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IRB 640
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Manual
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Axis 3
Repairs
32
Product Manual IRB 640
T
ightening torque:
Shafts, item 1:1/203:
300 Nm
KM nut, item 1:1/136:
90 Nm
Screws, clamps, item 1/3.142, 1/3.160:
300 Nm
74
76
Table of Contents
Main Page
Installation and Commissioning
3
Default Chapter
3
Table of Contents
3
1 Transporting and Unpacking
5
Stability / Risk of Tipping
6
System Diskettes
6
2 On-Site Installation
7
Lifting the Manipulator
7
Assembling the Robot
11
Manipulator
11
Stress Forces
12
Stiffness
12
All Versions
12
Amount of Space Required
13
Manipulator
13
Manually Engaging the Brakes
14
Restricting the Working Space
15
Axis 1
15
Axes 2 and 3
16
Mounting Holes for Equipment on the Manipulator
17
Quality of Screws for Fitting Extra Equipment
17
Loads
18
3 Customer Connections on Manipulator
21
Connection of Extra Equipment to the Manipulator
25
Connections on Upper Arm
25
Connections on Upper Arm with Canbus
26
Connection of Signal Lamp on Upper Arm (Option)
27
Maintenance
28
1 Maintenance Schedule
31
Maintenance Intervals for Gear Axes 1 and 6
32
Approx. Estimate of Operating Life of Base Cable
33
2 Instructions for Maintenance
34
General Instructions for the Manipulator
34
Checking the Oil and Grease Levels
34
Lubricating the Large Diameter Bearing, Axis 1
35
Lubricating Gear Box, Axis 1
36
Inspect and Lubricate the Bearings, Balancing Units Axis 2
37
Lubricating Piston Rod, Balancing Unit Axis 2
38
Lubricating Gearboxes, Axes 2 and 3
39
Lubricating Gear Box, Axis 6
40
Checking Mechanical Stop, Axis 1
41
Changing the Battery in the Measuring System
42
Changing Filter/Cooling of Motor Axis 1
43
Table of Contents
44
1 General Description
46
Document Guidance
48
Caution
49
Mounting Instructions for Bearings and Seals
49
Bearings
49
Seals
50
Instructions for Tightening Screw Joints
52
Tightening Torques
53
Screws with Slotted or Cross Recessed Head
53
Screws with Hexagon Socket Head
53
2 Axis 1
54
Replacement of Motor
54
Cabling Axis 1
55
Replacing the Gearbox
57
Dismounting Joint Bearing
58
Dismounting Cooling Axis 1
59
3 Axis 2
60
Replacing Motor
60
Replacing the Gearbox
61
Replacing Lower Arm
62
Replacing Bearing in Lower Arm
63
Dismounting Balancing Unit
64
Replacing Guiding Ring, Balancing Unit
66
Replacing Bearings, Balancing Unit
67
Dismounting Cables, Lower Arm/Upper Arm
68
4 Axis 3
70
Replacing Motor
70
Replacing Gearbox
71
Dismounting Parallel Arm
72
Replacing Parallel Bar with Bearings
72
Dismounting Upper Arm, Complete
73
5 Link System
76
Replacing Upper and Lower Rod
76
Replacing the Link
78
6 Pushbutton Unit for Releasing Brakes
80
Replacing Pushbutton Unit
80
7 Axis 6
82
Dismounting the Tilt Housing
82
Replacing Motor/Gear Axis 6
83
Checking Play in Axis 6
84
8 Motor Units
86
General
86
Checking Brake Performance
87
9 Calibration
88
General
88
Calibration Procedure
88
Aligning the Tilt Housing
94
Setting the Calibration Marks on the Manipulator
95
Checking the Calibration Position
98
Alternative Calibration Positions
98
Calibration Equipment
100
10 Special Tools List
102
Spare Parts
106
Irb 640
107
Manipulator
107
Axis 1, Complete
110
Base
112
Frame, Complete
113
Axes 2 and 3
114
Lower Arm
116
Upper Arm
117
Parallel Rod
118
Cabling
120
Cooling Device Axis 1
120
Position Switches, Axes 1 and 2
120
Customer Vacum Set
121
Connection Point Location
144
Legend
145
Brake Unit
146
Customer Power Connection (Option)
151
Customer Signal Connection
152
Signal Lamp
121
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