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IRB 930
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606 pages
Manual
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Protection
cover
for
C1
connector
on
the
base
D
Product
manual
-
IRB
930
75
3HAC086009-001
Revision:
A
©
Copyright
2023
ABB.
All
rights
reserved.
3
Installation
and
commissioning
3.5.2
Customer
connections
Continued
74
76
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 930
37
Technical Data
38
Robot Dimensions
42
Working Range
43
Information Labels
45
The Unit Is Sensitive to ESD
46
Installation and Commissioning
47
Introduction to Installation and Commissioning
47
Unpacking
48
Pre-Installation Procedure
48
Risk of Tipping/Stability
49
Transportation Bracket
51
On-Site Installation
54
Brief Installation Procedure
54
Test Run after Installation, Maintenance, or Repair
55
Lifting the Robot
56
Lifting Robot with Lifting Accessories
56
Manually Releasing the Brakes
58
Orienting and Securing the Robot
60
Loads Fitted to the Robot, Stopping Time and Braking Distances
63
Fitting Equipment on the Robot (Robot Dimensions)
64
Restricting the Working Range
67
Adjusting the Working Range
67
Mechanically Restricting the Working Range
68
Electrical Connections
71
Robot Cabling and Connection Points
71
Customer Connections
73
Start of Robot in Cold Environments
76
Test Run after Installation, Maintenance, or Repair
77
Maintenance
79
Introduction
79
Service Information System (SIS)
80
Maintenance Schedule and Expected Component Life
81
Specification of Maintenance Intervals
81
Maintenance Schedule
82
Expected Component Life
84
Inspection Activities
85
Inspecting the Information Labels
85
Inspecting the Robot Cabling
86
Inspecting the Ball Screw Spline Unit
87
Inspecting Mechanical Stops
90
Inspecting Timing Belts
94
Replacement/Changing Activities
95
Lubrication Activities
96
Lubricating the Ball Screw Spline Unit
96
Cleaning Activities
98
Cleaning the IRB
98
Changing Activities
100
Type of Lubrication in Gearboxes
100
Changing Oil, Axis-1 Gearbox
101
Changing Oil, Axis-2 Gearbox
106
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
119
Replacing the Process Hub
119
Replacing the SMB Unit and Battery Unit
129
Replacing the Main Harness
136
Base
171
Replacing the Base
171
Inner Arm
216
Replacing the Inner Arm
216
Replacing the Axis-1 Oil Tank
269
Outer Arm
277
Replacing the Mechanical Stopper
277
Replacing the Pulley on the Ball Screw Upper Position
283
Replacing the Pulley on the Ball Screw Lower Position
295
Replacing the Ball Screw
308
Replacing the Axis-3 Timing Belt
324
Replacing the Axis-4 Timing Belt
340
Replacing the Cable Arm
358
Replacing the Outer Arm
383
Motors
425
Replacing the Axis-1 Motor Sub-Assembly
425
Replacing the Axis-2 Motor Sub-Assembly
438
Replacing the Axis-3 Motor Sub-Assembly
447
Replacing the Axis-4 Motor Sub-Assembly
462
Gearboxes
480
Replacing the Axis-1 Gear Unit Sub-Assembly
480
Replacing the Axis-2 Gear Unit Sub-Assembly
524
Calibration
553
Introduction to Calibration
553
Introduction and Calibration Terminology
553
Calibration Methods
554
When to Calibrate
556
Synchronization Marks and Axis Movement Directions
557
Synchronization Marks and Synchronization Position for Axes
557
Calibration Movement Directions for All Axes
559
Updating Revolution Counters
560
Updating Revolution Counters on Omnicore Robots
560
Calibrating with Axis Calibration Method
564
Description of Axis Calibration
564
Calibration Tools for Axis Calibration
567
Installation Locations for the Calibration Tools
569
Axis Calibration - Running the Calibration Procedure
570
Reference Calibration
574
Calibrating the Robot
576
Calibration Position
576
Calibrating Axis 1 and Axis 2
577
Calibrating Axis 3 and Axis 4
578
Verifying the Calibration
583
Checking the Synchronization Position
584
Decommissioning
585
Introduction to Decommissioning
585
Environmental Information
586
Scrapping of Robot
588
Reference Information
589
Introduction
589
Applicable Standards
590
Unit Conversion
591
Screw Joints
592
Weight Specifications
595
Standard Toolkit
596
Special Tools
597
Lifting Accessories and Lifting Instructions
598
Spare Parts
599
Spare Part Lists and Illustrations
599
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