...s 900 kg All lifting accessories used must be sized accordingly 1 Mobile platform ladder If needed use a Mobile platform ladder or similar to attach the lifting accessories DANGER Never use the robot...

Страница 445: ...ckness 3 mm Roundsling 2 5 m Lifting capacity 2 000 kg xx1500002713 Attach a roundsling looped to the Lifting eye and to an overhead crane or similar xx1400002599 5 Roundsling 3 m Lifting capacity 2 0...

Страница 446: ...of wood or similar between parallel arm and parallel rod used as pro tection to prevent the rod from moving un expectedly during the continued procedure 1 xx1400002600 Remove the attachment screw wit...

Страница 447: ...n the holes and adjust the screws against the parallel rod from both sides 4 Attachment screws M10x80 4 pcs xx1500002300 xx1500001967 Remove the protection plug Note Keep the protection plug It shall...

Страница 448: ...y 5 mm on one side of the parallel rod Leave the screws on the other side 8 xx1500001964 Right side Left side Cover washer Thrust washer Remove the thrust washer and cover washer on either side of the...

Страница 449: ...xis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Make sure that the axis 5 is as close to 90 or 90 position a...

Страница 450: ...et Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holding the cable bracket 5 Continues on next page 450 Product manual IRB 8700 3HAC052853...

Страница 451: ...ion and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all...

Страница 452: ...2 xx1200001070 Note Make sure the o ring is present when re moving the cover 3 xx1200001066 Disconnect the motor cables 4 Continues on next page 452 Product manual IRB 8700 3HAC052853 001 Revision F C...

Страница 453: ...e motor cables 6 Disconnecting the axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew the...

Страница 454: ...or will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the cable harness in the upper arm Note Action DANGER Make sure that all...

Страница 455: ...is 3 bracket 3 xx1500002719 Remove the protection cover Make sure not to damage the surface exposed 4 xx1500002720 Unscrew the nut holding the bracket inside the upper arm Note The nut is reached from...

Страница 456: ...remove the cable harness out of the upper arm 9 Removing the cable harness in the lower arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are...

Страница 457: ...he outside 2 xx1600000075 Remove the upper and lower cable guides 3 The figure show the positions of the cable guides Use caution and remove the cable harness from the lower arm 4 Continues on next pa...

Страница 458: ...the 24 VDC power supply 2 Connect connector R2 MP2 pin 2 24V pin 5 0V Release the brakes on axis 2 to allow the lower arm to position according to the lift ing force applied from the overhead crane Th...

Страница 459: ...d remove the KM nut on the other side Note Make sure not to lose gamma sealing and sealing ring 7 Note Continue the removal on the same side until the shaft is removed completely Leave the other shaft...

Страница 460: ...x1600000081 Attach the Glycerine adapter Note Tighten the adapter very hard in order to avoid leakage 11 xx1500002729 Remove the small VK cover 12 Continues on next page 460 Product manual IRB 8700 3H...

Страница 461: ...ft including the removal tool weighs approximately 25 kg 15 Secure the shaft and the removal tool to the upper arm using lifting eyes and a short roundsling This is done as a safety precau tion Tip Ho...

Страница 462: ...for electrical power hydraulic pressure and air pressure are turned off 1 Make sure that the roundslings are stretched and so that they will carry the weight of the upper arm 2 xx1500002732 Use cauti...

Страница 463: ...t taking the weight of the parallel rod 3 xx1500001966 Remove the attachment screw with washer that secure the rod shaft 4 xx1500001968 Remove the protection plug Note Keep the protection plug It shal...

Страница 464: ...asher on either side of the bearing are present Tip Make a note on which side the respective washer is fitted for a correct assembly later 8 xx1500002745 Use caution and lift the parallel rod off 9 Co...

Страница 465: ...N The lower arm complete weighs 600 kg All lifting accessories used must be sized accordingly 1 Roundsling 2 m Lifting capacity 2 000 kg xx1500002708 Attach a roundsling to the lower arm and to an ove...

Страница 466: ...se as possible to calibration position 5 Remove the 24 VDC power supply 6 Unscrewing the axis 1 bracket Note Action xx1500002372 Remove the axis 1 cable bracket to protect the lower end of the cable h...

Страница 467: ...or similar 1 CAUTION The parallel arm weighs 255 kg All lifting accessories used must be sized accordingly 2 Stretch the lifting accessories to take the weight of the parallel arm 3 To release the bra...

Страница 468: ...tchet lashing belt 6 With the brakes still released on axis 3 use the ratchet belt and manually move the parallel arm the last bit against the lower arm 7 Secure with the ratchet belt Remove the 24 VD...

Страница 469: ...accordingly 1 Roundsling 2 m Lifting capacity 2 000 kg xx1500002733 Attach a roundsling to the lower arm as sembly and to an overhead crane or simil ar Attach the roundsling through the holes in the...

Страница 470: ...emaining attachment screws that secure the lower arm to the axis 2 gearbox and the parallel arm to the axis 3 gearbox 4 Crowbar small Use a Crowbar small or similar and press the lower arm and paralle...

Страница 471: ...chet lashing belt 1 CAUTION The parallel arm weighs 255 kg All lifting accessories used must be sized accordingly 2 Roundsling 2 m Lifting capacity 2 000 kg xx1500002734 Attach a roundsling to the par...

Страница 472: ...corrosion protection on the outer surface of the bearings 4 Mercasol Apply corrosion protection in the holes 5 Replacing the bearings Note Action Remove the bearing 1 Remove the washer and remove all...

Страница 473: ...cessories used must be sized accordingly 1 Roundsling 2 m Roundsling 2 m Attach the roundsling to the parallel arm and to an overhead crane or similar and lift it up to vertical position 2 xx150000270...

Страница 474: ...arm and the parallel arm Note Action CAUTION The lower arm complete weighs 600 kg All lifting accessories used must be sized accordingly 1 Endless ratchet lashing belt DANGER Make sure that the parall...

Страница 475: ...g through the hole in the upper end of the lower arm xx1500002739 Lift the lower arm assembly to a vertical position 4 xx1500002700 Move the lower arm assembly into mount ing position 5 Continues on n...

Страница 476: ...hole pattern between lower arm and axis 2 gearbox Tip Use caution and rotate the small gear on the axis 2 gearbox 2 xx1500002740 Attach as many screws as possible with the robot in this position Tip B...

Страница 477: ...fitting screws in the most outer holes in the outer ring of holes to make sure the hole pattern will be matching If needed use caution and turn the small gear in the gearbox to find the hole pattern 6...

Страница 478: ...ng to the parallel arm 1 xx1500002743 Remove the Endless ratchet lashing belt 2 Stretch the roundsling to take the weight of the parallel arm 3 Continues on next page 478 Product manual IRB 8700 3HAC0...

Страница 479: ...te Action Roundsling 2 m Lifting capacity 2 000 kg xx1500002747 Attach a roundsling to the lower arm 1 Stretch the roundsling to take the weight of the parallel arm 2 Continues on next page Product ma...

Страница 480: ...roximately 30 mm 3 Remove the 24 VDC power supply 4 Remove the lifting accessories 5 Refitting the axis 1 bracket Note Action xx1500002372 Refit the axis 1 cable bracket with the screws 1 Continues on...

Страница 481: ...asher and cover washer and wipe them clean Note Make a note on which side the covers are placed 2 Wipe the shafts and the holes for the shafts clean 3 Mercasol xx1500002100 Apply corrosion protection...

Страница 482: ...rallel rod has been removed from the robot always start refitting at the lower end 1 CAUTION The parallel rod weighs 55 kg 2 Roundsling 1 m Lifting capacity 1 000 kg Attach a roundsling to the paralle...

Страница 483: ...und plate 5 xx1500002098 Thrust washer Left side Cover washer Right side Make sure that the thrust washer and cover washer on either side of the bearing are in position Note Make sure that the washers...

Страница 484: ...ution and press the shaft in 8 xx1500001968 Refit the protection plug 9 Attachment screw M10x16 8 8 Apply locking liquid on the screw and se cure the shaft 10 Loctite 243 xx1500001966 Continues on nex...

Страница 485: ...m the back hole of the arm housing 3 Attach a Lifting eye to the hole in the arm housing with a Fender washer underneath xx1400002196 4 Lifting eye M12 Fender washer Outer diameter minimum 26 mm hole...

Страница 486: ...if needed 8 Preparations before refitting the upper arm shafts Make the preparations on both sides of the robot and on both upper arm shafts Note Action xx1500002731 Remove residues of Loctite and oth...

Страница 487: ...with Isopropanol Note Do not touch the cleaned cone surface of the shaft with anything after cleaning 3 Scotch brite abrasive cleaning hand pad xx1500002750 Use a Scotch brite abrasive cleaning hand p...

Страница 488: ...6 Isopropanol xx1500002748 Wipe the sealing rings clean with Isopro panol 7 Attach the sealing rings onto the shafts 8 Refitting the upper arm and the upper arm shafts Note Start the refitting of the...

Страница 489: ...the shaft is turned downwards 4 CAUTION The shaft weighs 19 kg 5 xx1500002731 Use caution and lift the shaft into mounting position Note Do not touch the surfaces cleaned with Isopropanol 6 Glycerine...

Страница 490: ...ool 3HAC056095 002 Set of tools Instruction 3HAC056526 002 en closed Attach the assembly tool Tip How to use the assembly tool is described in the instruction 3HAC056526 002 de livered with the tool 1...

