ABB IRB 360 Series, Product Manual

Page 1: ...ROBOTICS Product manual IRB 360 ...

Page 2: ...Trace back information Workspace R18 2 version a18 Checked in 2018 11 20 Skribenta version 5 3 012 ...

Page 3: ... 360 1 800 IRB 360 1 1130 IRB 360 1 1600 IRB 360 3 1130 IRB 360 6 1600 IRB 360 8 1130 IRC5 Document ID 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved Specifications subject to change without notice ...

Page 4: ... persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained from ABB Original instructions ...

Page 5: ...rbox lubricants oil or grease 38 1 4 Safety signals and symbols 38 1 4 1 Safety signals in the manual 40 1 4 2 Safety symbols on product labels 47 2 Installation and commissioning 47 2 1 Introduction 48 2 2 Structure manipulator 49 2 3 Unpacking 49 2 3 1 Pre installation procedure 53 2 3 2 Transport 55 2 3 3 Assembling the robot IRB 360 56 2 3 4 Working range and type of motion 58 2 4 On site inst...

Page 6: ...s cleaning 152 3 6 5 Clean room cleaning 153 3 7 Measuring activities 153 3 7 1 Measuring backlash axis 4 157 4 Repair 157 4 1 Introduction 158 4 2 General procedures 158 4 2 1 Mounting instructions for bearings 160 4 2 2 Mounting instructions for seals 162 4 2 3 Screw joints 165 4 2 4 Cut the paint or surface on the robot before replacing parts 167 4 3 Complete robot 167 4 3 1 Replacement of base...

Page 7: ...ating revolution counters 251 5 9 Serial measurement board memory 254 5 10 Checking the synchronization position 259 6 Decommissioning 259 6 1 Introduction 260 6 2 Environmental information 262 6 3 Scrapping of robot 263 7 Reference information 263 7 1 Introduction 264 7 2 Applicable standards 266 7 3 Unit conversion 267 7 4 Weight specifications 268 7 5 Standard toolkit 269 7 6 Special tools 270 ...

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Page 9: ...installation repair maintenance work Product manual scope The manual covers covers all variants and designs of the IRB 360 Some variants and designs may have been removed from the business offer and are no longer available for purchase Organization of chapters The manual is organized in the following chapters Contents Chapter Safety information that must be read through before performing any insta...

Page 10: ...iagram IRB 360 3HAC021313 001 Product manual IRC5 IRC5 with main computer DSQC 639 3HAC047136 001 Product manual IRC5 IRC5 with main computer DSQC1000 3HAC050941 001 Operating manual IRC5 with FlexPendant 3HAC16578 1 Operating manual Calibration Pendulum 3HAC050944 001 Operating manual Service Information System 3HAC051016 001 Application manual Additional axes and stand alone controller 3HAC04292...

Page 11: ...ions and or changes Added caution regarding swivel cup see Fitting equipment on robot on page 72 Updated instructions for cleaning see Cleaning activities on page143 Updated tightening sequence see Replacement of base cover gasket on page 167 Updated refitting instruction see Replacement of brake release button on page 232 Added information about when to update resolver values see When to calibrat...

Page 12: ...rent versions of bearing rings require different main tenance procedures on page 112 Universal joint 3HAC028132 001 is replaced with 3HAC046664 001 see Spare parts telescopic shafts J This revision includes the following updates Illustrations of placement of labels updated Added information about risks when scrapping a decommissioned robot see Scrapping of robot on page 262 Spare parts and explode...

Page 13: ... unit axis 4 Section Start of robot in cold environments on page 96 added Updated figure on motor axis 4 Added a note in the instruction Removal on page 196 Updated maintenance schedule with sealing ring v ring and the af fected cleaning instructions Updated information regarding extra load mass R Published in release R18 1 The following updates are done in this revision Safety restructured Update...

Page 14: ...sioning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and system parameters Application...

Page 15: ...ts The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters Product manual IRB 360 15 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved Product documentation Continued ...

Page 16: ...completed with a reference to the section where the equipment is listed with further information that is article number and dimensions The designation in the procedure for the component or attachment point corresponds to the designation in the referenced list The table below shows an example of a reference to a list of required equipment from a step in a procedure Note Illustration Action Art no i...

