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IRB 6700 Series
ABB IRB 6700 Series User Manual
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ROBOTICS
Product
manual
IRB
6700
2
Table of Contents
Table of Contents
5
Overview of this Manual
9
Product Documentation
14
How to Read the Product Manual
16
Safety
17
General Safety Information
17
Limitation of Liability
17
Protective Stop and Emergency Stop
19
Safety Actions
20
Fire Extinguishing
20
Emergency Release of the Robot Axes
21
Make Sure that the Main Power Has Been Switched off
22
Safety Risks
23
Safety Risks During Installation and Service Work on Robots
23
Moving Robots Are Potentially Lethal
25
First Test Run May Cause Injury or Damage
26
Work Inside the Working Range of the Robot
27
Enabling Device and Hold-To-Run Functionality
28
Risks Associated with Live Electric Parts
29
The Unit Is Sensitive to ESD
31
Hot Parts May Cause Burns
32
Safety Risks Related to Pneumatic/Hydraulic Systems
33
Brake Testing
34
Safety Risks During Handling of Batteries
35
Safety Risks During Work with Gearbox Lubricants (Oil or Grease)
36
Safety Signals and Symbols
38
Safety Signals in the Manual
38
Safety Symbols on Product Labels
40
Installation and Commissioning
47
Introduction
47
Unpacking
48
Pre-Installation Procedure
48
Working Range
52
Risk of Tipping/Stability
58
Main Dimensions
59
On-Site Transportation
61
Robot Transportation Precautions
61
Securing the Robot with a Transport Support
65
On-Site Installation
67
Brief Installation Procedure
67
Lifting the Base Plate
68
Securing the Base Plate
69
Lifting the Robot
75
Lifting the Robot with Fork Lift
75
Lifting the Robot with Roundslings
76
Orienting and Securing the Robot
80
Manually Releasing the Brakes
85
Loads Fitted to the Robot, Stopping Time and Braking Distances
87
Fitting Equipment to the Robot
88
Restricting the Working Range
96
Axes with Restricted Working Range
96
Mechanically Restricting the Working Range of Axis
97
Electrical Connections
99
Robot Cabling and Connection Points
99
Installation of Options
102
Signal Lamp (Option)
102
Installing the Motor Cooling Fan (Option)
103
Start of Robot in Cold Environments
109
Maintenance
111
Introduction
111
Maintenance Schedule and Expected Component Life
112
Specification of Maintenance Intervals
112
Maintenance Schedule
113
Expected Component Life
115
Inspection Activities
116
Inspecting the Motor Seal
116
Inspecting the Oil Level in Axis-1 Gearbox
118
Inspecting the Oil Level in Axis-2 Gearbox
123
Inspecting the Oil Level in Axis-3 Gearbox
126
Inspecting the Oil Level in Axis-4 Gearbox
129
Inspecting the Oil Level in Axis-5 Gearbox
131
Inspecting the Oil Level in Axis-6 Gearbox
133
Inspecting the Balancing Device
136
Inspecting the Cable Harness
140
Inspecting the Information Labels
142
Inspecting the Axis-1 Mechanical Stop Pin
146
Inspecting the Additional Mechanical Stops
148
Inspecting the Fork Lift Accessory
150
Inspecting the Dampers
152
Inspecting the Signal Lamp (Option)
154
Replacement/Changing Activities
156
Type of Lubrication in Gearboxes
156
Changing Oil, Axis-1 Gearbox
158
Changing Oil, Axis-2 Gearbox
165
Changing Oil, Axis-3 Gearbox
170
Changing Oil, Axis-4 Gearbox
176
Changing Oil, Axis-5 Gearbox
180
Changing Oil, Axis-6 Gearbox
184
Replacing the SMB Battery
189
Lubrication Activities
192
Lubricating the Spherical Roller Bearing, Balancing Device
192
Cleaning Activities
194
Cleaning the IRB 6700
194
Repair
197
Introduction
197
General Procedures
198
Performing a Leak-Down Test
198
Mounting Instructions for Bearings
199
Mounting Instructions for Seals
201
Dismantle and Mounting Tool, 3HAC028920-001
203
Cut the Paint or Surface on the Robot before Replacing Parts
204
The Brake Release Buttons May be Jammed after Service Work
205
Lifting Associated Procedures
206
Attaching Lifting Accessories to Complete Arm System (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85)
206
Attaching Lifting Accessories to Complete Arm System (IRB 6700 -300/2.70, -245/3.00)
211
Attaching Lifting Accessories to an Un-Separated Lower and Upper Arm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85)
217
Attaching Lifting Accessories to an Un-Separated Lower and Upper Arm (IRB 6700 -300/2.70, -245/3.00)
223
Attaching Lifting Accessories to the Upper Arm
228
Complete Robot
231
Removing the Cable Harness
231
Refitting the Cable Harness
255
Replacing the SMB
285
Replacing the Brake Release Unit
291
Upper and Lower Arms
296
Replacing the Upper Arm
296
Replacing the Wrist
340
Replacing the Turning Disc
365
Replacing the Process Turning Disc
371
Replacing the Lower Arm
377
Frame and Base
443
Replacing Spherical Roller Bearing, Link Ear
443
Replacing the Balancing Device
461
Replacing the Rear Bearings on the Balancing Device
479
Unloading the Balancing Device
492
Restoring the Balancing Device
496
Replacing the Stop Pin
499
Motors
503
Replacing the Axis-1 Motor
503
Replacing the Axis-2 Motor
517
Replacing the Axis-3 Motor
530
Replacing the Axis-4 Motor
543
Replacing the Axis-5 Motor
554
Replacing the Axis-6 Motor
571
Gearboxes
586
Replacing the Axis-1 Gearbox (IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85)
586
Replacing the Axis-1 Gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00)
626
Replacing the Axis-2 Gearbox (IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85)
664
Replacing the Axis-2 Gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00)
701
Replacing the Axis-3 Gearbox
738
Replacing the Axis-6 Gearbox
776
Calibration
787
Introduction to Calibration
787
Introduction and Calibration Terminology
787
Calibration Methods
788
When to Calibrate
790
Synchronization Marks and Axis Movement Directions
791
Synchronization Marks and Synchronization Position for Axes
791
Calibration Movement Directions for All Axes
793
Updating Revolution Counters
794
Calibrating with Axis Calibration Method
798
Description of Axis Calibration
798
Calibration Tools for Axis Calibration
800
Installation Locations for the Calibration Tools
802
Axis Calibration - Running the Calibration Procedure
803
Calibrating with Calibration Pendulum Method
809
Verifying the Calibration
810
Checking the Synchronization Position
811
Decommissioning
813
Environmental Information
813
Scrapping of Robot
815
Decommissioning of Balancing Device
816
Robot Description
819
Type a Vs Type B Motors
819
Reference Information
821
Introduction
821
Applicable Standards
822
Unit Conversion
824
Screw Joints
825
Weight Specifications
828
Standard Toolkit
829
Special Tools
830
Lifting Accessories and Lifting Instructions
835
Spare Parts
837
Spare Part Lists and Illustrations
837
Circuit Diagrams
839
Index
841
5
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ABB IRB 6700 Series Specifications
General
Payload
150-300 kg
Reach
2.60-3.20 m
Number of Axes
6
Protection Rating
IP67
Controller
IRC5
Protection
Foundry Plus 2
Mounting
Floor
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