Страница 491: ...cerine tools 22 xx1500003125 Refit the magnetic plug 23 Refit the other shaft by repeating the pro cedure Note Leave the horseshoe shim fitted on the axis 2 side also when fitting the axis 3 shaft Do...

Страница 492: ...t sealing ring 2 xx1600000084 Refit sealing ring 3 xx1600000193 Wipe clean the KM nut 4 Wipe clean the o ring in the KM nut 5 Continues on next page 492 Product manual IRB 8700 3HAC052853 001 Revision...

Страница 493: ...C038174 067 Secure the KM nut with the Sleeve KM nut 8 Tightening torque 300 Nm xx1600000187 Wipe the shaft clean 9 Dial gauge value 0 38 mm xx1700000970 Attach the attachment of the dial gauge in the...

Страница 494: ...de Do not remove or add another shim 1 xx1600000083 Inspect the pre mounted gamma sealing on the KM nut 2 xx1600000084 Inspect sealing ring 3 xx1600000084 Refit sealing ring 4 Continues on next page 4...

Страница 495: ...1600000192 Apply locking liquid on the threads and refit the KM nut 8 xx1700000970 Make sure that the dial gauge attachment is fitted 9 Sleeve KM nut D 152 L 220 3HAC038174 067 Secure the axis 2 KM nu...

Страница 496: ...d lower bracket inside the lower arm when refitted 2 Screws M6x16 4 pcs xx1500002695 Refit the two cable brackets inside the lower arm Note The screws are reached from the outside 3 xx1600000075 Refit...

Страница 497: ...attached from the outside 2 Attachment screw M8 xx1500002719 Refit the protection cover 3 xx1500002718 Refit the cable clamp on the axis 3 bracket 4 xx1500003092 Refit the cable clamp on the axis 3 br...

Страница 498: ...ket is covered with adhesive on the side facing the upper arm cover The three washers are pressed into the holes in the gasket Make sure all three washers are fitted 7 xx1500002722 Refit the cover 8 C...

Страница 499: ...it the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IR...

Страница 500: ...e sure that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment...

Страница 501: ...le gland opening 1 Attachment screws M5x16 2 pcs xx1200001016 Refit the cable gland cover Note Replace the gasket if damaged 2 Continues on next page Product manual IRB 8700 501 3HAC052853 001 Revisio...

Страница 502: ...es inside will be dam aged 5 Attachment screws M5x12 8 8 7 pcs xx1200001013 Refit the motor cover Note Do not reuse the self threading attachment screws Replace with standard attachment screws or the...

Страница 503: ...g else of the axis 6 mo tor cables at this point The remaining refit ting must wait until the axis 5 has been moved into 90 position Axis 5 must be in 90 position when the carrier and cable bracket ar...

Страница 504: ...ION Make sure that the cable spiral is not twis ted an extra revolution The result will be damage to the cable harness xx1300001113 Use caution and push the carrier into posi tion 2 Attachment screw M...

Страница 505: ...otor and make sure they are connected Note The resolver cable shall be placed under neath the motor cable 5 Gasket 3HAC033489 001 xx1200001095 Inspect the gasket Note Replace if damaged 6 Continues on...

Страница 506: ...ion Turn on the power and jog the robot to the specified position Axis 2 No significance as long as the robot is secured to the founda tion Axis 2 20 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 No significance...

Страница 507: ...d used as pro tection to prevent the rod from moving un expectedly during the procedure 3 xx1500001964 Right side Left side Cover washer Thrust washer Place the thrust washer and cover washer on eithe...

Страница 508: ...sition and reattach the two M10x50 screws against the parallel rod Note This is done to prevent the arm housing from being deformed when pressing the shaft and thereby making it more difficult to pres...

Страница 509: ...sition when replacing the balancing device Note Action xx1500002310 Jog the robot to calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to t...

Страница 510: ...1 000 kg xx1500001983 Attach a roundsling to the lifting hole on top of the balancing device and to an overhead crane or similar 3 Use caution and lift the balancing device up an let it hang in the li...

Страница 511: ...as ladder 1 xx1500002735 Use caution and raise the balancing device into mounting position 2 xx1500002306 Note Make sure the bearings are axially centered in the balancing device ears before putting...

Страница 512: ...d put the balancing device onto upper and lower shafts 5 Locking liquid Loctite 243 xx1500002307 Apply locking liquid on the threads of the lock nuts 6 Inspect that the bearings are axially centered i...

Страница 513: ...ith 30 gram of bearing grease 10 Wipe away surplus grease and refit the M6x10 screws 11 If both balancing devices shall be refitted refit the other in the same way 12 Restoring the pressure of the bal...

Страница 514: ...p of the balancing device 4 Robot position when refitting the counterweight Note Action xx1500002096 If not already in this position turn on the power and jog to a position where the area the counterw...

Страница 515: ...yes if not already done 2 Lifting accessory chain with four chains Attach the lifting accessory chain with four chains to the lifting eyes 3 Stretch the lifting accessory to take the weight of the cou...

Страница 516: ...nd the lifting eyes 8 xx1500001980 If used refit the plastic plugs in the holes for the lifting eyes 9 Concluding procedure Note Action Axis Calibration is described in Calibrating with Axis Calibrati...

Страница 517: ...rming the first test run These are further detailed in the section First test run may cause injury or damage on page 27 2 Product manual IRB 8700 517 3HAC052853 001 Revision F Copyright 2015 2018 ABB...

Страница 518: ...The spare part numbers that are listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048154 004 Coun...

Страница 519: ...moving the counterweight Note Action xx1500002096 Jog the robot to a position so that the area where the counterweight is fitted to the parallel arm is horizontal to the foundation 1 DANGER Turn off a...

Страница 520: ...chains Attach the lifting accessory chain with four chains to the lifting eyes 4 Stretch the lifting accessory to take the weight of the counterweight 5 Attachment screws M16x70 10 pcs xx1500001981 Un...

Страница 521: ...o refit the counterweight Robot position when refitting the counterweight Note Action xx1500002096 If not already in this position turn on the power and jog to a position where the area the counterwei...

Страница 522: ...es if not already done 2 Lifting accessory chain with four chains Attach the lifting accessory chain with four chains to the lifting eyes 3 Stretch the lifting accessory to take the weight of the coun...

Страница 523: ...the counterweight to the parallel arm 7 Tightening torque 300 Nm xx1500001981 Remove lifting accessories lifting chains and the lifting eyes 8 xx1500001980 If used refit the plastic plugs in the hole...

Страница 524: ...revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048180 001 Mechanical stop pin Required tools and equipment Note Article number Equipment etc Used wh...

Страница 525: ...ot position when replacing the mechanical stop pin Note Action xx1500002093 Jog axis 1 to the position where it is pos sible to replace the mechanical stop pin 1 DANGER Turn off all electric power sup...

Страница 526: ...n the stop pin with one hand 3 xx1500002090 Unscrew the set screw with the other hand 4 xx1500002299 Hold the stop pin with one hand and re move the piece of wood or similar with the other hand 5 Cont...

Страница 527: ...p pin Note Action xx1500002093 Make sure that axis 1 is in the position where it will be possible to replace the mechanical stop pin If not turn on the power use caution and jog axis 1 to that positio...

Страница 528: ...02091 Put a piece of wood or similar underneath the stop pin to prevent it from falling down uncontrolled when the set screw is refitted 5 Locking liquid Loctite 243 xx1500002090 Apply locking liquid...

Страница 529: ...cure the stop pin in the groove 7 Tightening torque 35 Nm Secure the mechanical stop pin with the set screw 8 Concluding procedure Note Action DANGER Make sure all safety requirements are met when per...

Страница 530: ...in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC048077 003 Graphite White Parallel bar 3HAC048077...

Страница 531: ...nder 3HAC13086 1 Hydraulic pump 80 MPa Velcro strap Lifting capacity 1 000 kg Roundsling 1 m Content is defined in section Standard toolkit on page 833 Standard toolkit Required consumables Note Artic...

Страница 532: ...90 only needed if the cable harness shall be removed later in the procedure Axis 6 No significance 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robo...

Страница 533: ...n pressing the shaft and thereby making it more difficult to press the shaft in or out Fit 2 2 M10x80 screws in the holes and adjust the screws against the parallel rod from both sides 4 Attachment sc...

Страница 534: ...itting it xx1500002710 Unscrew two of the M10x50 screws approx imately 5 mm on one side of the parallel rod Leave the screws on the other side 8 xx1500001964 Right side Left side Cover washer Thrust w...

Страница 535: ...ut of its position 11 Removing the parallel rod lower end Note If the parallel rod shall be removed from the robot always disassemble the upper end shaft first Note Action CAUTION The parallel rod wei...

Страница 536: ...001966 Remove the attachment screw with washer that secure the rod shaft 4 xx1500001968 Remove the protection plug Note Keep the protection plug It shall be refitted when the work is done 5 Apply the...

Страница 537: ...asher on either side of the bearing are present Tip Make a note on which side the respective washer is fitted for a correct assembly later 8 xx1500002745 Use caution and lift the parallel rod off 9 Co...

Страница 538: ...in both upper and lower ends of the parallel rod shall be refitted start refitting in the lower end Preparations before refitting the parallel rod lower end Note Action xx1500002744 Remove the strap w...

Страница 539: ...ean 3 Mercasol xx1500002100 Apply corrosion protection on both sides of the bearings and on all machined sur faces on the parallel rod 4 xx1500002098 Right side Left side Cover washer Thrust washer Pu...