Page 17: ...arried out by in experienced or non qualified personnel Foreign objects Force majeure Nation region specific regulations To protect personnel the complete system must be designed and installed in accordance with the safety requirements set forth in the standards and regulations of the country where the robot is installed To be observed by the supplier of the complete system The integrator is respo...

Page 18: ...working in the work cell see the section Robot motion in the Product specification Also consider the maximum possible impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot Safe handling Users shall not be exposed to hazards including slipping tripping and falling hazards It must be possible to safely turn off tools such as milling cutters etc Make sure tha...

Page 19: ...view The protective stops and emergency stops are described in the product manual for the controller Product manual IRB 360 19 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 1 2 Protective stop and emergency stop ...

Page 20: ...guishing Note Use a CARBON DIOXIDE CO2 extinguisher in the event of a fire in the manipulator or controller 20 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 2 1 Fire extinguishing ...

Page 21: ...s may require using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the robot does not increase the pressure on the trapped person further increasing any injury DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpected ways Make sure no personnel is near or beneath the robot Product man...

Page 22: ... arrest burn injuries or other severe injuries To avoid these personal injuries switch off the main power on the controller before proceeding work Note Switch off all main power switches in a MultiMove system 22 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 2 3 Make sure that the main power has been switched off ...

Page 23: ...safety lock Make sure that no one else can turn on the power to the controller and robot while you are working with the system A good method is to remove the power cable to the controller If the robot is installed at a height hanging or other than standing directly on the floor there may be additional risks than those for a robot standing directly on the floor Energy stored in the robot for the pu...

Page 24: ...modifications to the robot Connection of external safety devices Apart from the built in safety functions the robot is also supplied with an interface for the connection of external safety devices An external safety function can interact with other machines and peripheral equipment via this interface This means that control signals can act on safety signals received from the peripheral equipment a...

Page 25: ...y stop equipment is cor rectly installed and connected 1 How to use the hold to run function is de scribed in section How to use the hold to run function in the Operating manual IRC5 with FlexPendant Usually the hold to run function is active only in manual full speed mode To in crease safety it is also possible to activate hold to run for manual reduced speed with a system parameter 2 The hold to...

Page 26: ...efore it is powered up 2 Verify that any safety equipment installed to secure the position or restrict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Install all safety equipment properly 5 Make sure all personnel are standing at a safe distance from the robot and is out of its reach behind safety fences or similar 6 If...

Page 27: ... in USA or Canada Pay attention to the rotating axes of the robot Keep away from axes to not get entangled with hair or clothing Also be aware of any danger that may be caused by rotating tools or other devices mounted on the robot or inside the cell Keep clear of moving parts so that limbs hands or fingers do not get trapped or crushed by the robot To prevent anyone else from taking control of th...

Page 28: ...manipulator switches to the MOTORS OFF state To ensure safe use of the teach pendant the following must be implemented The enabling device must never be rendered inoperational in any way During programming and testing the enabling device must be released as soon as there is no need for the robot to move Anyone entering the working space of the robot must always hold the teach pendant This is to pr...

Page 29: ... risks IRC5 controller A danger of high voltage is associated with for example the following parts Be aware of stored electrical energy DC link Ultracapacitor bank unit in the controller Units such as I O modules can be supplied with power from an external source The main supply main switch The transformers The power unit The control power supply 230 VAC The rectifier unit 262 400 480 VAC and 400 ...

Page 30: ...be live even if the robot system is in the OFF position Power supply cables which are in motion during the working process may be damaged 30 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 3 6 Risks associated with live electric parts Continued ...

Page 31: ... straps must be tested frequently to ensure that they are not damaged and are operating cor rectly Product manual IRC5 Product manual IRC5 Compact Product manual IRC5 Panel Mounted Controller Use a wrist strap The wrist strap button is located inside the control ler 1 The mat must be grounded through a current limit ing resistor Use an ESD protective floor mat 2 The mat should provide a controlled...

Page 32: ... your hand at some distance to feel if heat is radiating from the potentially hot component before actually touching it Wait until the potentially hot component has cooled if it is to be removed or handled in any other way Do not put anything on hot metal surfaces e g paper or plastic 32 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 3 8 Hot...

Page 33: ...ure must be released in the complete pneumatic or hydraulic systems before starting to repair them Work on hydraulic equipment may only be performed by persons with special knowledge and experience of hydraulics All pipes hoses and connections have to be inspected regularly for leaks and damage Damage must be repaired immediately Splashed oil may cause injury or fire Safe design Gravity may cause ...

