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IRB 6640 - 130/3.2
ABB IRB 6640 - 130/3.2 User Manual
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2 Inst
a
llation
and commissioning
2.5.5.
Securing
the b
ase plat
e
3HAC026
876-001
Revision:
C
64
© Copyright 2006-2008 ABB. All rights reserved.
2.5.5. Securing the base plate
General
This sectio
n details how
to secure the base p
late.
Base plat
e, dimensions
xx010000
0105
Continues on next
page
65
67
Table of Contents
Default Chapter
5
Table of Contents
5
Overview
9
Product Documentation, M2004
11
How to Read the Product Manual
13
1 Safety
15
Introduction
15
General Safety Information
16
Safety in the Robot System
16
Safety Risks
17
Safety Risks During Installation and Service Work on Robot
17
Safety Risks Related to Tools/Workpieces
19
Safety Risks Related to Pneumatic/Hydraulic Systems
20
Safety Risks During Operational Disturbances
21
Risks Associated with Live Electric Parts
22
Safety Actions
23
Safety Fence Dimensions
23
Fire Extinguishing
24
Emergency Release of the Robot's Arm
25
Brake Testing
26
Risk of Disabling Function "Reduced Speed 250 MM/S
27
Safe Use of the Flexpendant
28
Work Inside the Robot's Working Range
29
Signal Lamp (Optional)
30
Translate the Information on Safety and Information Labels
31
Safety Related Instructions
32
Safety Signals, General
32
DANGER - Moving Robots Are Potentially Lethal
34
DANGER - First Test Run May Cause Injury or Damage
35
WARNING - the Brake Release Buttons May be Jammed after Service Work
36
WARNING - the Unit Is Sensitive to ESD
37
WARNING - Safety Risks During Work with Gearbox Oil
38
2 Installation and Commissioning
39
Introduction
39
Robot Transportation Precautions
40
Securing the Robot
47
Unpacking
49
Pre-Installation Procedure
49
Working Range and Type of Motion
52
Risk of Tipping / Stability
55
On-Site Installation
56
Lifting the Robot with Fork Lift
56
Lifting Robot with Roundslings
60
Manually Releasing the Brakes
63
Lifting the Base Plate
65
Securing the Base Plate
66
Orienting and Securing the Robot
70
Fitting Cable Package Attachments (Cleanroom)
73
Fitting Equipment on Robot
81
Installation of Cooling Fan for Motors, Axes 1 and 2 (Option)
87
Loads
93
Restricting the Working Range
94
Introduction
94
Mechanically Restricting the Working Range of Axis 1
95
Mechanically Restricting the Working Range of Axis 2
97
Mechanically Restricting the Working Range of Axis 3
99
Electrical Connections
101
Robot Cabling and Connection Points
101
Making Robot Ready for Operation (Foundry Prime)
103
Additional Installation Procedure
103
Commissioning (Foundry Prime)
106
Making Robotready for Operation, (Cleanroom)
107
Additional Installation Procedure, Cleanroom
107
3 Maintenance
109
Introduction
109
Maintenance Schedule and Expected Component Life
110
Specification of Maintenance Intervals
110
Maintenance Schedule
111
Expected Component Life
116
Inspection Activities
117
Inspection, Oil Level Gearbox Axis 1
117
Inspection, Oil Level Gearbox Axis 2
119
Inspection, Oil Level Gearbox Axis 3
121
Inspection, Oil Level Gearbox Axis 4
123
Inspection, Oil Level, Gearbox Axis 5
125
Inspection, Oil Level Gearbox Axis 6
127
Inspection, Balancing Device
130
Inspection, Cable Harness
135
Inspection of Air Hoses (Foundry Prime)
140
Inspection, Information Labels
141
Inspection, Mechanical Stop, Axis 1
