ABB IRB 930 - Page 604

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Table of Contents5
Overview of this Manual9
Product Documentation11
How to Read the Product Manual13
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation29
Safety During Maintenance and Repair30
Emergency Release of the Robot Axes33
Brake Testing34
Safety During Troubleshooting35
Safety During Decommissioning36
Manipulator Description37
About IRB 93037
Technical Data38
Robot Dimensions42
Working Range43
Information Labels45
The Unit Is Sensitive to ESD46
Installation and Commissioning47
Introduction to Installation and Commissioning47
Unpacking48
Pre-Installation Procedure48
Risk of Tipping/Stability49
Transportation Bracket51
On-Site Installation54
Brief Installation Procedure54
Test Run after Installation, Maintenance, or Repair55
Lifting the Robot56
Lifting Robot with Lifting Accessories56
Manually Releasing the Brakes58
Orienting and Securing the Robot60
Loads Fitted to the Robot, Stopping Time and Braking Distances63
Fitting Equipment on the Robot (Robot Dimensions)64
Restricting the Working Range67
Adjusting the Working Range67
Mechanically Restricting the Working Range68
Electrical Connections71
Robot Cabling and Connection Points71
Customer Connections73
Start of Robot in Cold Environments76
Test Run after Installation, Maintenance, or Repair77
Maintenance79
Introduction79
Service Information System (SIS)80
Maintenance Schedule and Expected Component Life81
Specification of Maintenance Intervals81
Maintenance Schedule82
Expected Component Life84
Inspection Activities85
Inspecting the Information Labels85
Inspecting the Robot Cabling86
Inspecting the Ball Screw Spline Unit87
Inspecting Mechanical Stops90
Inspecting Timing Belts94
Replacement/Changing Activities95
Lubrication Activities96
Lubricating the Ball Screw Spline Unit96
Cleaning Activities98
Cleaning the IRB98
Changing Activities100
Type of Lubrication in Gearboxes100
Changing Oil, Axis-1 Gearbox101
Changing Oil, Axis-2 Gearbox106
Repair111
Introduction111
General Procedures112
Performing a Leak-Down Test112
Mounting Instructions for Bearings113
Mounting Instructions for Sealings115
Cut the Paint or Surface on the Robot before Replacing Parts118
Cable Harness119
Replacing the Process Hub119
Replacing the SMB Unit and Battery Unit129
Replacing the Main Harness136
Base171
Replacing the Base171
Inner Arm216
Replacing the Inner Arm216
Replacing the Axis-1 Oil Tank269
Outer Arm277
Replacing the Mechanical Stopper277
Replacing the Pulley on the Ball Screw Upper Position283
Replacing the Pulley on the Ball Screw Lower Position295
Replacing the Ball Screw308
Replacing the Axis-3 Timing Belt324
Replacing the Axis-4 Timing Belt340
Replacing the Cable Arm358
Replacing the Outer Arm383
Motors425
Replacing the Axis-1 Motor Sub-Assembly425
Replacing the Axis-2 Motor Sub-Assembly438
Replacing the Axis-3 Motor Sub-Assembly447
Replacing the Axis-4 Motor Sub-Assembly462
Gearboxes480
Replacing the Axis-1 Gear Unit Sub-Assembly480
Replacing the Axis-2 Gear Unit Sub-Assembly524
Calibration553
Introduction to Calibration553
Introduction and Calibration Terminology553
Calibration Methods554
When to Calibrate556
Synchronization Marks and Axis Movement Directions557
Synchronization Marks and Synchronization Position for Axes557
Calibration Movement Directions for All Axes559
Updating Revolution Counters560
Updating Revolution Counters on Omnicore Robots560
Calibrating with Axis Calibration Method564
Description of Axis Calibration564
Calibration Tools for Axis Calibration567
Installation Locations for the Calibration Tools569
Axis Calibration - Running the Calibration Procedure570
Reference Calibration574
Calibrating the Robot576
Calibration Position576
Calibrating Axis 1 and Axis 2577
Calibrating Axis 3 and Axis 4578
Verifying the Calibration583
Checking the Synchronization Position584
Decommissioning585
Introduction to Decommissioning585
Environmental Information586
Scrapping of Robot588
Reference Information589
Introduction589
Applicable Standards590
Unit Conversion591
Screw Joints592
Weight Specifications595
Standard Toolkit596
Special Tools597
Lifting Accessories and Lifting Instructions598
Spare Parts599
Spare Part Lists and Illustrations599

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