Page 34: ... as described below 1 Run each robot axis to a position where the combined weight of the robot arm and any load is maximized maximum static load 2 Switch the motor to the MOTORS OFF 3 Inspect and verify that the axis maintains its position If the robot does not change position as the motors are switched off then the brake function is adequate 34 Product manual IRB 360 3HAC030005 001 Revision U Cop...

Page 35: ...losion fire may follow depending upon the circumstances Note Appropriate disposal regulations must be observed Safe handling Use safety glasses when handling the batteries In the event of leakage wear rubber gloves and chemical apron In the event of fire use self contained breathing apparatus Do not short circuit recharge puncture incinerate crush immerse force discharge or expose to temperatures ...

Page 36: ...tion Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn during this activity Changing and draining gearbox oil or grease may require hand ling hot lubricant heated up to 90 C Hot oil or grease Make sure that protective gear like goggles and gloves are al ways worn When working with gearbox lub ricant there is a risk of an allergic reaction Allergic r...

Page 37: ...a time to heat up the oil Warm oil drains quicker than cold oil Heat up the oil After filling verify that the level is correct The specified amount of oil or grease is based on the total volume of the gearbox When changing the lubricant the amount refilled may differ from the specified amount depending on how much has previously been drained from the gearbox Specified amount de pends on drained vo...

Page 38: ...he instructions are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING Warns for electrical hazards which could result in severe personal injury or dea...

Page 39: ...d conditions NOTE Describes where to find additional information or how to do an operation in an easier way TIP Product manual IRB 360 39 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 4 1 Safety signals in the manual Continued ...

Page 40: ...glish German and French Symbols on safety labels Description Symbol Warning xx0900000812 Warns that an accident may occur if the instructions are not followed that can lead to serious injury possibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of ...

Page 41: ... Do not disassemble xx0900000815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will release the brakes This means that the robot arm can fall down Continues on next page Product manual IRB 360 41 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights res...

Page 42: ...ip over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page 42 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 4 2 Safety symbols on product labels Continued ...

Page 43: ...1 1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page Product manual IRB 360 43 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 4 2 Safety symbols on product labels Continued ...

Page 44: ...0001242 Lifting of robot xx0900000822 Oil xx0900000823 Can be used in combination with prohibition if oil is not allowed Mechanical stop xx0900000824 Continues on next page 44 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 4 2 Safety symbols on product labels Continued ...

Page 45: ...that this part is pressurized Usually contains additional text with the pressure level Shut off with handle xx0900000827 Use the power switch on the controller Do not step xx1400002648 Warns that stepping on these parts can cause damage to the parts Product manual IRB 360 45 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 1 Safety 1 4 2 Safety symbols on product labels Contin...

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Page 47: ...portant that all safety information is observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page17 before performing any installation work Note If the IRB 360 is connected to power always make sure that the robot is connected to protective ...

Page 48: ...arm axis 2 B Upper arm axis 3 C Axis 4 motor D SMB unit E Telescopic shaft axis 4 F Parallel arm G Movable plate H Vacuum kit optional I Medium house set optional J Large house set optional K 48 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 2 Structure manipulator ...

Page 49: ... robot has not been damaged by visually inspecting its exterior 2 Make sure the lifting accessory to be used is dimensioned to handle the weight of the robot 3 If the robot is not to be installed directly it must be stored 4 Make sure the appointed operating environ ment of the robot conforms to the specifica tions 5 Before taking the robot to its installation site make sure the site conforms to a...

Page 50: ...1 1600 Max load in operation Force N 330 N Fx 260 N Fy 1500 170 N Fz Max load in operation Torque Nm 200 Nm Mx 230 Nm My 100 Nm Mz Robot version IRB 360 8 1130 IRB 360 6 1600 Max load in operation Force N 550 N Fx 500 N Fy 1500 460 N Fz Max load in operation Torque Nm 380 Nm Mx 440 Nm My 180 Nm Mz Continues on next page 50 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB Al...

Page 51: ... in the frame higher than 17 Hz is used for robot versions IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 and a frame with a lowest natural frequency higher than 40 Hz is used for robot version IRB 360 8 1130 IRB 360 6 1600 TuneServo can be used for adapting the robot tuning to a non optimal foundation Forces Maximum force in each fixing point are 500 N referring to the z direction in ...