Страница 540: ...ndsling to the parallel rod and to an overhead crane or similar 3 xx1500002745 Use caution stretch the roundsling and lift the parallel rod into mounting position 4 Place the lower end at mounting pos...

Страница 541: ...shers are on the correct sides of the bearing 6 xx1500002301 Apply some grease on the shafts and in the holes on both sides of parallel arm as well as in the bearing hole 7 xx1500001969 Use caution an...

Страница 542: ...00001966 Preparations before refitting the parallel rod upper end Note Action xx1500002097 Remove the strap which was used to keep bearing thrust washer and cover washer in position 1 Continues on nex...

Страница 543: ...ol xx1500002100 Apply corrosion protection Mercasol on both sides of the bearings and on all ma chined surfaces on the parallel arm 4 xx1500002293 Apply some grease on shafts and in holes of both side...

Страница 544: ...d used as pro tection to prevent the rod from moving un expectedly during the procedure 3 xx1500001964 Right side Left side Cover washer Thrust washer Place the thrust washer and cover washer on eithe...

Страница 545: ...sition and reattach the two M10x50 screws against the parallel rod Note This is done to prevent the arm housing from being deformed when pressing the shaft and thereby making it more difficult to pres...

Страница 546: ...alib ration manual enclosed with the calibration tools Recalibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements a...

Страница 547: ...be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC048239 003 Graphite White Balancing device 3HAC048239 004 ABB Oran...

Страница 548: ...device Note Action xx1500002310 Jog the robot to calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot...

Страница 549: ...303 Apply some Molykote on threads and at the bottom end of two fully threaded screws 4 Screws M16x80 fully threaded xx1500002309 Unload the pressure of the balancing device by inserting the screws At...

Страница 550: ...ladder or similar to reach the upper end of the balancing device DANGER Do not use the robot as ladder 1 xx1500002308 Restore the pressure of the balancing device by unscrewing the two M16x80 screws...

Страница 551: ...orming the first test run These are further detailed in the section First test run may cause injury or damage on page 27 1 Product manual IRB 8700 551 3HAC052853 001 Revision F Copyright 2015 2018 ABB...

Страница 552: ...be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC048239 003 Graphite White Balancing device 3HAC048239 004 ABB Ora...

Страница 553: ...16 1 Locking liquid Molykote 1000 Removing the balancing device Use these procedures to remove the balancing device Robot position when replacing the balancing device Note Action xx1500002310 Jog the...

Страница 554: ...bot as ladder 2 xx1500001971 Remove the screws fitted in the screw holes on top of the balancing device Note Keep the screws They shall be refitted after the work is done 3 M16x35 Apply Molykote on co...

Страница 555: ...way 6 Removing the balancing device Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Mobile platform ladder xx1500001985 Use a M...

Страница 556: ...0001973 Remove upper and lower KM nuts V rings and support rings 6 Crowbar small xx1500002735 Use caution and lift the balancing device off Tip If needed use a Crowbar small to care fully help pressin...

Страница 557: ...same way 10 Refitting the balancing device Use these procedures to refit the balancing device Preparations before refitting the balancing device Note Action CAUTION The balancing device weighs 200 kg...

Страница 558: ...x1500002304 Apply some grease on shafts and in bear ing holes Note Do not apply any grease on the threads for the KM nut 6 Refitting the balancing device Note Action Mobile platform ladder xx150000198...

Страница 559: ...ars before putting them on the shafts 3 xx1500001975 Make sure that the spacer ring with V ring and the support ring are placed correctly on the shafts before the balancing device is put on the shafts...

Страница 560: ...e axially centered in the balancing device ears 7 Tightening torque 120 Nm xx1500001973 Secure the balancing device with the two lock nuts Note Make sure that the V ring and support ring is fitted cor...

Страница 561: ...oring the pressure of the balancing device Note Action Mobile platform ladder xx1500001985 Use a Mobile platform ladder or similar to reach the upper end of the balancing device DANGER Do not use the...

Страница 562: ...n tools Recalibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements are met when performing the first test run These...

Страница 563: ...be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC058949 003 Graphite White Rotating AC motor including pinion 3HAC0...

Страница 564: ...ation routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and...

Страница 565: ...supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 3 Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical...

Страница 566: ...g if the motor will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the axis 1 motor Note Action DANGER Make sure that all suppl...

Страница 567: ...w the attachment screws and washers Use a bits extender to reach the screws 5 Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 6 Always use guide pins in pairs CAUTION Whenever parting m...

Страница 568: ...axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove old paint residues and other contamina tion from the contac...

Страница 569: ...groove Tip Lubricate the o ring with some grease for a better fitting in the groove 5 Flange sealant Loctite 574 xx1500002357 Apply flange sealant on the motor flange 6 Continues on next page Product...

Страница 570: ...essory 3 Rotation tool 3HAC7887 1 Fit the rotation tool 4 Grease Castrol Molub Alloy 777 1 NG xx1500002346 Make sure that there is enough grease on the splines before fitting If not apply 1 gram of gr...

Страница 571: ...e correct way 8 Lifting accessory motor 3HAC14459 1 xx1500002084 Bits extender 3HAC12342 1 Secure the motor with its attachment screws and washers 9 Tightening torque 50 Nm Use a bits extender to reac...

Страница 572: ...the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page 572 Product manual...

Страница 573: ...ment screws Replace with standard attachment screws or the threads will be damaged Note Make sure the o ring is undamaged and properly fitted 8 Make sure that the covers are tightly sealed 9 Concludin...

Страница 574: ...ming the first test run These are further described in the section First test run may cause injury or damage on page 27 2 574 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB...

Страница 575: ...le can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Color Spare part 3HAC058949 003 Graphite White Rotating AC motor including pinio...

Страница 576: ...utine is chosen action might be required prior to beginning the repair work of the robot see the table Note Action Decide which calibration routine to use for calibrating the robot Reference calibrati...

Страница 577: ...the plug is accessible 2 Lock screw quality 12 9 M20x150 Valid for replacement of the axis 2 motor 3 Tightening torque 100 Nm xx1500002322 Insert the lock screw through the frame and into the hole in...

Страница 578: ...to secure the weight of the parallel arm If needed adjust the position of axis 3 to make it possible to insert the lock screw Note Tighten the lock screw manually No tools needed DANGER Failure to sec...

Страница 579: ...otor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew the attachment screws and washers and remove t...

Страница 580: ...Action DANGER When releasing the holding brakes of the motor the lower arm and or the parallel arm will move and may fall down Before continuing make sure the lower arm and or parallel arm are secured...

Страница 581: ...he motor out of position by using the removal tool in opposite holes of the motor 6 CAUTION The motor weighs 27 kg All lifting accessories used must be sized accordingly 7 Lifting accessory motor 3HAC...

Страница 582: ...ressure are turned off 1 Remove old paint residues and other contamina tion from the contact surfaces on both motor and gearbox 2 Wipe clean the contact surfaces from any remain ing contamination 3 Al...

Страница 583: ...the motor is a new spare part remove the cover 7 Securing the motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs CAUTION The motor weighs...

Страница 584: ...e the lifting accessory and allow the motor to rest on the guide pins 7 Rotation tool 3HAC7887 1 Apply the rotation tool and use it to rotate the pinion when mating it into the gear 8 Valid for the ax...

Страница 585: ...e cable exit is facing the correct way 12 Screw dimension M10x40 quality 12 9 Gleitmo 4 pcs Fit two of the attachment screws 13 Remove the guide pins and replace with the remaining attachment screws 1...

Страница 586: ...t the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page 586 Product manual...

Страница 587: ...that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment screw...

Страница 588: ...ic plug in lower arm 2 xx1500002321 Valid for replacement of the axis 3 motor Use caution and jog axis 3 until it is pos sible to remove the lock screw 3 xx1500002365 Valid for replacement of the axis...

Страница 589: ...tion Calibration on page 795 DANGER Make sure all safety requirements are met when performing the first test run These are further described in the section First test run may cause injury or damage on...

Страница 590: ...the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC058950 003 Graphite White 3HAC049837 003 ABB Orange Rotat...

Страница 591: ...cide which calibration routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packa...

Страница 592: ...power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 3 Disconnecting the axis 4 motor cables Note Action DANGER Make sure that all supplies f...

Страница 593: ...hole is facing if the motor will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the axis 4 motor Note Action CAUTION Use cautio...

Страница 594: ...gear box the gears may be damaged if excess ive force is used 5 Removal tool M12 3HAC14631 1 Press the motor out of position by fitting the removal tool in the remaining attach ment holes for the moto...

Страница 595: ...pressure and air pressure are turned off 1 Remove old paint residues and other contamina tion from the contact surfaces on both motor and gearbox 2 Wipe clean the contact surfaces from any remain ing...

Страница 596: ...spare part remove the cover 7 Securing the axis 4 motor Note Action Guide pin M10x150 3HAC15521 2 Apply two guide pins in opposite holes 1 Always use guide pins in pairs Lifting accessory motor 3HAC15...

Страница 597: ...ect the 24 VDC power supply 8 Connect to connector R2 MP2 pin 2 24V pin 5 0V CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 9 Push the motor ca...

Страница 598: ...xx1600000064 Disconnect the 24 VDC power supply 13 Connecting the axis 4 motor cables Note Action xx1300000738 Push the motor cables through the cable gland opening 1 xx1200001067 Refit the cable gla...

