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IRB 2400/10
ABB IRB 2400/10 User Manual
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1.1.2
Protective
stop
and
emergency
stop
Overview
The
protective
stops
and
emergency
stops
are
described
in
the
product
manual
for
the
controller.
22
Product
manual
-
IRB
2400
3HAC022031-001
Revision:
P
©
Copyright
2004-2018
ABB.
All
rights
reserved.
1
Safety
1.1.2
Protective
stop
and
emergency
stop
21
23
Table of Contents
Default Chapter
5
Table of Contents
5
Overview of this Manual
9
How to Read the Product Manual
14
Product Documentation, M2000/M2000A
15
Product Documentation, IRC5
16
1 Safety
19
General Safety Information
19
Limitation of Liability
19
Protective Stop and Emergency Stop
22
Safety Actions
23
Fire Extinguishing
23
Emergency Release of the Robot Axes
24
Make Sure that the Main Power Has Been Switched off
25
Safety Risks
26
Safety Risks During Installation and Service Work on Robots
26
Moving Robots Are Potentially Lethal
28
First Test Run May Cause Injury or Damage
29
Work Inside the Working Range of the Robot
30
Enabling Device and Hold-To-Run Functionality
31
Risks Associated with Live Electric Parts
32
The Unit Is Sensitive to ESD
34
Hot Parts May Cause Burns
35
Safety Risks Related to Pneumatic/Hydraulic Systems
36
Brake Testing
37
Safety Risks During Handling of Batteries
38
Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
39
Safety Signals and Symbols
41
Safety Signals in the Manual
41
Safety Symbols on Product Labels
43
2 Installation and Commissioning
49
Introduction
49
Unpacking
50
Pre-Installation Procedure
50
Working Range
54
Risk of Tipping/Stability
57
On-Site Installation
58
Lifting Robot with Lifting Slings
58
Manually Releasing the Brakes
59
Orienting and Securing the Robot
61
Mounting the Robot in Suspended Position
63
Loads Fitted to the Robot, Stopping Time and Braking Distances
65
Signal Lamp (Option)
66
Setting the System Parameters for a Suspended or Tilted Robot
67
Restricting the Working Range
71
Axes with Restricted Working Range
71
Mechanically Restricting the Working Range of Axis 1
72
Mechanically Restricting the Working Range of Axis 2
78
Installation of Limit Switch, Axis 3
80
Electrical Connections
81
Connectors on Robot
81
Robot Cabling and Connection Points
82
Start of Robot in Cold Environments
84
3 Maintenance
85
Introduction
85
Maintenance Schedule
86
Specification of Maintenance Intervals
86
Maintenance Schedule
87
Inspection Activities
88
Inspecting Information Labels
88
Inspecting Signal Lamp (Option)
90
Changing Activities
92
Type of Lubrication in Gearboxes
92
Oil Change, Gearbox Axes 5-6 (Wrist Unit)
93
Replacement of SMB Battery
97
Cleaning Activities
100
Cleaning the IRB 2400
100
Service Information System, M2000
103
Using the SIS System
103
Description of Service Information System (SIS)
104
SIS System Parameters
107
Setting the SIS Parameters
108
Reading the SIS Output Logs
109
Exporting the SIS Data
110
4 Repair
111
Introduction
111
General Procedures
112
Performing a Leak-Down Test
112
Mounting Instructions for Bearings
113
Mounting Instructions for Seals
115
Cut the Paint or Surface on the Robot before Replacing Parts
117
The Brake Release Buttons May be Jammed after Service Work
119
Complete Robot
120
Replacement of Cable Unit, Axes 1-3
120
Replacement of Cable Harness, Axes 4-6
126
Upper Arm
134
Replacement of Wrist IRB 2400/10/16
134
Replacement of Wrist IRB 2400L
138
Replacement of Complete Upper Arm
141
Lower Arm
145
Replacement of Complete Lower Arm
145
Replacement of Tie Rod
149
Frame and Base
153
Replacement of SMB Unit
153
Replacement of Brake Release Unit
159
Replacement of Parallel Arm
164
Motors
168
Replacement of Motor, Axis 1
168
Replacement of Motor, Axis 2
173
Replacement of Motor, Axis 3
178
Replacement of Motors, Axes 4-6, IRB 2400L
183
Replacement of Motors, Axes 4-6, IRB 2400/10/16
190
Gearboxes
197
Replacement of Gearbox, Axis
197
Replacement of Drive Shaft Unit, IRB 2400L
200
5 Calibration Information
205
When to Calibrate
205
Calibration Methods
206
Synchronization Marks and Synchronization Position for Axes
208
Calibration Movement Directions for All Axes
209
Updating Revolution Counters
210
Checking the Synchronization Position
215
Product Manual - IRB
216
6 Decommissioning
217
Environmental Information
217
Scrapping of Robot
219
7 Reference Information
221
Introduction
221
Applicable Standards
222
Unit Conversion
224
Screw Joints
225
Weight Specifications
228
Standard Tools
229
Special Tools
230
Lifting Equipment and Lifting Instructions
231
8 Spare Part Lists
233
Spare Part Lists and Illustrations
233
9 Circuit Diagram
235
Circuit Diagrams
235
Index
237
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ABB IRB 2400/10 Specifications
General
Brand
ABB
Model
IRB 2400/10
Category
Robotics
Language
English
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