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IRB 6620
ABB IRB 6620 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.
20
Product
manual
-
IRB
6620
3HAC027151-001
Revision:
T
©
Copyright
2006-2018
ABB.
All
rights
reserved.
1
Safety
1.1.2
Protective
stop
and
emergency
stop
19
21
Table of Contents
Default Chapter
5
Table of Contents
5
Overview of this Manual
9
Product Documentation
14
How to Read the Product Manual
16
1 Safety
17
General Safety Information
17
Limitation of Liability
17
Protective Stop and Emergency Stop
20
Safety Actions
21
Fire Extinguishing
21
Emergency Release of the Robot Axes
22
Make Sure that the Main Power Has Been Switched off
23
Safety Risks
24
Safety Risks During Installation and Service Work on Robots
24
Moving Robots Are Potentially Lethal
26
First Test Run May Cause Injury or Damage
27
Work Inside the Working Range of the Robot
28
Enabling Device and Hold-To-Run Functionality
29
Risks Associated with Live Electric Parts
30
The Unit Is Sensitive to ESD
32
Hot Parts May Cause Burns
33
Safety Risks Related to Pneumatic/Hydraulic Systems
34
Brake Testing
35
Safety Risks During Handling of Batteries
36
Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
37
Safety Signals and Symbols
39
Safety Signals in the Manual
39
Safety Symbols on Product Labels
41
2 Installation and Commissioning
47
Introduction
47
Robot Transportation Precautions
48
Securing the Robot with a Transport Support
54
Unpacking
57
Pre-Installation Procedure
57
Working Range and Type of Motion
61
Risk of Tipping/Stability
65
On-Site Installation
66
Lifting the Robot with Fork Lift Accessory
66
Fitting the Fork Lift Accessory
66
Lifting the Robot with Fork Lift Truck
69
Lifting the Robot with Lifting and Turning Tool
72
Lifting Robot with Roundslings
77
Manually Releasing the Brakes
79
Lifting the Base Plate
81
Securing the Base Plate
82
Orienting and Securing the Robot
87
Setting the System Parameters for a Suspended or Tilted Robot
91
Fitting Equipment on Robot
96
Loads Fitted to the Robot, Stopping Time and Braking Distances
104
Signal Lamp (Option)
105
Restricting the Working Range
106
Axes with Restricted Working Range
106
Mechanically Restricting the Working Range of Axis
107
Mechanically Restricting the Working Range of Axis 3
109
Foundry Plus Cable Guard (Option)
111
Installation of Foundry Plus Cable Guard (Option No. 908-1)
111
Electrical Connections
112
Robot Cabling and Connection Points
112
Start of Robot in Cold Environments
114
3 Maintenance
115
Introduction
115
Maintenance Schedule and Expected Component Life
116
Specification of Maintenance Intervals
116
Maintenance Schedule
117
Expected Component Life
119
Inspection Activities
120
Inspecting the Oil Level in Axis-1 Gearbox
120
Inspecting the Oil Level in Axis-2 Gearbox
122
Inspecting the Oil Level in Axis-3 Gearbox
125
Inspecting the Oil Level in Axis-4 Gearbox
127
Inspecting the Oil Level in Axis-5 Gearbox
129
Inspecting the Oil Level in Axis-6 Gearbox
131
Inspecting, Cable Harness
134
Inspecting the Information Labels
137
Inspecting the Axis-1 Mechanical Stop Pin
139
Inspecting the Additional Mechanical Stops
141
Inspecting the Damper on Axes 2-5
144
Inspecting, Signal Lamp
146
Inspection of Air Hoses (Foundry Prime)
148
Replacement/Changing Activities
149
Type of Lubrication in Gearboxes
149
Changing Oil, Axis-1 Gearbox
151
Changing Oil, Axis-2 Gearbox
154
Changing Oil, Axis-3 Gearbox
157
Changing Oil, Axis-4 Gearbox
160
Changing Oil, Axis-5 Gearbox
163
Changing Oil, Axis-6 Gearbox
166
Replacing the SMB Battery
169
Cleaning Activities
173
Cleaning the IRB 6620
173
4 Repair
177
Introduction
177
General Procedures
178
Performing a Leak-Down Test
178
Mounting Instructions for Bearings
179
Mounting Instructions for Seals
181
Cut the Paint or Surface on the Robot before Replacing Parts
183
The Brake Release Buttons May be Jammed after Service Work
184
Complete Robot
185
Replacement of Cable Harness, Lower End (Axes 1-2)
185
Replacement of Cable Harness, Upper End
192
Replacement of Complete Arm System
202
Upper and Lower Arm
213
Replacing the Turning Disk
213
Replacement of Wrist Unit
217
Replacement of the Upper Arm
222
Replacement of Lower Arm
228
Frame and Base
233
Replacement of SMB Unit
233
Replacing the Brake Release Board
238
Motors
242
Replacement of Motor, Axis 1
242
Replacement of Motor Axis
242
Replacement of Motor, Axis 3
253
Replacement of Motor, Axis 4
260
Replacement of Motor, Axis 5 , IRB 6620/6620LX
265
Replacement of Motor, Axis 6
270
Gearboxes
277
Replacement Gearbox Axis 1
277
Replacement Gearbox Axis 2
286
Replacement of Gearbox Axis 3
294
Replacement of Gearbox, Axis 6
299
5 Calibration
305
Introduction to Calibration
305
Introduction and Calibration Terminology
305
Calibration Methods
306
When to Calibrate
309
Synchronization Marks and Axis Movement Directions
310
Synchronization Marks and Synchronization Position for Axes
310
Calibration Movement Directions for All Axes
312
Updating Revolution Counters
313
Calibrating with Axis Calibration Method
319
Description of Axis Calibration
319
Calibration Tools for Axis Calibration
322
Installation Locations for the Calibration Tools
324
Axis Calibration - Running the Calibration Procedure
326
Calibrating with Calibration Pendulum Method
332
Verifying the Calibration
333
Checking the Synchronization Position
334
6 Decommissioning
335
Environmental Information
335
Scrapping of Robot
337
7 Reference Information
339
Applicable Standards
339
Unit Conversion
341
Screw Joints
342
Weight Specifications
345
Standard Tools
346
Special Tools
347
Lifting Accessories and Lifting Instructions
349
8 Spare Part Lists
351
Spare Part Lists and Illustrations
351
9 Circuit Diagram
353
Circuit Diagrams
353
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Product Specification
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ABB IRB 6620 Specifications
General
Brand
ABB
Model
IRB 6620
Category
Robotics
Language
English
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