Страница 599: ...ring axis 4 3HAC054692 002 xx1200001070 Wipe clean o ring and o ring groove 5 Refit the o ring Tip Lubricate the o ring with some grease for a better fitting in the groove 6 CAUTION When fitting the m...

Страница 600: ...uding procedure Note Action Axis Calibration is described in Calibrating with Axis Calibration method on page 805 Recalibrate the robot 1 General calibration information is included in section Calibra...

Страница 601: ...949 003 Graphite White Rotating AC motor including pinion 3HAC058949 004 ABB Orange Rotating AC motor including pinion Required tools and equipment Note Article number Equipment etc 3HAC14459 1 Liftin...

Страница 602: ...nstructions 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 th...

Страница 603: ...the robot before entering the robot working area 3 Retrieving access to the wrist cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are tu...

Страница 604: ...hat all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew the attachment screws with washers and remove the motor cover 2 Continues on next page 6...

Страница 605: ...er Tip Make a note in which direction the cable exit hole is facing if the motor shall be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Co...

Страница 606: ...the motor using a bits extender 3 CAUTION Whenever parting mating motor pinion and hub the splines may be damaged if excess ive force is used 4 Removal tool M12 If needed fit removal tools in opposit...

Страница 607: ...ons before refitting the axis 5 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...

Страница 608: ...7 Make sure the o ring is undamaged Note Replace if damaged 3 Lubricate the o ring with some grease 4 xx1200001020 Make sure the o ring is seated in the groove 5 Continues on next page 608 Product man...

Страница 609: ...C7887 1 Attach the rotation tool and use it to rotate the pinion when mating it into the gear 2 24 VDC power supply To release the brakes connect the 24 VDC power supply 3 Connect to connector R2 MP5...

Страница 610: ...posi tion on the guide pins while at the same time rotating the motor pinion slightly Make sure that the motor pinion is properly mated into the hub the motor pinion does not get dam aged the directio...

Страница 611: ...ality 12 9 Gleitmo 4 pcs xx1200001017 Disconnect the 24 VDC power supply 10 Connecting the axis 5 motor cables Note Action xx1500002717 Push the motor cables in through the cable gland opening 1 Conti...

Страница 612: ...he markings on the connectors 3 O ring 3HAC054692 002 xx1200001070 Inspect the o ring Note Replace if damaged 4 CAUTION When refitting the motor cover make sure that none of the cables inside will be...

Страница 613: ...cover is tightly sealed 7 Concluding procedure Note Action xx1600000046 Make sure the contact surface on the wrist cover is undamaged 1 Loctite 574 xx1600000048 Apply flange sealant Loctite 574 on the...

Страница 614: ...e 805 Recalibrate the robot 5 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requirements are met when performing the first test run These a...

Страница 615: ...er Spare part 3HAC058951 003 Graphite White 3HAC049875 004 ABB Orange Rotating AC motor including pinion Required tools and equipment Note Article number Equipment etc Used to release the motor brakes...

Страница 616: ...e 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...

Страница 617: ...bot before entering the robot working area 3 Retrieving access to the wrist cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned o...

Страница 618: ...raulic pressure and air pressure are turned off 1 Make sure that the axis 5 is as close to 90 or 90 position as possible depend ing on what repair work is being done Note Not needed if only replacing...

Страница 619: ...et Replace if damaged 3 xx1300000488 Disconnect the motor cables 4 xx1300000484 Unscrew the attachment screws holding the cable bracket 5 Continues on next page Product manual IRB 8700 619 3HAC052853...

Страница 620: ...on and pull out the axis 6 motor cables by holding the cables at the motor with one hand and the other one at the carrier 8 Removing the axis 6 motor Note Action 24 VDC power supply To release the bra...

Страница 621: ...by fitting the removal tool to the attach ment holes of the motor 4 CAUTION The motor weighs 14 kg 5 xx1500003098 Remove the motor by lifting it straight up from the gear Make sure the motor pinion i...

Страница 622: ...and gearbox 11 Wipe clean the contact surfaces from any remain ing contamination 12 Also wipe clean the o ring groove O ring 3HAB3772 107 xx1200001019 Make sure the o ring is undamaged Replace if dam...

Страница 623: ...90 or as close as possible for a correct installation of the cable harness spiral in the wrist If not connect the 24 VDC power supply release the brakes and move axis 5 manu ally to 90 1 xx1500003099...

Страница 624: ...Note The M4 screw is located at the bottom of the carrier Tip The M4 screw may be difficult to fit Make sure the carrier is level and completely pressed against the bottom 4 Attachment screws M6x12 2...

Страница 625: ...R2 MP6 pin 2 24V pin 5 0V Grease Castrol Molub Alloy 777 1 NG xx1500002346 Make sure that there is enough grease on the splines before fitting If not apply 1 gram of grease 3 CAUTION Whenever parting...

Страница 626: ...into its mounting position while at the same time pushing the motor cables in through the cable gland recess Make sure the motor pinion is properly mated into the hub Make sure the motor pinion is not...

Страница 627: ...xis 6 motor cables step 2 Note Action xx1300000488 Reconnect the the axis 6 motor connectors Note Place the resolver cable underneath the motor cable 1 xx1500003095 Make sure the gasket on the motor c...

Страница 628: ...et with a cable tie Note The position of axis 4 depends on the on going procedure 5 xx1500002331 Remove all residues of old sealant and other contamination from the wrist cover contact surfaces 6 Flan...

Страница 629: ...bed in Calibrating with Axis Calibration method on page 805 Recalibrate the robot 1 General calibration information is included in section Calibration on page 795 DANGER Make sure all safety requireme...

Страница 630: ...listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC049795 003 Hub with pinion Required tools and e...

Страница 631: ...es Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 4 pcs 6 pcs 4 pcs 8 pcs 8 pcs 6 pcs Pinion on the hub There are three different pinions on the hub Pinion axis 5 Pinion axis 4 and axis 6 Pinion axis 1 axi...

Страница 632: ...stion 3 Removing the hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1500002038 Unscrew the M6x30 hex socket head cap scr...

Страница 633: ...lly 5 Refitting the hub Use these procedures to refit the hub Preparations before refitting the hub Note Action Wipe the hub clean 1 Inspect the hole where the hub shall be refitted Wipe clean if need...

Страница 634: ...mine the pinion and the splines in the hub for damages 5 Grease Castrol Molub Alloy 777 1 NG xx1500002346 Make sure that there is enough grease on the splines before fitting If not apply 1 gram of gre...

Страница 635: ...hment screws M6x30 12 9 Remove the two M6x110 and fit the attach ment screws for the hub 4 Loctite 243 Apply locking liquid Loctite 243 on the screws Note The number of attachment screws differ depend...

Страница 636: ...ibration is described in Calibrating with Axis Calibration method on page 805 Re calibrate the robot 4 General calibration information is included in section Calibration on page 795 DANGER Make sure a...

Страница 637: ...t numbers that are listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048963 002 Reduction gear RV...

Страница 638: ...5521 2 Guide pin M10x150 Used to push out the motor if neces sary Always use removal tools in pairs 3HAC14631 1 Removal tool M12 2 pcs Fully threaded Used as removal tools when removing the hub Screw...

Страница 639: ...es 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...

Страница 640: ...e robot working area 2 Removing the mechanical stop pin Note Action CAUTION The mechanical stop pin weighs 13 kg 1 xx1500002091 Put a piece of wood or similar underneath the stop pin to prevent it fro...

Страница 641: ...he piece of wood or similar with the other hand 5 xx1500002089 Remove the stop pin by sliding it down out off its hole and moving it slightly forwards 6 Continues on next page Product manual IRB 8700...

Страница 642: ...accessories used must be sized accordingly 2 A xx1400002590 A Lifting eye M24 4 pcs Fit two lifting eyes to the holes in the frame and two lifting eyes to the holes in the counter weight DANGER Never...

Страница 643: ...eyes have sharp edges that might damage the roundslings lifting shackles must be used to attach the roundslings to the lifting eyes Make sure the roundslings do not rub against any sharp edges xx17000...

Страница 644: ...nt screws 4 Tightening torque 325 Nm Use caution and lower the robot slowly down onto the supporting pillars making sure the holes in robot base will match the holes in the pillars 5 Follow user instr...

Страница 645: ...ench xx1500003084 Disconnect R1 SMB Tip Use a Sparkplug wrench or similar xx1200000888 4 xx1500003085 Remove the two earth cables 5 Continues on next page Product manual IRB 8700 645 3HAC052853 001 Re...

Страница 646: ...is 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx1200001135 Unscrew the attachment screws with washers and r...

Страница 647: ...hole is facing if the motor will be re moved too The motor shall be refitted in the same position 5 Use caution and pull out the motor cables 6 Removing the axis 1 motor Note Action DANGER Make sure...

Страница 648: ...the attachment screws and washers Use a bits extender to reach the screws 5 Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 6 Always use guide pins in pairs CAUTION Whenever parting ma...

Страница 649: ...electrical power hydraulic pressure and air pressure are turned off 1 xx1500002038 Unscrew the M6x30 hex socket head cap screws that secure the hub Note Do not remove the M6x16 torx pan head screws 2...

Страница 650: ...326 Lift out the hub carefully 5 Separating base including gearbox from the arm system Note Action xx1500003118 Remove the plastic plugs covering the M16x110 screws 1 Continues on next page 650 Produc...

Страница 651: ...place and making sure the bit is correctly fitted Person two working beside the ro bot working with the torque wrench 3 Make sure that all screws have been re moved and that the lifting accessories a...

