Contents - Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Overview
- Product documentation, M2000/M2000A
- Product documentation, M2004
- How to read the product manual
- Safety
- General safety information
- Safety risks
- Safety risks related to tools/workpieces
- Safety risks related to pneumatic/hydraulic systems
- Safety risks during operational disturbances
- Risks associated with live electric parts
- Safety actions
- Fire extinguishing
- Emergency release of the robot's arm
- Brake testing
- Risk of disabling function "Reduced speed 250 mm/s
- Safe use of the FlexPendant
- Work inside the robot's working range
- Signal lamp (optional)
- Translate the information on safety and information labels
- Safety related instructions
- DANGER - Moving robots are potentially lethal
- DANGER - First test run may cause injury or damage
- WARNING - The brake release buttons may be jammed after service work
- WARNING - The unit is sensitive to ESD
- WARNING - Safety risks during work with gearbox oil
- Installation and commissioning
- Robot transportation precautions
- Securing the robot
- Unpacking
- Working range, IRB 7600 - 150/3.5
- Working range, IRB 7600 - 325/3.1
- Working range, IRB 7600 - 340/2.8
- Working range, IRB 7600 - 400/2.55, IRB 7600 - 500/2.55
- Working range, IRB 7600 - 500/2.3
- Risk of tipping / stability
- On-site Installation
- Lifting robot with lifting slings
- Lifting robot with roundslings
- Manually releasing the brakes
- Manually releasing the brakes, external brake release unit
- Lifting the base plate
- Securing the base plate
- Orienting and securing the robot
- Fitting equipment on robot
- Installation of base spacers (option)
- Installation of cooling fan for motors, axes 1-3 (option)
- Loads
- Restricting the working range
- Mechanically restricting the working range of axis 1
- Mechanically restricting the working range of axis 2
- Mechanically restricting the working range of axis 3
- Installation of position switches (option)
- Electrical connections
- Making robot ready for operation (Foundry Prime)
- Commissioning (Foundry Prime)
- Maintenance
- Maintenance schedule and expected life
- Maintenance schedule
- Expected component life
- Inspection activities
- Inspection, oil level gearbox axis 2
- Inspection, oil level gearbox axis 3
- Inspection, oil level gearbox axis 4
- Inspection, oil level, gearbox axis 5
- Inspection, oil level gearbox axis 6
- Inspection, balancing device
- Inspection, cable harness
- Inspection, mechanical stop, axis 1
- Inspection, mechanical stop, axes 1, 2 and 3
- Inspection, damper axes 2-5
- Inspection, position switch axes 1, 2 and 3
- Inspection, information labels
- Inspection, UL-lamp
- Inspection of air hoses (Foundry Prime)
- Changing/replacement activities
- Oil change, gearbox axis 1
- Oil change, gearbox axis 2
- Oil change, gearbox, axis 3
- Oil change, gearbox, axis 4
- Oil change, gearbox, axis 5
- Oil change, gearbox axis 6
- Replacement of SMB battery
- Lubrication activities
- Rust preventive measures, bearing axis 1 (Foundry Prime)
- Rust preventive measures, bearing axis 4 (Foundry Prime)
- Rust preventive measures, support bearing in wrist (Foundry Prime)
- Cleaning activities
- Cleaning, robot
- Repair
- General procedures
- Mounting instructions for bearings
- Mounting instructions for seals
- Complete robot
- Replacement of cable harness, axes 5-6
- Replacement of complete arm system
- Replacement of air nipple and hose (Foundry Prime)
- Upper and lower arm
- Replacement of complete wrist unit
- Replacement of complete upper arm
- Replacement of complete lower arm
- Frame and base
- Replacement of brake release unit
- Replacement of balancing device
- Replacement of spherical roller bearing, balancing device
- Unloading the balancing device
- Restoring the balancing device
- Motors
- Replacement of motor axis 2
- Replacement of motor, axis 3
- Replacement of motor, axis 4
- Replacement of motor, axis 5
- Replacement of motor, axis 6
- Gearboxes
- Replacement of gearbox, axis 2
- Replacement of gearbox, axis 3
- Replacement of gearbox, axis 4
- Replacement of gearbox, axis 5
- Replacement of gearbox, axis 6
- Calibration information
- Calibration methods
- Calibration scales and correct axis position
- Calibration movement directions for all axes
- Updating revolution counters
- Checking the calibration position
- Decommissioning
- Decommissioning of balancing device
- Reference information
- Applicable Safety Standards
- Unit conversion
- Screw joints
- Weight specifications
- Standard toolkit
- Special tools
- Lifting equipment and lifting instructions
- Spare part / part list
- Spare parts
- Spare part list
- Part list
- Rebuilding parts
- Part list, overview
- Mechanical stop axis 1, 3HAC12812-2
- Base incl frame axis 1, 3HAC12304-1
- Axis 3-4, 3HAC13063-1 (IRB 7600 - 150/3.5, - 325/3.1, -340/2.8, -400/2.55, -500/2.55)
- Axis 3-4, 3HAC13063-2 (IRB 7600 - 500/2.3)
- Axis 3-4 Foundry, 3HAC13063-5 (IRB 7600 - 500/2.3)
- Wrist, 3HAC16628-4 / 3HAC16628-3
- Material set robot, 3HAC13079-1
- Material set axis 1-2, 3HAC13077-1
- Material set balancing device, 3HAC13082-1
- Arm extension set, 956 mm, 3HAC12311-1 (IRB 7600 - 150/3.5)
- Arm extension set, 250 mm, 3HAC12311-2 (IRB 7600 - 340/2,8)
- Arm extension set, 500 mm, 3HAC12311-3 (IRB 7600 - 325/3,1)
- Exploded views
- Base incl. Frame
- Frame-Lower arm 1
- Frame-Lower arm 2
- Upper arm
- Wrist complete
- Circuit Diagram
- Circuit diagram 3HAC025744-001
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2 Installation and commissioning2.6.2. Mechanically restricting the working range of axis 11033HAC022033-001 Revision: E© Copyright 2004 - 2008 ABB. All rights reserved.Installation, mechanical stops axis 1The procedure below details how to fit the mechanical stops of axis 1 to the robot. Anassembly drawing is also enclosed with the product.User’s guide - S4Cplus (RobotWare4.0)Technical reference manual - Systemparameters (RobotWare 5.0)- Art. no. is specified in sectionReferences on page 8.Equipment, etc. Art. no. NoteAction Note1.DANGER!Turn off all electric power, hydraulic andpneumatic pressure supplies to the robot!For Foundry Prime robots: Do not turn off theair pressure to motors and SMB.2. Fit the additional mechanical stop to theframe according to the figure Mechanicalstops, axis 1 on page 102.Tightening torque: 120 Nm.3.NOTE!To utilize the option 561-1 "Extended workingrange axis 1" the software working rangelimitations must be re-defined. The motionconfiguration parameter "arm/rob1_1/UpperJoint Bound" and "arm/rob1_1/Lower JointBound" must be changed to 3.84 resp. -3.84.The values are in radians that is 220 deg. =3.84 rad.How to define the range of movement inRobotWare 4.0 is detailed in User’sguide - S4Cplus, chapter SystemParameters - topic Manipulator.The system parameters that must bechanged in RobotWare 5.0 (Upper jointbound and Lower joint bound) are furtherdetailed in Technical reference manual -System parameters.4.WARNING!If the mechanical stop is deformed after ahard collision, it must be replaced!Continued
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