Page 52: ...rating conditions for the robot Value Parameter 0 C to 45 C Ambient temperature Max 95 at constant temperature Relative humidity Protection classes The following table shows the protection class of the robot Protection class Equipment IP54 Standard Std IP67 Wash Down WD IP69K Wash Down Stainless WDS IP54 Clean Room Stainless Clean Room 52 Product manual IRB 360 3HAC030005 001 Revision U Copyright ...

Page 53: ...ing position It is not allowed to turn the manipulator up side down When air transport is used the robot must be located in a pressure equalized area WARNING The center of gravity for IRB 360 during transport is very high 804 810 mm from the bottom It might tilt and fall when carried on a forklift Continues on next page Product manual IRB 360 53 3HAC030005 001 Revision U Copyright 2008 2018 ABB Al...

Page 54: ...obot delivery box A Securing point x3 B Robot delivery note C 54 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 3 2 Transport Continued ...

Page 55: ... the parallel arms according to section 4 Replacement of telescopic shaft on page 190 Assemble the telescopic shaft accord ing to section 5 Replacement of movable plate on page 186 Assemble the movable plate according to section 6 Connecting the controller to the manipulator on page 91 Connect the controller and the manip ulator 7 CAUTION Before mounting external equipment on the robot first read ...

Page 56: ... X Y Z C A B D xx0700000448 Axis 1 A Axis 2 B Axis 3 C Axis 4 D Continues on next page 56 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 3 4 Working range and type of motion ...

Page 57: ...0 mm IRB 360 3 1130 800 mm 200 mm IRB 360 1 800 50 mm 1440 mm 1600 mm 300 mm IRB 360 1 1600 155 mm 1200 mm 1600 mm 305 mm IRB 360 6 1600 100 mm 750 mm 1130 mm 250 mm IRB 360 8 1130 Product manual IRB 360 57 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 3 4 Working range and type of motion Continued ...

Page 58: ...x0700000434 Robot package top A Robot package securing point x3 B Delivery note C Recommended equipment Note Art no Equipment Fork lift Continues on next page 58 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 1 Lifting the robot with fork lift ...

Page 59: ...ifting ac cessories used must be sized accordingly 1 Lift the robot package to the installation site 2 Product manual IRB 360 59 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 1 Lifting the robot with fork lift Continued ...

Page 60: ...ting strap dimensions must comply with the applicable standards for lifting Lifting position A xx0700000433 L 500 mm 20 inch A Recommended equipment Note Art no Equipment Roundslings Continues on next page 60 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 2 Lifting the robot with roundslings ...

Page 61: ... Lifting position on page60 CAUTION The IRB 360 weighs 120 kg Std and 145 kg WDS All lifting accessories used must be sized accordingly 1 Product manual IRB 360 61 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 2 Lifting the robot with roundslings Continued ...

Page 62: ...89 5 275 370 647 865 1115 IRB 360 1 1130 IRB 360 3 1130 R366 28 50 389 5 275 370 650 892 1142 IRB 360 8 1130 R251 275 370 481 960 1160 IRB 360 1 800 R447 95 438 275 370 880 1112 1412 IRB 360 1 1600 R515 148 3 478 9 275 370 883 1107 5 1412 5 IRB 360 6 1600 62 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 3 Amount of...

Page 63: ... the robot safely WARNING Make sure that the robot frame is secured before mounting the robot Illustration xx0700000469 Spirit level A Chemical or mechanical expander bolts B Shim C Continues on next page Product manual IRB 360 63 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 4 Orienting and securing the robot frame ...

Page 64: ...rms to the specifications in section Pre installation procedure on page 49 1 Prepare the installation site 2 Use shim for leveling Example of shim shown in Shim drawing on page 64 Use a water level to level the robot frame 3 Use chemical or mechanical ex pander bolts Secure the robot frame to the floor 4 Shim drawing Example of shim xx0700000623 64 Product manual IRB 360 3HAC030005 001 Revision U ...

Page 65: ...crew M12 A Bonded seal washer rubber metal B Spacer metal C Washer EPDM rubber compressed 50 D Required equipment Note Spare part no Equipment etc Standard toolkit on page 268 Standard tools Continues on next page Product manual IRB 360 65 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot ...

Page 66: ...mounted against three flat surfaces with a flatness within the specification Use shims if necessary Continues on next page 66 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot Continued ...

