ABB IRB 6640 - 205/2.75 User Manual

Product manual
Articulated robot
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 205/2.75
IRB 6640 - 185/2.8
IRB 6640 - 130/3.2
IRB 6640ID - 200/2.55
IRB 6640ID - 170/2.75
M2004

ABB IRB 6640 - 205/2.75 Specifications

General

Model	IRB 6640 - 205/2.75
Robot Type	Articulated Robot
Manufacturer	ABB
Payload Capacity	205 kg
Reach	2.75 m
Degrees of Freedom	6
Repeatability	± 0.07 mm
Protection	IP 67
Protection Class	IP 67
Mounting	Floor

Summary

How to read the product manual

1 Safety

1.2.2.5. Risks associated with live electric parts

High voltage risks associated with controller, robot, tools, and devices.

1.3.2. DANGER - Moving robots are potentially lethal!

Actions to prevent danger: E-stop, hold-to-run, ensure no personnel nearby.

2 Installation and commissioning

2.4.3. Risk of tipping / stability

WARNING: Robot is mechanically unstable without foundation.

2.5.10. Loads

CAUTION: Incorrect loads cause stops or damage. Define loads correctly.

3 Maintenance

3.2.2. Maintenance schedule

Table specifying required maintenance activities and intervals for standard equipment.

3.4.1. Type of oil in gearboxes

CAUTION: Do not mix oil types. Lists current oil types, part numbers, and amounts.

3.4.2. Oil change, gearbox axis 1

Procedure to drain and fill oil in gearbox axis 1.

4 Repair

4.2.1. Performing a leak-down test

Tests seal integrity after refitting motor and gearbox.

4.3.1. Replacement of cable harness, axes 1-6

Details replacing the entire cable harness from axis 1 to 6.

4.3.6. Replacement of complete arm system

Procedure for replacing the complete arm system.

4.4.2. Replacement of complete wrist unit

Procedure for replacing the complete wrist unit (IRB 6640).

4.4.3. Replacement of complete wrist unit, IRB 6640ID

Procedure for replacing the complete wrist unit (IRB 6640ID).

4.4.4. Replacement of upper arm

Procedure for replacing the upper arm.

4.4.5. Replacement of complete lower arm

Procedure for replacing the complete lower arm.

4.5.1. Replacement of SMB unit

Procedure for replacing the SMB unit.

4.5.4. Replacement of balancing device (old and new)

Procedure for replacing the balancing device.

4.5.5. Unloading the balancing device (old and new)

Procedure to unload the balancing device using a press tool.

4.5.6. Restoring the balancing device

Procedure to refit the balancing device and remove the press tool.

4.6 Motors

Procedures for replacing motors on robot axes.

4.6.1. Replacement of motor, axis 1

Procedure for replacing the motor on axis 1.

4.6.2. Replacement of motor axis 2

Procedure for replacing the motor on axis 2.

4.6.3. Replacement of motor, axis 3

Procedure for replacing the motor on axis 3.

4.6.4. Replacement of motor, axis 4

Procedure for replacing the motor on axis 4.

4.6.5. Replacement of motor, axis 5. IRB 6640

Procedure for replacing the motor on axis 5 for IRB 6640.

4.6.6. Replacement of motor, axis 5, IRB 6640ID

Procedure for replacing the motor on axis 5 for IRB 6640ID.

4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus

Procedure for replacing the motor on axis 6 for IRB 6640/6620.

4.6.8. Replacement of motor, axis 6, IRB 6640ID

Procedure for replacing the motor on axis 6 for IRB 6640ID.

4.7 Gearboxes

Procedures for replacing gearboxes on robot axes.

4.7.1. Replacement gearbox axis 1

Procedure for replacing gearbox on axis 1.

4.7.2. Replacement gearbox axis 2

Procedure for replacing gearbox on axis 2.

4.7.3. Replacement of gearbox, axis 3

Procedure for replacing gearbox on axis 3.

4.7.4. Replacement of gearbox, axis 6

Procedure for replacing gearbox on axis 6.

5 Calibration information

5.2. Calibration methods

Details Standard and Absolute Accuracy calibration methods.

5.5. Updating revolution counters

5.6. Checking the calibration position

8 Spare Part List IRB 6640

8.2. Spare parts - Balancing device

8.5. Upper arm including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID)

8.6. Cable harness and SMB unit

9 Circuitdiagrams