Страница 652: ...ng is still fitted to the frame and the axis 1 gearbox is still fitted to the base xx1500003121 Use caution and lift the complete arm sys tem up Note Lifting height needed for the complete arm system...

Страница 653: ...e lifting ac cessories are removed 7 Removing the axis 1 gearbox Note Action Lifting eye M16 3HAC14457 4 2 pcs Fit lifting eyes in opposite holes Note Do not tighten the lifting eyes completely agains...

Страница 654: ...and the torque wrench to facilitate the re moval 5 xx1500003123 Use caution and lift the gearbox off 6 xx1500003124 Make sure not to loose the small o ring between base and gearbox 7 Continues on next...

Страница 655: ...ing accessory chain to the axis 1 gearbox 3 Stretch the lifting chain and lift the axis 1 gearbox up 4 Remove old residues of sealant and other contamination from the axis 1 gearbox and base DANGER Le...

Страница 656: ...guide pins 6 Attachment screws M20x60 12 9 Gleitmo xx1500003122 Attach the 16 of the 18 attachment screws that will secure the gearbox to the base Tip This procedure is best done with two per sons wor...

Страница 657: ...ightening torque step 2 450 Nm Torque Multiplier xx1500003127 Attaching lifting accessories complete arm system If the lifting accessories have been removed from the arm system refit them accordingly...

Страница 658: ...ve sharp edges that might damage the roundslings lifting shackles must be used to attach the roundslings to the lifting eyes Make sure the roundslings do not rub against any sharp edges xx1700000969 A...

Страница 659: ...d must be sized accordingly 3 Use caution and lift the complete arm sys tem up 4 Clean contact surfaces between base in cluding gearbox cross roller bearing and frame DANGER Let only one hand stay und...

Страница 660: ...r bearing One of the guide pins shall be matched against the hole closest to the small dowel pin in the bas 7 xx1700000933 Continues on next page 660 Product manual IRB 8700 3HAC052853 001 Revision F...

Страница 661: ...guide pins 9 Securing the complete arm system to base and axis 1 gearbox Note Action Attachment screws M16x70 12 9 Gleitmo 18 pcs xx1500003120 Attach the screws that hold the cross roller bearing to...

Страница 662: ...e very difficult to reach Using a magnet will probably be the only way to get hold of the lost screw 3 Attachment screws M16x110 12 9 Gleitmo 18 pcs xx1500003119 Fit the attachment screws that hold th...

Страница 663: ...g of the screws 6 Tightening torque step 2 300 Nm xx1600000040 xx1500003118 Refit the plastic plugs 7 xx1700000934 Refit the cable bracket inside the frame 8 Preparations before refitting the hub Note...

Страница 664: ...he pinion and the splines in the hub for damages 5 Grease Castrol Molub Alloy 777 1 NG xx1500002346 Make sure that there is enough grease on the splines before fitting If not apply 1 gram of grease 6...

Страница 665: ...screws M6x30 12 9 Remove the two M6x110 and fit the attach ment screws for the hub 4 Loctite 243 Apply locking liquid Loctite 243 on the screws Note The number of attachment screws differ depending o...

Страница 666: ...contact surfaces on both motor and gearbox 2 Wipe clean the contact surfaces from any remain ing contamination 3 Also wipe clean the o ring groove O ring 3HAB3772 107 xx1200001019 Inspect the o ring...

Страница 667: ...e pins in opposite holes 1 Always use guide pins in pairs CAUTION The motor weighs 27 kg All lifting accessories used must be sized accordingly 2 Lifting accessory motor 3HAC14459 1 Apply the lifting...

Страница 668: ...g motor pinion and hub the splines may be damaged if excess ive force is used 7 Lifting accessory chain 3HAC15556 1 Lower the motor into position Make sure that the motor pinion is properly mated into...

Страница 669: ...f not already done 10 Disconnect the 24 VDC power supply 11 Attaching lifting accessories complete robot If the lifting accessories have been removed from the arm system refit them accordingly Note Ac...

Страница 670: ...ad crane CAUTION If the lifting eyes have sharp edges that might damage the roundslings lifting shackles must be used to attach the roundslings to the lifting eyes Make sure the roundslings do not rub...

Страница 671: ...ars 2 Unscrew the attachment screws that secure the supporting pillars to the foundation 3 Remove the supporting pillars 4 Screws M24 x 100 12 pcs 8 8 Lower the robot onto the foundation and secure 5...

Страница 672: ...from the axis 1 bracket runs untangled to all connection points down through the hole in the frame to the base plate to the axis 1 motor to the axis 2 motor to the axis 3 motor to the SMB BU recess A...

Страница 673: ...R1 MP cables through the base 7 Sparkplug wrench xx1500003084 Refit the R1 SMB cable with the large re cess pointing upwards to the right Tip Use a Sparkplug wrench or similar xx1200000888 8 Attachmen...

Страница 674: ...e cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page 674 Product manual IRB...

Страница 675: ...Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment screws Replace with standard attachment screws or the threads will be damaged Note Make sure the o rin...

Страница 676: ...sition 1 Clean the stop pin as well as the hole for it 2 Corrosion protection Mercasol xx1500002094 Apply corrosion protection on the marked area on the stop pin and on the matching area in the hole 3...

Страница 677: ...nical stop pin Tip Use caution and move the stop pin a little up and down while at the same time care fully fitting the set screw making sure that the screw will secure the stop pin in the groove 7 Ti...

Страница 678: ...ation is included in section Calibration on page 795 DANGER Make sure all safety requirements are met when performing the first test run These are further detailed in the section First test run may ca...

Страница 679: ...sted in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048392 003 Reduction gear RV 900N incl input gear...

Страница 680: ...axis 2 or axis 3 gear box in out 3HAC059801 001 Mounting set gear axis 2 and 3 Mobile platform ladder Lifting capacity 2 000 kg Roundsling 2 m Lifting capacity 2 000 kg Roundsling 2 5 m M16 3HAC14457...

Страница 681: ...page 806 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...

Страница 682: ...x to the lower arm is reversed area 3 then area 2 and last area 1 Robot position when removing screws in area 1 With the robot in this position it is possible to reach the screws in area 1 of screws t...

Страница 683: ...e One side must always be attached when the gearbox on the other side is removed If not there is a potential risk that a severe accident will happen 1 1 2 3 1 2 3 xx1500002975 Find area 1 Note Do not...

Страница 684: ...ck screw hole Note Keep the plastic plugs It shall be refitted after the work is done 3 xx1500002335 xx1500002367 Jog axis 3 to the area shown in the figure 4 Continues on next page 684 Product manual...

Страница 685: ...axis 2 and axis 3 Note Action xx1500002310 Jog the robot to calibration position 1 Tightening torque 100 Nm Secure the axis 2 with a lock screw 2 Lock screw quality 12 9 M20x150 xx1500002322 Continue...

Страница 686: ...24 VDC power supply Release the brakes on axis 3 using the brake release button and let the axis rest on the lock screw 5 DANGER Turn off all electric power supply hydraulic pressure supply air pressu...

Страница 687: ...ER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Mobile platform ladder xx1500001985 Use a Mobile platform ladder or similar to reach the upper...

Страница 688: ...screws until the screws reaches the piston Then alternately little by little attach the screws at least another five mil limeters The pressure is now unloaded 5 Screw M16x80 2 pcs In a procedure where...

Страница 689: ...e motor cover 2 xx1200001070 Make sure the o ring is present 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 689 3HAC052853 001 Revision F Copyright 2015 20...

Страница 690: ...ng make sure the lower arm and or parallel arm are secured with lock screws 1 To release the brake connect the 24 VDC power supply to the motor in question 2 Connect to connector R2 MP2 axis 2 mo tor...

Страница 691: ...ccessory 8 xx1500002325 Use caution and lift the motor out on the guide pins in order to get the pinion away from the hub Let the motor rest on the guide pins 9 Disconnect the 24 VDC power supply 10 x...

Страница 692: ...rbox the gears may be damaged if excessive force is used 3 Attachment screws M6x110 2 pcs xx1500002081 Fit two screws in opposite holes of the hub and use them as removal tools 4 xx1500002326 Lift out...

Страница 693: ...e hole below the present ones 1 Always use guide pins in pairs xx1500002336 1 2 3 1 2 3 xx1500002975 Find area 2 2 xx1500003111 Remove the attachment screws in area 2 3 Continues on next page Product...

Страница 694: ...de pins in pairs xx1700000935 Removing the axis 2 gearbox from the lower arm step 3 screws in area 3 Note Action 1 2 3 1 2 3 xx1500002975 Find area 3 1 xx1500003112 Remove the attachment screws that s...

Страница 695: ...t screws 22 pcs and the six hole washers 4 pcs 3 Note There will be some oil spill when the motor flange is removed Put some paper or similar to absorb the surplus oil 4 xx1500002314 Use caution and m...

Страница 696: ...AC059801 001 xx1600001553 Insert the guide pins in four of the screw holes Fasten the set collars 1 xx1500002337 Attach three screws in a triangle and use them as removal tools 2 Continues on next pag...

Страница 697: ...600001554 Attach the lifting accessories 4 Attaching lifting accessories and removal of gearbox Note Action CAUTION The gearbox weighs 160 kg All lifting accessories used must be sized accordingly 1 C...