Page 67: ...ket F Dimensions Attachments M12x 50 Attachment bolts 3 pcs The length of the screws depend on the design of the robot frame Bonded seal washer rubber metal 3 pcs Continues on next page Product manual IRB 360 67 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot Continued ...

Page 68: ...on Lifting the robot with fork lift on page 58 and in section Lifting the robot with roundslings on page 60 Lift the robot to the installation site 3 Note If use of ABB s vacuum system is inten ded make sure there is a space left for the bracket F 4 The screw joint must be able to withstand the stress loads defined in section Pre installation procedure on page 49 Fit and tighten the bolts and wash...

Page 69: ...brake release unit when the robot is connected to the controller This section describes how to release the holding brakes using the internal brake release unit Note Action On the FlexPendant press the stop button 1 xx0700000625 On the controller set the key switch into manual position 2 en0400000795 Check the motors off button make sure that the button flashes 3 Continues on next page Product manu...

Page 70: ...ess and hold the brake re lease button keep it pressed in The brake will function again as soon as the button is released 5 Continues on next page 70 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 6 Manually releasing the brakes Continued ...

Page 71: ... pins If they are mixed up electrical components can be damaged Note Action See cable harness in Spare parts cable harness Connect an external power 24V supply to the FCI connector pin 13 to 0V and pin 15 to 24V 1 Press and hold the brake release button keep it pressed in The brake will function again as soon as the button is released 2 Product manual IRB 360 71 3HAC030005 001 Revision U Copyright...

Page 72: ... Note All equipment and cables used on the robot must be designed and fitted not to damage the robot and or its parts Continues on next page 72 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot ...

Page 73: ...ee space depth 6 mm A R1 4 B Ø14 H8 depth 4 mm C Key grip width 22 mm height 5 5 mm D Ø25 h8 depth 6 mm E Continues on next page Product manual IRB 360 73 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot Continued ...

Page 74: ...RB 360 1 800 IRB 360 1 1600 xx0700000709 Continues on next page 74 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot Continued ...

Page 75: ...e plate with swivel CAUTION Never drill a hole in the manipulator without first consulting maintenance staff or the design department at ABB CAUTION Never remove the swivel cup The cup protects the bearings Note Action Fitting R1 4 Attach the tool to the mounting flange 1 Continues on next page Product manual IRB 360 75 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Instal...

Page 76: ...tightening 2 Note If axial tool movement using axis 4 is in tended use a locking liquid or a lock screw to prevent rotation of tool If a high frequent use of linear tool move ment is intended use a tool with mounting flange 3 Continues on next page 76 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipmen...

Page 77: ...e an open end spanner 22 mm or similar on the mounting flange when tightening 2 Attachment screws Note Attachments M4 Length depending on tool Suitable screws lightly lubricated Suitable washer See section Screw joints on page 162 Tightening torque Product manual IRB 360 77 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipmen...

Page 78: ... or M2 should be calculated as a point load located in the same position as TCPO This point load needs to be added to the calculation of the users normal tool load and declared in used tooldata see Extra load mass to be calculated on page 78 Extra load mass to be calculated Action Weight Part on arm system Allowed Do not calculate the extra load mass 0 175 g M1 Calculate the extra load mass by sub...

Page 79: ... 175g in TCP 0 Example of calculating the extra load mass If the extra equipment excluding option equipments attached to M1 has the load mass of 210 g and the extra equipment attached on M2 has the load mass of 240 g then the calculated extra load mass for M1 is 210 g 175 g 35 g and for M2 240 g 175 g 65 g Adding together the calculated load mass for M1 and M2 35 g 65 g 100 g gives the correct amo...

Page 80: ... the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location xx0700000546 Warning lamp A Screw M8 of suitable length B Continues on next page 80 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Inst...

Page 81: ...167 Standard toolkit on page 268 Installation F xx0700000577 Safety lamp connectors R3 H1and R3 H2 A Lead through in cover plate for the optional safety lamp B Cover gasket 3HAC028972 001 C 4pcs Screw M6x20 D FB7 connector for resolver signals for axis 7 Option 864 1 F Continues on next page Product manual IRB 360 81 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installat...

Page 82: ...e optional safety lamp cover plate with gasket 2 Locate the connectors R3 H1 R3 H2 and connect the safety lamp harness to it 3 Placement is optional Mount the safety lamp 4 82 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 1 Installation of safety lamp option 213 1 Continued ...

