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IRB 760
ABB IRB 760 User Manual
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4.4.3
Replacing
the
upper
arm
Location
of
the
upper
arm
The
upper
arm
is
located
as
shown
in
the
figure.
xx1100000016
Continues
on
next
page
3HAC039838-001
Revision:
C
209
©
Copyright
2013
ABB.
All
rights
reserved.
4
Repair
4.4.3
Replacing
the
upper
arm
208
210
Table of Contents
Default Chapter
5
Table of Contents
5
Overview of this Manual
9
How to Read the Product Manual
12
Product Documentation, M2004
13
1 Safety
15
Introduction to Safety Information
15
General Safety Information
16
Introduction to General Safety Information
16
Safety in the Manipulator System
17
Safety Risks
18
Safety Risks During Installation and Service Work on Manipulators
18
CAUTION - Hot Parts May Cause Burns
21
Safety Risks Related to Tools/Work Pieces
22
Safety Risks Related to Pneumatic/Hydraulic Systems
23
Safety Risks During Operational Disturbances
24
Risks Associated with Live Electric Parts
25
Safety Actions
27
Safety Fence Dimensions
27
Fire Extinguishing
28
Emergency Release of the Manipulator's Arm
29
Brake Testing
30
Risk of Disabling Function "Reduced Speed 250 MM/S
31
Safe Use of the Flexpendant
32
Work Inside the Manipulator's Working Range
33
Signal Lamp (Optional)
34
Safety Stops
35
What Is an Emergency Stop
35
Safety Related Instructions
37
Safety Signals in the Manual
37
Safety Symbols on Manipulator Labels
39
DANGER - Moving Manipulators Are Potentially Lethal
44
DANGER - First Test Run May Cause Injury or Damage
45
WARNING - the Brake Release Buttons May be Jammed after Service Work
46
DANGER - Make Sure that the Main Power Has Been Switched off
47
WARNING - the Unit Is Sensitive to ESD
48
WARNING - Safety Risks During Handling of Batteries
49
WARNING - Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
50
2 Installation and Commissioning
53
Introduction
53
Unpacking
54
Pre-Installation Procedure
54
Working Range and Type of Motion
57
Risk of Tipping/Stability
60
On-Site Installation
62
Lifting Robot with Fork Lift
62
Lifting Robot with Roundslings
68
Lifting Robot with Lifting Slings
70
Manually Releasing the Brakes
73
Lifting the Base Plate
75
Securing the Base Plate
76
Orienting and Securing the Robot
80
Fitting Equipment on Robot
84
Installation of Signal Lamp, Upper Arm (Option)
87
Loads
91
Restricting the Working Range
92
Introduction
92
Mechanically Restricting the Working Range of Axis 1
93
Extended Working Range, Axis 1 (Option 561-1)
95
Robot in Cold Environments
96
Start of Robot in Cold Environments
96
Electrical Connections
97
Robot Cabling and Connection Points
97
3 Maintenance
99
Introduction
99
Maintenance Schedule and Expected Component Life
100
Specification of Maintenance Intervals
100
Maintenance Schedule
101
Expected Component Life
103
Inspection Activities
104
Inspecting, Oil Level Gearbox Axis 1
104
Inspecting, Oil Level Gearbox Axes 2 - 3
106
Inspecting, Oil Level Gearbox Axis 6
109
Inspecting, Balancing Device Bearings and Piston Rod Guide Ring
111
Inspecting, Cable Harness
114
Inspection, Information Labels
117
Inspecting, Mechanical Stop Pin, Axis 1
119
Inspecting, Additional Mechanical Stops
121
Inspection, Dampers
123
Inspecting, Signal Lamp (Option)
125
Replacement/Changing Activities
127
Type of Lubrication in Gearboxes
127
Changing Oil, Axis-1 Gearbox
129
Changing Oil, Gearbox Axes 2 and 3
132
Changing Oil, Gearbox Axis 6
135
Replacing the SMB Battery
137
Lubrication Activities
142
Lubricating Balancing Device Bearings and Piston Rod
142
Cleaning Activities
145
Cleaning, Robot
145
4 Repair
147
Introduction
147
General Procedures
148
Performing a Leak-Down Test
148
Mounting Instructions for Bearings
149
Mounting Instructions for Seals
151
Complete Robot
153
Replacing Cable Harness, Lower End (Axes 1-3)
153
Replacing the Cable Harness, Upper End (Incl. Axis 6)
163
Replacing the SMB Unit
171
Replacing the Brake Release Unit
174
Replacing the Base, Including Axis 1 Gearbox
178
Upper and Lower Arm
185
Replacing the Turning Disk
185
Replacing the Tilthouse Unit
190
Replacing the Upper Arm
209
Replacing Linkage - Upper Link Arm
221
Replacing the Linkage - Lower Link Arm
228
Replacement of Linkage - Link
235
Replacing the Parallel Rod
244
Replacing the Complete Lower Arm
251
Replacement of Parallel Arm
259
Frame and Base
265
Replacing the Balancing Device
265
Replacing the Balancing Weight
274
Motors
278
Replacing Motor, Axis
278
Replacing Motors, Axes 2 and 3 ................................................................. Replacing Motor, Axis
284
Gearboxes
301
Replacing the Axis 1 Gearbox
301
Replacing the Gearbox, Axes
311
Replacing Gearbox Axis
322
5 Calibration Information
329
Introduction
329
Calibration Methods
330
Calibration Scale and Correct Axis Position
332
Calibration Movement Directions for All Axes
334
Updating Revolution Counters
335
Checking the Calibration Position
337
6 Decommissioning
339
Environmental Information
339
Decommissioning of Balancing Device
340
7 Reference Information
343
Introduction
343
Applicable Safety Standards
344
Unit Conversion
346
Screw Joints
347
Weight Specifications
350
Standard Tools
351
Special Tools
352
Lifting Accessories and Lifting Instructions
354
8 Spare Parts
355
Spare Part Lists and Illustrations
355
9 Circuit Diagrams
357
About Circuit Diagrams
357
Index
359
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ABB IRB 760 Specifications
General
Brand
ABB
Model
IRB 760
Category
Robotics
Language
English
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