ABB OmniCore IRB 6740

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ROBOTICS

Product manual

IRB 6740

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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 Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes32
Brake Testing33
Safety During Troubleshooting34
Safety During Decommissioning35
Manipulator Description37
Technical Data37
Working Range41
The Unit Is Sensitive to ESD50
Installation and Commissioning51
Introduction to Installation and Commissioning51
Unpacking52
Pre-Installation Procedure52
Risk of Tipping/Stability53
On-Site Installation55
Brief Installation Procedure55
Installing a Base Plate56
Lifting the Robot64
Lifting Robot with Lifting Accessory (Recommended Lifting Method)64
Lifting the Robot with Fork Lift66
Lifting the Robot with Roundslings67
Orienting and Securing the Robot72
Manually Releasing the Brakes75
Loads Fitted to the Robot, Stopping Time and Braking Distances77
Fitting Equipment on the Robot (Robot Dimensions)78
Working Range Alterations87
Adjusting the Working Range87
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)88
Extended Working Range, Axis 1 (Option)91
Electrical Connections93
Robot Cabling and Connection Points93
Test Run after Installation, Maintenance, or Repair96
Maintenance97
Introduction97
Maintenance Schedule and Expected Component Life98
Specification of Maintenance Intervals98
Maintenance Schedule99
Expected Component Life101
Inspection Activities102
Inspecting the Motor Seal102
Inspecting the Balancing Device104
Inspecting the Cable Harness108
Inspecting the Dampers110
Inspecting the Information Labels112
Inspecting the Axis-1 Mechanical Stop115
Inspecting the Oil Level in Axis-1 Gearbox117
Inspecting the Oil Level in Axis-2 Gearbox120
Inspecting the Oil Level in Axis-3 Gearbox123
Inspecting the Oil Level in Axis-4 Gearbox126
Inspecting the Oil Level in Axis-5 Gearbox129
Inspecting the Oil Level in Axis-6 Gearbox132
Replacement/Changing Activities135
Type of Lubrication in Gearboxes135
Changing the Oil in Axis-1 Gearbox137
Changing the Oil in Axis-2 Gearbox142
Changing the Oil in Axis-3 Gearbox147
Changing the Oil in Axis-4 Gearbox152
Changing the Oil in Axis-5 Gearbox157
Changing the Oil in Axis-6 Gearbox162
Replacing the SMB Battery167
Lubrication Activities170
Lubricating the Spherical Roller Bearing, Balancing Device170
Cleaning Activities172
Cleaning the IRB 6740172
Repair177
Introduction177
General Procedures178
Performing a Leak-Down Test178
Mounting Instructions for Bearings179
Mounting Instructions for Sealings181
Cut the Paint or Surface on the Robot before Replacing Parts185
Axes 1 and 2186
Replacing the Axis-1 Cassette Sealing186
Balancing Device211
Replacing the Balancing Device211
Replacing Spherical Roller Bearing, Balancing Device Link Ear230
Replacing the Rear Bearings on the Balancing Device245
Axes 3 and 4257
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing257
Wrist282
Replacing the Wrist282
Replacing the Turning Disc301
Electronic Parts306
Removing the Cable Harness306
Refitting the Cable Harness325
Replacing the Brake Release Unit352
Replacing the SMB Unit359
Motors365
Replacing the Axis-1 Motor365
Replacing the Axis-2 Motor380
Replacing the Axis-3 Motor396
Replacing the Axis-4 Motor408
Replacing the Axis-5 Motor422
Replacing the Axis-6 Motor434
Gears444
Replacing the Axis-1 Gearbox444
Replacing the Axis-2 Gearbox505
Replacing the Axis-3 Gearbox547
Replacing the Axis-6 Gearbox591
Calibration609
Introduction to Calibration609
Introduction and Calibration Terminology609
Calibration Methods610
When to Calibrate612
Synchronization Marks and Axis Movement Directions613
Synchronization Marks and Synchronization Position for Axes613
Calibration Movement Directions for All Axes615
Updating Revolution Counters616
Updating Revolution Counters on Omnicore Robots616
Calibrating with Axis Calibration Method618
Description of Axis Calibration618
Calibration Tools for Axis Calibration621
Installation Locations for the Calibration Tools623
Axis Calibration - Running the Calibration Procedure625
Reference Calibration629
Verifying the Calibration631
Checking the Synchronization Position632
Troubleshooting633
Introduction to Troubleshooting633
Oil and Grease Stains on Motors and Gearboxes635
Mechanical Noise or Dissonance636
Manipulator Collapses on Power down637
Decommissioning639
Introduction to Decommissioning639
Environmental Information640
Scrapping of Robot642
Decommissioning of Balancing Device643
Reference Information645
Introduction645
Applicable Standards646
Unit Conversion647
Screw Joints648
Weight Specifications651
Standard Toolkit652
Special Tools653
Lifting Accessories and Lifting Instructions657

Brand	ABB
Model	OmniCore IRB 6740
Category	Robotics
Language	English

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