Страница 698: ...ty 2 000 kg Connect another roundsling to the first one with a shackle 4 Shackle SA 10 8 NA1 xx1400000729 Attach the roundslings to an overhead crane or similar and raise to take the weight of the gea...

Страница 699: ...ws with the robot in only one position Removal and refitting must be performed with the robot in two different positions described in the procedures Robot position Note Action xx1500002085 Make sure t...

Страница 700: ...e 3 Grease xx1500002340 Apply some grease on the thin chamfer on the lower arm 4 Grease xx1500002341 Apply some grease on the thin chamfer on the gearbox 5 Continues on next page 700 Product manual IR...

Страница 701: ...ting 8 Attaching lifting accessories to the gearbox Note Action CAUTION The gearbox weighs 160 kg All lifting accessories used must be sized accordingly 1 Lifting accessory gearbox 3HAC054404 001 Atta...

Страница 702: ...ly Mercasol 40 mm from the lower arm side on the contact surface 1 Note Area where to apply Mercasol 40 mm wide from the lower arm side Mercasol xx1500002350 Apply Mercasol on the surface of the seali...

Страница 703: ...e figure be attached to the frame The other side of the gearbox shall be attached to the lower arm 5 Tightening torque 100 Nm Attach three M16x130 screws with six hole washers underneath in a triangle...

Страница 704: ...turn the small gear in the gearbox to find the hole pattern 2 Attachment screws M16x70 12 9 Gleitmo xx1500003112 Attach the screws with washers in area 3 Note Do not torque the screws at this point 3...

Страница 705: ...16x70 12 9 Gleitmo xx1500003111 Attach the screws with washers in area 2 Note Do not torque the screws at this point 4 Refitting the motor flange Note Action xx1500002347 Remove the three M16x130 scre...

Страница 706: ...guide pins make sure the oil inspection glass is facing at six o clock 8 xx1500002314 Lift the motor flange onto the guide pins 9 Make sure the o rings are in position and slide the motor flange into...

Страница 707: ...Nm xx1500002373 Secure motor flange together with the gearbox to the frame 1 Securing the axis 2 gearbox to lower arm screws in areas 2 and 3 Note Action Tightening torque 300 Nm xx1500002339 Secure t...

Страница 708: ...rease on the o ring for a bet ter fitting 4 xx1500002082 Examine the pinion and the splines in the hub for damages 5 Grease Castrol Molub Alloy 777 1 NG xx1500002346 Make sure that there is enough gre...

Страница 709: ...screws M6x30 12 9 Remove the two M6x110 and fit the attach ment screws for the hub 4 Loctite 243 Apply locking liquid Loctite 243 on the screws Note The number of attachment screws differ depending o...

Страница 710: ...ntact surfaces on both motor and gearbox 2 Wipe clean the contact surfaces from any remain ing contamination 3 Also wipe clean the o ring groove O ring 3HAB3772 107 xx1200001019 Inspect the o ring Not...

Страница 711: ...site holes 1 Always use guide pins in pairs CAUTION The motor weighs 27 kg All lifting accessories used must be sized accordingly 2 Lifting accessory motor 3HAC15534 1 Attach the lifting accessory 3 x...

Страница 712: ...rotating the motor pinion slightly using the rotation tool Make sure that the motor pinion is properly mated into the hub Make sure that the motor pinion does not get damaged Make sure that the direc...

Страница 713: ...he cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IRB 87...

Страница 714: ...sure that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment...

Страница 715: ...e of the balancing device by unscrewing the two M16x80 screws alternately little by little 2 Remove the screws 3 Attachment screws M16x35 2 pcs xx1500001971 Refit the M16x35 screws in the holes on top...

Страница 716: ...335 Jog axis 2 to be able to attach the plastic plug 4 xx1500002366 Jog axis 3 to be able to attach the plastic plug 5 Refitting the axis 2 gearbox to the lower arm screws in area 1 Note Action Jog th...

Страница 717: ...one 1 See Changing oil in axis 2 and axis 3 gearbox on page 147 Refill the gearbox with oil 2 Axis Calibration is described in Calibrating with Axis Calibration method on page 805 Recalibrate the robo...

Страница 718: ...ted in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC048392 003 Reduction gear RV 900N incl in put gear...

Страница 719: ...d to slide the axis 2 or axis 3 gear box in out 3HAC059801 001 Mounting set gear axis 2 and 3 Mobile platform ladder Lifting capacity 2 000 kg Roundsling 2 m Lifting capacity 2 000 kg Roundsling 2 5 m...

Страница 720: ...06 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 externa...

Страница 721: ...axis 3 gearbox to the parallel arm is reversed area 3 area 2 and then area 1 Robot position when removing axis 3 from parallel arm screws in area 1 With the robot in this position it is possible to r...

Страница 722: ...same position This procedure describes how to reach the screws in the first area Only remove the screws in this area at this point Use this procedure to remove the screws that secure the axis 3 gearbo...

Страница 723: ...y air pressure supply to the robot before entering the robot working area 2 Removing the axis 3 gearbox from parallel arm step 2 screws in area 2 Use this procedure to remove the screws that secure th...

Страница 724: ...Preparations before jogging the robot into calibration position Note Action Turn the power to the robot on 1 xx1500002334 Jog axis 2 to within the area shown in the figure 2 Continues on next page 72...

Страница 725: ...tic plug It shall be refitted after the work is done 3 xx1500002335 xx1500002367 Jog axis 3 to the area shown in the figure 4 Continues on next page Product manual IRB 8700 725 3HAC052853 001 Revision...

Страница 726: ...axis 2 and axis 3 Note Action xx1500002310 Jog the robot to calibration position 1 Tightening torque 100 Nm Secure the axis 2 with a lock screw 2 Lock screw quality 12 9 M20x150 xx1500002322 Continue...

Страница 727: ...24 VDC power supply Release the brakes on axis 3 using the brake release button and let the axis rest on the lock screw 5 DANGER Turn off all electric power supply hydraulic pressure supply air pressu...

Страница 728: ...ER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Mobile platform ladder xx1500001985 Use a Mobile platform ladder or similar to reach the upper...

Страница 729: ...screws until the screws reaches the piston Then alternately little by little attach the screws at least another five mil limeters The pressure is now unloaded 5 Screw M16x80 2 pcs In a procedure where...

Страница 730: ...e motor cover 2 xx1200001070 Make sure the o ring is present 3 xx1200001066 Disconnect the motor cables 4 Continues on next page 730 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 20...

Страница 731: ...ay fall down Before continuing the lower arm and parallel arm must be secured 1 24 VDC power supply In order to release the brakes connect the 24 VDC power supply 2 Connect connector R2 MP3 pin 2 24V...

Страница 732: ...ized accordingly 7 Lifting accessory motor 3HAC15534 1 Attach the lifting accessory 8 xx1600000070 Lift the motor out on the guide pins in or der to get the pinion away from the hub Let the motor rest...

Страница 733: ...M6x16 torx pan head screws 2 CAUTION Whenever parting mating the hub pinion and gearbox the gears may be damaged if excessive force is used 3 Attachment screws M6x110 2 pcs xx1500002081 Fit two screw...

Страница 734: ...step 3 screws area 3 Note Action 1 2 3 1 2 3 xx1500002974 Find area 3 1 xx1500003116 Remove the attachment screws in area 3 2 Continues on next page 734 Product manual IRB 8700 3HAC052853 001 Revision...

Страница 735: ...or flange Note Action xx1500002358 Remove two attachment screws in opposite holes 1 Mounting set gear axis 2 and 3 3HAC059801 001 Fit guide pins in the holes 2 xx1500002359 Remove the remaining attach...

Страница 736: ...500002317 Make sure the o rings are present 6 Removing the axis 3 gearbox from parallel arm Note Action Mounting set gear axis 2 and 3 3HAC059801 001 xx1600001553 Attach two additional guide pins in o...

Страница 737: ...the four guide pins just enough to be able to attach the lifting accessories 3 Lifting accessory gearbox 3HAC054404 001 xx1600001554 Attach the lifting accessories 4 Continues on next page Product man...

Страница 738: ...3 gearboxes at the same time One of the gearboxes must stay fitted when the other is replaced If not the complete arm system will not have any secure connection to the frame and thereby be a great se...

Страница 739: ...n and lift the gearbox up and let it rest on its side CAUTION Make sure the gearbox is resting in a stable position 1 Sealing ring 3HAC052423 001 xx1600000067 Fit a new sealing ring 2 Clean the contac...

Страница 740: ...1500002341 Apply some grease on the thin chamfer on the gearbox 5 Mounting set gear axis 2 and 3 3HAC059801 001 xx1500002361 Fit guide pins as shown in the figure 6 Continues on next page 740 Product...

Страница 741: ...sories used must be sized accordingly 1 Lifting accessory gearbox 3HAC054404 001 xx1600001554 Attach the lifting accessories to the gear box 2 Roundsling 2 m Lifting capacity 2 000 kg 2 pcs Attach a r...

Страница 742: ...Make sure that the sealing ring is attached cor rectly on the gearbox 2 xx1500002344 Orient the gearbox to match the hole patterns before lifting the gearbox onto the guide pins If the hole pattern d...

Страница 743: ...th in a triangle and use them alternately to press the gearbox into position Note The six hole washers are needed for protection of the gearbox surface when screws are attached 6 Attachment screws M16...

Страница 744: ...outer ring of holes 3 Attachment screws M16x70 12 9 Gleitmo xx1500003116 Attach the remaining attachment screws with washers in area 3 Note Do not torque the screws at this point 4 Lower arm is hidde...

