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IRB 920
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ABB IRB 920 - Page 711
1008 pages
Manual
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Note
Action
DANGER
Make
sure
all
safety
requirements
are
met
when
performing
the
first
test
run.
3
Product
manual
-
IRB
920
711
3HAC075721-001
Revision:
C
©
Copyright
2022
ABB.
All
rights
reserved.
5
Repair
5.6.11
Replacing
the
outer
arm
Continued
710
712
Table of Contents
Main Page
Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
29
Safety During Maintenance and Repair
30
Emergency Release of the Robot Axes
33
Brake Testing
34
Safety During Troubleshooting
35
Safety During Decommissioning
36
Manipulator Description
37
About IRB 920
37
Technical Data
38
Robot Dimensions
41
Working Range
44
Information Labels
48
The Unit Is Sensitive to ESD
49
Installation and Commissioning
51
Introduction to Installation and Commissioning
51
Unpacking
52
Pre-Installation Procedure
52
Risk of Tipping/Stability
53
Transportation Bracket
54
On-Site Installation
55
Brief Installation Procedure
55
Test Run after Installation, Maintenance, or Repair
56
Lifting the Robot
57
Lifting the Robot by Two People
57
Lifting Robot with Lifting Accessories
59
Manually Releasing the Brakes
63
Orienting and Securing the Robot
65
Loads Fitted to the Robot, Stopping Time and Braking Distances
68
Lamp
69
Lamp on the Robot
69
Installation of Signal Lamp (Option)
70
Fitting Equipment on the Robot (Robot Dimensions)
72
Restricting the Working Range
75
Adjusting the Working Range
75
Mechanically Restricting the Working Range
76
Electrical Connections
78
Robot Cabling and Connection Points
78
Customer Connections
81
Maintenance
85
Introduction
85
Service Information System (SIS)
86
Maintenance Schedule and Expected Component Life
87
Specification of Maintenance Intervals
87
Maintenance Schedule
88
Expected Component Life
90
Inspection Activities
91
Inspecting the Information Labels
91
Inspecting the Robot Cabling
93
Inspecting the Ball Screw Spline Unit
94
Inspecting Axis-3 Mechanical Stops
97
Inspecting Timing Belts
100
Replacement/Changing Activities
105
Lubrication Activities
106
Lubricating the Ball Screw Spline Unit
106
Cleaning Activities
108
Cleaning the IRB
108
Repair
111
Introduction
111
General Procedures
112
Performing a Leak-Down Test
112
Mounting Instructions for Bearings
113
Mounting Instructions for Sealings
115
Cut the Paint or Surface on the Robot before Replacing Parts
118
Cable Harness
120
Replacing the Main Harness
120
Replacing the Process Hub
175
Replacing the SMB Unit and Battery Unit
193
Base
203
Replacing the Base
203
Replacing the Axis-1 Timing Belt
266
Inner Arm
325
Replacing the Inner Arm
325
Outer Arm
398
Replacing the Mechanical Stopper
398
Replacing the Bellows
421
Replacing the Pulley on the Ball Screw Upper Position
436
Replacing the Pulley on the Ball Screw Lower Position
454
Replacing the Ball Screw
488
Replacing the Axis-2 Timing Belt
534
Replacing the Axis-3 Timing Belt
565
Replacing the Axis-4 Second Timing Belt
579
Replacing the Axis-4 Timing Belt
601
Replacing the Transmission Module
626
Replacing the Outer Arm
652
Motors
712
Replacing the Axis-1 Motor Sub-Assembly
712
Replacing the Axis-2 Motor Sub-Assembly
771
Replacing the Axis-3 Motor Sub-Assembly
802
Replacing the Axis-4 Motor Sub-Assembly
819
Gearboxes
843
Replacing the Axis-1 Gear Unit Sub-Assembly
843
Replacing the Axis-2 Gear Unit Sub-Assembly
906
Calibration
945
Introduction to Calibration
945
Introduction and Calibration Terminology
945
Calibration Methods
946
When to Calibrate
948
Synchronization Marks and Axis Movement Directions
949
Synchronization Marks and Synchronization Position for Axes
949
Calibration Movement Directions for All Axes
951
Updating Revolution Counters
952
Updating Revolution Counters on Omnicore Robots
952
Calibrating with Axis Calibration Method
956
Description of Axis Calibration
956
Calibration Tools for Axis Calibration
959
Installation Locations for the Calibration Tools
961
Axis Calibration - Running the Calibration Procedure
962
Reference Calibration
966
Calibrating the Robot
968
Calibration Position
968
Calibrating Axis 1 and Axis 2
969
Calibrating Axis 3 and Axis 4
970
Verifying the Calibration
975
Checking the Synchronization Position
976
Troubleshooting
977
Introduction to Troubleshooting
977
Oil and Grease Stains on Motors and Gearboxes
979
Mechanical Noise or Dissonance
980
Manipulator Collapses on Power down
982
Motor Temperature too High
983
Decommissioning
985
Introduction
985
Environmental Information
986
Scrapping of Robot
988
Reference Information
989
Introduction
989
Applicable Standards
990
Unit Conversion
991
Screw Joints
992
Weight Specifications
995
Standard Toolkit
996
Special Tools
997
Lifting Accessories and Lifting Instructions
999
Spare Parts
1001
Spare Part Lists and Illustrations
1001
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