Page 83: ...he manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page Product manual IRB 360 83 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 2 Installati...

Page 84: ...n Type Term Desig nation Power 13 1 R1 CP 2 A1 XP5 RD 1 13 2 R1 CP 2 B1 XP5 BU 2 13 3 R1 CP 2 C1 XP5 GN 3 Continues on next page 84 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 2 Installation of optional customer connections IRB 360 Continued ...

Page 85: ...3 WH 3 1 15 6 R1 CS 4 C6 XP5 3 GN 3 2 15 7 R1 CS 4 D6 XP5 4 WH 4 1 15 8 R1 CS 4 A7 XP5 4 BN 4 2 15 9 R1 CS 4 B7 XP5 5 WH 5 1 15 10 R1 CS 4 C7 XP5 5 GY 5 2 15 11 R1 CS 4 D7 XP5 6 RD 6 1 15 12 R1 CS 4 A8 XP5 6 BU 6 2 15 13 R1 CS 4 B8 XP5 7 RD 7 1 15 14 R1 CS 4 C8 XP5 7 OG 7 2 15 15 R1 CS 4 D8 XP5 8 RD 8 1 15 16 R1 CS 4 A9 XP5 8 GN 8 2 15 17 R1 CS 4 B9 XP5 9 RD 9 1 15 18 R1 CS 4 C9 XP5 9 BN 9 2 15 19...

Page 86: ...Ref DP shield XP5 Shield i Use green yellow shrinking hose on free conductors in both ends ii Dual press both shields and connect them to earth Installation Note Action Remove the standard cover plate 1 Fit the self adhesive gasket on the customer cover plate 2 Use standard tools Install the customer cable harness 3 Tightening torque 4 Nm Assemble the customer cover plate using the four attachment...

Page 87: ...ace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page Product manual IRB 360 87 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 3 In...

Page 88: ...x 6 bar E Vacuum switch F Air filter compressed air side G Air filter vacuum side H Continues on next page 88 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 89: ...lange M6 x 20 A2 DIN6921 E Gasket F Note Action Follow the refitting instructions in section Replace ment of ejector unit on page 225 1 Continues on next page Product manual IRB 360 89 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 90: ...th see section Manipulator cables IRB 360 on page 94 Assemble the customer cable 3HAC14860 X 1 Use connection R1 CS on the front of the ejector unit and the other end to the XP5 socket on the controller 2 90 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 91: ...t base on the right side of axis 1 upper arm Connecting the controller to the manipulator is further described in the product manual for the controller WARNING Before starting to connect any cable to the controller make sure that the line voltage cable is disconnected Continues on next page Product manual IRB 360 91 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installati...

Page 92: ...A connector is designated XP when it has pins male and XS when it has sockets female Cable part numbers and length in section Manipulator cables IRB 360 on page 94 Continues on next page 92 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 6 1 Connecting the controller to the manipulator Continued ...

Page 93: ...nections xx0700000565 Product manual IRB 360 93 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 2 Installation and commissioning 2 6 1 Connecting the controller to the manipulator Continued ...

Page 94: ...e drive units in the control cabinet to the robot motors Robot cable power R1 MP4 6 X1 SMB S Transfers resolver data from and power supply to the seri al measurement board Robot cable signals Robot control cable power and signal These cables are sold in pair including both one robot cable power and one robot cable signal Art no Cable 3HAC029903 001 Robot control cable 3 m 3HAC029903 002 Robot cont...

Page 95: ... 3HAC030198 005 Customer control cable 30 m Customer vacuum connection optional Signal cables for vacuum are optional and can not be combined with customer connections Art no Cable 3HAC14860 7 Customer control cable 3 m 3HAC14860 1 Customer control cable 7 m 3HAC14860 2 Customer control cable 15 m 3HAC14860 3 Customer control cable 22 m 3HAC14860 4 Customer control cable 30 m Product manual IRB 36...

Page 96: ... regulated with the RAPID instruction VelSet Start the robot with its normal program but with reduced speed 1 Adjusting the speed and acceleration during warm up Depending on how cold the environment is and what program is being used the speed might need to be ramped up until reached maximum The table shows examples of how to adjust the speed Speed velocity AccSet Work cycles v100 100 mm s 20 20 3...