Страница 745: ...Apply some grease on the o rings 5 Attach the smaller o ring in the gearbox groove 6 Attach the larger o ring on the motor flange 7 xx1500002354 Before lifting the motor flange onto the guide pins ma...

Страница 746: ...ith the four six hole washers 12 xx1500002356 Remove the guide pins and attach the remaining screws 13 Attaching the axis 3 gearbox to frame step 2 Use this procedure to secure the axis 3 gearbox toge...

Страница 747: ...e that all screws in this area now has been torqued 4 Preparations before refitting the hub Note Action Wipe the hub clean 1 Inspect the hole where the hub shall be refitted Wipe clean if needed 2 xx1...

Страница 748: ...ng the hub Note Action Attachment screws M6x110 2 pcs xx1500002081 Attach two screws in opposite holes of the hub and use them as tools to fit the hub 1 CAUTION Whenever parting mating the hub pinion...

Страница 749: ...Action See Performing a leak down test on page 184 Perform a leak dowm test 1 Preparations before refitting the motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pre...

Страница 750: ...roove Tip Lubricate the o ring with some grease for a better fitting in the groove 5 Flange sealant Loctite 574 xx1500002357 Apply flange sealant on the motor flange 6 Continues on next page 750 Produ...

Страница 751: ...the correct way 4 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 5 Remove the lifting accessory and allow the mo...

Страница 752: ...w dimension M10x40 quality 12 9 Gleitmo 4 pcs Fit two of the attachment screws 11 Remove the guide pins and replace with the remaining attachment screws 12 Bits extender 3HAC12342 1 Secure the motor w...

Страница 753: ...t the cable gland cover Note Replace the gasket if damaged 2 xx1200001066 Connect the motor cables Connect in accordance with the markings on the connectors 3 Continues on next page Product manual IRB...

Страница 754: ...sure that none of the cables inside will be dam aged 7 Attachment screws M5x12 8 8 7 pcs xx1200001135 Refit the motor cover with its attachment screws Note Do not reuse the self threading attachment...

Страница 755: ...e of the balancing device by unscrewing the two M16x80 screws alternately little by little 2 Remove the screws 3 Attachment screws M16x35 2 pcs xx1500001971 Refit the M16x35 screws in the holes on top...

Страница 756: ...osition where it is possible to attach the plastic plug and attach the plug 4 xx1500002366 Jog axis 3 to the position where it is possible to attach the plastic plug and attach the plug 5 Robot positi...

Страница 757: ...Gleitmo Attach and secure the screws in area 2 2 Tightening torque 300 Nm xx1500003115 Lower arm is hidden in this figure to get a better view Tip To make sure that all screws in this area are torqued...

Страница 758: ...pply to the robot before entering the robot working area 2 Refitting the axis 3 gearbox to parallel arm screws in area 1 Note Action 1 2 3 1 2 3 xx1500002974 Find area 1 1 Attachment screws M16x70 12...

Страница 759: ...on page 147 Refill the gearbox with oil 2 Axis Calibration is described in Calibrating with Axis Calibration method on page 805 Recalibrate the robot 3 General calibration information is included in...

Страница 760: ...are listed in the table can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC043073 003 Graphite White 3HAC048293 001 ABB...

Страница 761: ...les Note Article number Consumable Castrol Molub Alloy 777 1 NG 5 ml To be used on hub splines to prevent from fretting corrosion 3HAC063069 001 Grease Loctite 243 3HAB7116 1 Locking liquid Loctite 57...

Страница 762: ...from the robot Removing the axis 4 primary gearbox Use these procedures to remove the gearbox Preparations before removing the gearbox Note Action Decide which calibration routine to use and take act...

Страница 763: ...tor cover 2 xx1200001070 Make sure the o ring is present 3 xx1200001066 Disconnect the motor cables 4 Continues on next page Product manual IRB 8700 763 3HAC052853 001 Revision F Copyright 2015 2018 A...

Страница 764: ...nding on the position of axis 5 1 To release the brakes connect the 24 VDC power supply 2 Connect to connector R2 MP4 pin 2 24V pin 5 0V xx1600000064 Unscrew the attachment screws with washers that se...

Страница 765: ...remove the motor by lifting it straight out Make sure the pinion is not damaged 9 Disconnect the 24 VDC power supply 10 Removing the hub Note Action DANGER Make sure that all supplies for electrical...

Страница 766: ...tools 4 xx1500002326 Lift out the hub carefully 5 Removing the gear Z3 Note Action xx1500002985 Make a note of the position of the revolu tion indicator on axis 4 Tip Use a marker pen to indicate the...

Страница 767: ...ins 3HAC13056 3 M12x200 2 pcs xx1500002988 Unscrew two M12 screws in opposite holes and replace them with guide pins Tip Put some grease on the guide pins for a better fitting 4 M12 and M16 xx15000029...

Страница 768: ...ar weighs 11 kg All lifting accessories used must be sized accordingly 8 Use caution and lift the gear off 9 xx1500002991 Note Do not remove the washers shown in the figure Underneath is a sealing whi...

Страница 769: ...13056 2 M12x150 mm Attach guide pins in the holes Tip Apply some grease on the guide pins for a better fitting 3 Guide pins 3HAC13056 3 M12x200 mm xx1500002994 Remove the remaining attachment screws a...

Страница 770: ...16 3 pcs xx1500002996 Unscrew the screws that hold the axis 3 bracket and let it hang free 1 Lifting accessory axis 4 primary gearbox Attach the lifting accessories to the primary gearbox 2 If needed...

Страница 771: ...ct surfaces on the axis 4 primary gearbox 3 Guide pins 3HAC13056 2 M12x150 Attach guide pins in opposite holes Tip Put some grease on the guide pins for a better fitting 4 Guide pins 3HAC13056 3 M12x2...

Страница 772: ...se on the o ring for a better fitting 3 CAUTION Whenever parting mating motor and gear box the gears may be damaged if excess ive force is used 4 Loctite 574 xx1600000073 Apply flange sealant 5 xx1500...

Страница 773: ...ve the lifting accessories 9 Refitting the motor flange Note Action Clean the contact surfaces on gearbox and motor flange 1 xx1500003074 Clean o ring and o ring groove on motor flange 2 Inspect the o...

Страница 774: ...ge into position 7 xx1600000068 Note When the four six hole washers are fitted make sure that the three holes in the gearbox are covered 8 Attachment screws M12x110 12 9 Gleitmo 603 32 pcs xx150000299...

Страница 775: ...primary gearbox 1 Preparations before refitting the hub Note Action Wipe the hub clean 1 Inspect the hole where the hub shall be refitted Wipe clean if needed 2 xx1500002039 Make sure the o ring on th...

Страница 776: ...he hub Note Action Attachment screws M6x110 2 pcs xx1500002081 Attach two screws in opposite holes of the hub and use them as tools to fit the hub 1 CAUTION Whenever parting mating the hub pinion and...

Страница 777: ...Axis 4 4 pcs Axis 5 6 pcs Axis 6 4 pcs Tightening torque 14 Nm Secure the hub 5 Refitting the gear Z3 step 1 Note Action Wipe clean the contact surfaces 1 Guide pins 3HAC13056 2 M12x150 Attach guide p...

Страница 778: ...e pins 4 Attachment screws M16x50 12 9 Gleitmo 603 Secure the gear and shims with three of the nine M16x50 screws Attach screws in a triangle 5 Tightening torque 300 Nm xx1500003079 Remove the guide p...

Страница 779: ...with a micromet er that the value is correct 4 Tightening torque 300 Nm Secure the gear with three of the M16x50 screws attached in a triangle 5 Measure the play again If the measured result deviates...

Страница 780: ...ge 184 Perform a leak down test 7 Preparations before refitting the axis 4 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off...

Страница 781: ...5 xx1200001135 If the motor is a new spare part remove the cover 6 Securing the axis 4 motor Note Action Guide pin M10x150 3HAC15521 2 Apply two guide pins in opposite holes 1 Always use guide pins in...

Страница 782: ...ing mating motor and gear box the gears may be damaged if excess ive force is used 7 xx1600000065 Use caution and push the motor in position while at the same time the motor pinion is slightly rotated...

Страница 783: ...n test on page 184 Perform a leak down test 11 Disconnect the 24 VDC power supply 12 Connecting the axis 4 motor cables Note Action xx1300000738 Push the motor cables through the cable gland opening 1...

Страница 784: ...54692 002 xx1200001070 Inspect the o ring Note Replace if damaged 4 Wipe clean o ring and o ring groove 5 Refit the o ring 6 CAUTION When fitting the motor cover make sure that none of the cables insi...

Страница 785: ...4 primary gearbox 1 See Changing oil axis 4 secondary gear box on page 159 Refill oil in the axis 4 secondary gearbox 2 Axis Calibration is described in Calibrating with Axis Calibration method on pag...

Страница 786: ...e can be out of date See the latest revision of Product manual spare parts IRB 8700 on ABB Library Note Article number Spare part 3HAC043073 003 Graphite White 3HAC048293 001 ABB Orange Reduction Gear...

Страница 787: ...tion 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...

Страница 788: ...other equipment fitted to the turning disc 4 See Changing oil axis 6 gearbox on page 168 Drain the axis 6 gearbox 5 Removing the turning disc Note Action DANGER Make sure that all supplies for electr...