144
Inspection, Additional Mechanical Stops
146
Inspection, Damper Axes 2-5
148
Inspection, Signal Lamp (Option)
150
Replacement / Changing Activities
152
Type of Oil in Gearboxes
152
Oil Change, Gearbox Axis 1
156
Oil Change, Gearbox Axis 2
159
Oil Change, Gearbox, Axis 3
162
Oil Change, Gearbox, Axis 4
165
Oil Change, Gearbox, Axis 5
168
Oil Change, Gearbox Axis 6
171
Replacement of SMB Battery
174
Lubrication Activities
177
Lubrication of Spherical Roller Bearing, Balancing Device
177
Rust Preventive Measures, Bearing Axis 1 (Foundry Prime)
179
Rust Preventive Measures, Bearing Axis 4 (Foundry Prime)
182
Rust Preventive Measures, Support Bearing in Wrist (Foundry Prime)
185
Cleaning Activities
187
Cleaning, Robot
187
4 Repair
189
Introduction
189
General Procedures
190
Performing a Leak-Down Test
190
Mounting Instructions for Bearings
191
Mounting Instructions for Seals
193
Complete Robot
195
Replacement of Cable Harness, Axes 1-6
195
Replacement of Cabling, Axis 5 Motorirb 6640
207
Replacement of Cable Harness, Cleanroom
209
Replacement of Cable Harness, Axes 1-4- IRB 6640ID
222
Replacement of Cable Harness, Axes 5-6 - IRB 6640ID
230
Replacement of Complete Arm System
236
Replacement of Air Nipple and Hose (Foundry Prime)
244
Upper and Lower Arm
251
Replacement of Turning Disk
251
Replacement of Complete Wrist Unit
254
Replacement of Complete Wrist Unit, IRB 6640ID
259
Replacement of Upper Arm
262
Replacement of Complete Lower Arm
269
Frame and Base
275
Replacement of SMB Unit
275
Replacement of Brake Release Unit
279
Replacement of Spherical Roller Bearing, Balancing Device (Old and New)
283
Replacement of Balancing Device (Old and New)
287
Unloading the Balancing Device (Old and New)
296
Restoring the Balancing Device
299
Motors
302
Replacement of Motor, Axis 1
302
Replacement of Motor Axis 2
308
Replacement of Motor, Axis 3
315
Replacement of Motor, Axis 4
322
Replacement of Motor, Axis 5. IRB 6640
328
Replacement of Motor, Axis 5, IRB 6640ID
335
Replacement of Motor, Axis 6, IRB 6640, IRB 6620/Foundry Plus
338
Replacement of Motor, Axis 6, IRB 6640ID
344
Gearboxes
347
Replacement Gearbox Axis 1
347
Replacement Gearbox Axis 2
356
Replacement of Gearbox, Axis 3
363
Replacement of Gearbox, Axis 6
370
5 Calibration Information
375
Introduction
375
Calibration Methods
376
Calibration Scales and Correct Axis Position
378
Calibration Movement Directions for All Axes
379
Updating Revolution Counters
380
Checking the Calibration Position
383
6 Decommissioning
385
Introduction
385
Environmental Information
386
Decommissioning of Balancing Device
387
7 Reference Information
389
Introduction
389
Applicable Safety Standards
390
Unit Conversion
391
Screw Joints
392
Weight Specifications
395
Standard Toolkit
396
Special Tools
397
Lifting Equipment and Lifting Instructions
400
8 Spare Part List IRB 6640
401
Base Frame
401
Spare Parts - Balancing Device
403
Frame to Lower Arm
407
Lower Arm to Upper Arm
409
Upper Arm Including Wrist Unit, Motors Ax. 3- 6 (IRB 6640 and IRB 6640ID)
411
Cable Harness and SMB Unit
414
9 Circuitdiagrams
417
Introduction
417
Índice
419
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ABB IRB 6640 - 130/3.2 Specifications
General
Brand
ABB
Model
IRB 6640 - 130/3.2
Category
Robotics
Language
English
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