Page 97: ...t sections and divided according to the maintenance activity Safety information Observe all safety information before conducting any service work There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page 17 before performing any service work Note If...

Page 98: ...ting time specified in operating hours More frequent running means more frequent maintenance activities SIS specified by the robot s SIS Service Information System A typical value is given for a typical work cycle but the value will differ depending on how hard each part is run The SIS used in M2004 is further described in the Operating manual Service Information System 98 Product manual IRB 360 3...

Page 99: ...nts Preventive maintenance Nevertheless certain routine checks and preventive maintenance must be carried out at specified periodic intervals as shown in the following table Note Preventive maintenance As described in section Clean ing activities on page 143 Clean the robot Recommended lubrication see section Mounting instructions for bearings on page 158 Lubricate sealings At regular intervals Wh...

Page 100: ...the spring units make a grinding sound iv Check for abnormal wear or contamination v There are two different types of bearing rings 3HAC028087 001 is maintenance free 3HAC2091 1 must be lubricated according to maintenance schedule See Different versions of bearing rings require different maintenance procedures on page 112 vi Oil should only be changed once after the first 30 000 h vii The battery ...

Page 101: ...damaged Wear of plain bearings in telescopic shaft wash down protection Cleaning Cleaning Clean the robot exterior with a cloth when necessary Do not use aggressive solvents which may damage paint or cabling See section Cleaning activities on page 143 Cleaning instructions for wash down version see section Cleaning activities on page 143 Product manual IRB 360 101 3HAC030005 001 Revision U Copyrig...

Page 102: ... risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note The wear on the bearings depends on the payload cycle environment and lubrication Telescopic shaft xx0700000556 Telescopic shaft STD A Universal joint B Set screw dog point C Continues on next page 102 Product manu...

Page 103: ...e fallen off Note Action CAUTION Be careful when pulling out the telescope to full length Remove any remaining parts of the bar system from the movable plate 1 How to replace the universal joint see section Replacement of universal joint on page 193 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 193 Move the movable ...

Page 104: ...systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note The wear on the bearings depends on the payload cycle environment and lubrication Telescopic shaft xx0700000717 Required equipment and references References Replacement of telescopic shaft on page 190 Spare parts telescopic shaft Continues on next page...

Page 105: ...n pulling out the telescope to full length Remove any remaining parts of the bar system from the movable plate 1 How to replace the universal joint see section Replacement of universal joint on page 193 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 193 Move the movable plate in different directions in order to check...

Page 106: ...Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note The wear on the bearings depends on the payload cycle environment and lubrication Continues on next page 106 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ...

Page 107: ...Ballnipple Ø3mm Grease gun Grease specification on page 271 Grease Spare parts telescopic shaft Telescopic shaft Standard toolkit on page 268 Standard tools References Spare parts telescopic shaft Replacement of telescopic shaft on page 190 Continues on next page Product manual IRB 360 107 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 3 Telescopic shaft st...

Page 108: ... Action CAUTION Be careful when pulling out the telescope to full length Remove any remaining parts of the bar system from the movable plate 1 How to replace the universal joint see section Replacement of universal joint on page 193 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 193 Move the movable plate in differen...

Page 109: ...upplies before entering the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page Product manual IRB 360 109 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Main...

Page 110: ...e Spare part no Required equipment Spare parts ejector unit Pneumatic valve unit References Replacement of ejector unit on page 225 Draining of water separation filter on page 223 Continues on next page 110 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 4 Vacuum system optional Continued ...

Page 111: ... outer clamps 2 Particle size must not exceed 5 µm Check that the air supply is dry and clean 3 Interval 4 000 h or 2 Years Note Action The service life of the valves is 4x107 cycles Replace pneumatic valves 1 Described in section Replacement of ejector unit on page 225 Product manual IRB 360 111 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 4 Vacuum syste...

Page 112: ...t of parallel arms on page 174or they will be damaged Note Never use grease on the bar system Different versions of bearing rings require different maintenance procedures Valid for robot versions IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 At delivery the robot is equipped with bearing rings 3HAC028087 001 These are maintenance free In specific environments the bearing rings 3HAC028...

Page 113: ...ree see Different versions of bearing rings require different maintenance proced ures on page 112 3 Maintenance activity with interval 500 hours or 1 year Note Action How to replace bearing rings see section Replacement of bearing rings on page 183 Check for wear on bearing rings listen for screeching Replace if needed 1 Type of grease see Required equipment and references on page 113 Lubricate be...