Страница 789: ...draulic pressure and air pressure are turned off 1 CAUTION The process turning disc weighs 50 kg All lifting accessories must be sized accord ingly 2 Roundsling 1 m Lifting capacity 1 000 kg Attach a...

Страница 790: ...0V xx1500002981 Remove the calibration pin holder by un screwing the two M12x110 screws Note Use caution not to damage the guiding pins 3 xx1500002982 Unscrew the attachment screws that secure the ax...

Страница 791: ...s before refitting the axis 6 gearbox Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Wipe clean all contact surfaces 2 Sealing...

Страница 792: ...ect to connector R2 MP6 pin 2 24V pin 5 0V xx1500002983 Use caution and refit the gearbox 4 Attachment screws M12x80 12 9 Gleitmo 29 pcs Secure the gearbox with its attachment screws and washers Note...

Страница 793: ...page 184 Perform a leak down test 7 Refitting the turning disc Note Action xx1500002319 Wipe clean the contact surfaces and refit the axis 6 gearbox 1 xx1500002984 Make sure the sealing ring is fitted...

Страница 794: ...Secure the process turning disc with its attachment screws and washers 5 Tightening torque 120 Nm Concluding procedure Note Action See Changing oil axis 6 gearbox on page 168 Refill the gearbox with...

Страница 795: ...neric 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...

Страница 796: ...ng accuracy in the Cartesian coordinate system for the robot Absolute accuracy calibration option al Absolute accuracy calibration data is found on the SMB serial measurement board in the robot For ro...

Страница 797: ...Accuracy calibration is used as a TCP calibration The CalibWare tool guides through the calibration process and calculates new compensation parameters This is further detailed in the Application manu...

Страница 798: ...nter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 801 This will occur when The battery is discharged A resolver error o...

Страница 799: ...ion marks and the synchronization position for each axis Synchronization marks IRB 8700 Axis 2 xx1500000946 Axis 1 xx1500000945 Axis 4 xx1500000948 Axis 3 xx1500000947 Axis 6 xx1500000950 Axis 5 xx150...

Страница 800: ...es will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions 6 axes Note The graphic shows an IRB 7600 The po...

Страница 801: ...ulting in an incorrect manipulator calibration Make sure the axes are positioned according to the correct calibration values not only according to the synchronization marks The correct values are foun...

Страница 802: ...BB menu tap Calibration xx1500000942 1 All mechanical units connected to the system are shown with their calibration status 2 Tap the mechanical unit in question xx1500000943 Continues on next page 80...

Страница 803: ...calibration method used during last field calibration Tap Manual Method Advanced xx1500000944 A screen is displayed tap Rev Counters en0400000771 4 Continues on next page Product manual IRB 8700 803 3...

Страница 804: ...updating operation cannot be undone Tap Update to proceed with updating the revolution counters Tap Cancel to cancel updating the revolution counters Tapping Update updates the selected revolution co...

Страница 805: ...able 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 Cal...

Страница 806: ...the FlexPendant to create reference values When reference calibration is performed the robot is restored to the status given by the reference values Note When calibrating the robot with the reference...

Страница 807: ...other pins in the calibration bushings may cause severe damage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools 3HAC055412 001 Calibration tool...

Страница 808: ...olution 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 accor...

Страница 809: ...fixed calibration pins and or bushings The figure does not show installed calibration tools A fixed calibration pin and a bushing for the movable calibration tool are located on each axis as follows...

Страница 810: ...aling in the bushing Replace damaged parts with new if needed Note Article number Spare part Contains replacement calibration pin covers and protective plugs for the bushing 3HAC056806 001 Protection...

Страница 811: ...n 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 be...

Страница 812: ...R While conducting the calibration the robot needs to be connected to power Make sure that the robots working area is empty as the robot can make unpredictable movements 1 Use a clean cloth Wipe the c...

Страница 813: ...the FlexPendant is given in Overview of the calibra tion procedure on the FlexPendant on page 811 Follow the instructions given on the FlexPendant 4 Restarting an interrupted calibration procedure If...

Страница 814: ...libration SafeMove needs to be unsynchronized The Axis Calibration routine recognizes if the robot is equipped with SafeMove and will force SafeMove to unsynchronize automatically However SafeMove may...

Страница 815: ...Unsynchronized time limit expired SafeMove message anytime during Axis Calibration routine Note Action SafeMove generates the message Unsynchron ized time limit expired anytime xx1500002482 1 Press OK...

Страница 816: ...ction cover and plug set 3HAC056806 001 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not da...

Страница 817: ...hange 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 799 Adjust the synchronization marks wh...

Страница 818: ...page 799 and Updating revolution counters on page 801 Check that the synchronization marks for the axes align correctly If they do not update the revolu tion counters 6 Using the jogging window Use th...

Страница 819: ...Copper Base lower arm upper arm Cast iron nodular iron Gears screws base frame and so on Steel Brakes motors Neodymium Cables connectors drive belts and so on Plastic rubber Gearboxes Oil grease Cove...

Страница 820: ...organisms Oxygen transfer could also be impaired Spillage can penetrate the soil causing ground water contamination 820 Product manual IRB 8700 3HAC052853 001 Revision F Copyright 2015 2018 ABB All r...

Страница 821: ...ttery is exposed to heat for example from a blow torch 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 mo...

Страница 822: ...rocedures 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 atte...

Страница 823: ...mp the device at the working location Place the device at ground level so that the hole and spring coils are cut from a safe distance and somewhat from above 2 DANGER The hole must be cut as specified...

Страница 824: ...This page is intentionally left blank...

Страница 825: ...ter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 8700 825 3HAC052853 001 Revision F Copyright 2015 2018 ABB All...

Страница 826: ...15i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 2008 EMC Generic emission EN 61000 6 4 2007 A1 2011 IEC 61000 6 4 2006 A1 2010 option 129 1 EMC Generic immunity EN 61000 6 2 2005 IEC 6...

Страница 827: ...15 06 Safety standard for robots and robotic equipment ANSI UL 1740 Industrial robots and robot Systems General safety require ments CAN CSA Z 434 14 Product manual IRB 8700 827 3HAC052853 001 Revisio...

Страница 828: ...9 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume 828 Product manual IRB 8700...

Страница 829: ...ld be used Screws lubricated in other ways Screws lubricated with Molycote 1000 should only be used when specified in the repair maintenance or installation procedure descriptions In such cases procee...

Страница 830: ...air maintenance or installation procedure overrides the standard torque Tightening torque Nm Class 12 9 oil lubric ated Tightening torque Nm Class 10 9 oil lubric ated Tightening torque Nm Class 8 8 o...

Страница 831: ...ing torque for water and air connectors when one or both connectors are made of brass Note A special torque specified in the repair maintenance or installation procedure overrides the standard torque...

Страница 832: ...ry 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 specifica...

Страница 833: ...t Comment Tool Qty Ring open end spanner 8 19 mm 1 Socket head cap 2 5 17 mm 1 Torx socket no 20 60 1 Box spanner set 1 Torque wrench 10 100 Nm 1 Torque wrench 75 400 Nm 1 Ratchet head for torque wren...

Страница 834: ...page 833 and of special tools listed directly in the instructions and also gathered in this section Special tools Note The list of special tools in this revision is not updated A complete and updated...

Страница 835: ...Guide pin M16x150 3HAC13120 2 x x x Guide pin M16x200 3HAC13120 3 Lifting accessories x x x x x x xx1200001241 Lifting accessory chain 3HAC15556 1 x x Lifting accessory motor 3HAC14459 1 x x x Lifting...

Страница 836: ...x Hydraulic pump 80 MPa 3HAC13086 1 x x x x Threaded bar M16x340 3HAC9909 15 Removal tools Removal tool M10 x x Removal tool M12 3HAC14631 1 x x x x x Removal tool M14 3HAC047108 001 Other tools x x x...

Страница 837: ...ing accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories This implies that the instructions delivered with the lifting accessor...

Страница 838: ...This page is intentionally left blank...

Страница 839: ...ws are not included in the manual but delivered as a separate document for registered users on myABB Business Portal www mypo rtal abb com Product manual IRB 8700 839 3HAC052853 001 Revision F Copyrig...

Страница 840: ...This page is intentionally left blank...

Страница 841: ...140 type C 3HAC025611 001 Circuit diagram IRB 260 3HAC028647 009 Circuit diagram IRB 360 3HAC036446 005 Circuit diagram IRB 460 3HAC025691 001 Circuit diagram IRB 660 3HAC025691 001 Circuit diagram I...

Страница 842: ...IRB 6650S 3HAC025744 001 3HAC025744 001 Circuit diagram IRB 6660 3HAC029940 001 3HAC043446 005 Circuit diagram IRB 6700 3HAC13347 1 Circuit diagram IRB 7600 3HAC025744 001 3HAC050778 003 Circuit diag...

Страница 843: ...gh 801 standard type 796 verification 817 when to calibrate 798 calibration Absolute Accuracy 797 calibration manuals 797 calibration marks 799 calibration position jogging to 818 scales 799 calibrati...

Страница 844: ...sal 819 positive directions axes 800 product standards 826 protection classes 51 protection type 51 protective equipment 25 protective wear 25 R refitting cable harness 215 region specific regulations...

Страница 845: ...ions 50 symbols safety 39 synchronization position 801 sync marks 799 system integrator requirements 17 T temperatures operation 51 storage 50 testing brakes 35 three position enabling device 29 torqu...

Страница 846: ......

Страница 847: ......

Страница 848: ...65 N 4349 BRYNE Norway Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics...

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