Page 114: ...e bearing ring Replace the bearing ring if required according to section Replacement of bearing rings on page 183 1 Distance A Robot variant Worn out value i Value that requires replace ment of the bearing ring Initial value 124 mm Std 125 mm Std 126 mm Std IRB 360 1 1130 IRB 360 3 1130 128 mm WDS 129 mm WDS 130 mm WDS IRB 360 1 800 IRB 360 1 1600 128 mm 129 mm 130 mm IRB 360 8 1130 IRB 360 6 1600...

Page 115: ...ion and service work on robots on page 23 Check joint balls xx0700000500 Movable plate A Joint balls B Required equipment and references Note Spare part No Required equipment Standard toolkit on page 268 Standard tools 3HAC6194 1 Pliers for parallel arms References Replacement of joint balls on page 195 Interval 4 000 hours or 2 years Note Action If necessary replace the part as de scribed in Repl...

Page 116: ...or Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Check upper arm A B xx0700000501 Upper arm tube A Joint balls B Continues on next page 116 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reser...

Page 117: ... 2 years Note Action If necessary replace the part as described in section Replacement of upper arm on page 180 Check the surface of the tube for cracks 1 If necessary replace the part as described in Replacement of joint balls on page 195 Check surface of joint balls for cracks or burrs 2 Product manual IRB 360 117 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenanc...

Page 118: ...tions Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Check hoses xx0700000499 Air filter inlet A Ejector unit B Air filter inlet vacuum C Swivel cup D Hose clamp E Continues on next page 118 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ...

Page 119: ...uum hoses on page 220 Interval 500 hours Note Action If necessary exchange the part as described in Replacement of vacuum hoses on page 220 Check the entire hose and make sure there are no folds or surface damage 1 Product manual IRB 360 119 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 8 Hoses Continued ...

Page 120: ...th live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION The spring units must be removed according to the description in section Replacement of parallel arms on page 174or they will be damaged Check spring units IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 A B C G xx0700000497 Hook A Spring B Rubber bellow C Greasing points G C...

Page 121: ...IRB 360 Spring References Replacement of parallel arms on page 174 Interval 500 hours Note Action If necessary exchange the part as described in Replacement of par allel arms on page 174 Check the forks for wear 1 Shown in figure as G If necessary if the spring units make a grinding sound apply grease to all wear surfaces 2 Product manual IRB 360 121 3HAC030005 001 Revision U Copyright 2008 2018 A...

Page 122: ...lic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Check movable plate xx0700000502 Tool interface axis 4 A Required equipment and references Note Spare part no Required equipment Spare parts movable plate Movable plate Standard toolkit on page 268 Standard tools Continues on next page 122 Product manua...

Page 123: ... Note Action As described in section Manually releasing the brakes on page 69 Release the holding brakes on the robot axis 4 1 If necessary replace the movable plate as de scribed in Replacement of movable plate on page 186 Check axis 4 so that the rotation is smooth 2 Product manual IRB 360 123 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 10 Movable plat...

Page 124: ...ation label B Warning label Brake release C Warning label Electricity symbol of flash 3 pcs D Rating label 2 pcs E UL UR label F Instruction label G Before dismantling see product manual Label FlexPicker J Axis marking K Required equipment Note Spare part number Equipment See Spare part lists on page 277 Labels Continues on next page 124 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2...

Page 125: ... air pressure supply to the robot before entering the robot work ing area 1 See the figure in Location of information labels on page 124 Check all labels 2 Replace any missing or damaged labels 3 Product manual IRB 360 125 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 3 11 Inspecting information labels Continued ...

Page 126: ...d for longer production breaks with a battery shutdown service routine See Operating manual IRC5 with FlexPendant for instructions DANGER Turn off all electrical power hydraulic and pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on pag...

Page 127: ...A xx0700000506 SMB battery A Continues on next page Product manual IRB 360 127 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 4 1 Changing the battery in the measuring system Continued ...

Page 128: ...order the correct spare parts Do not replace the battery contact Note Spare part no Tools and wear parts Lithium battery See Product manual spare parts IRB 360 Battery unit Standard toolkit on page 268 Standard tools Battery retainer strap References Updating revolution counters on page 248 Replacement of base cover gasket on page 167 Continues on next page 128 Product manual IRB 360 3HAC030005 00...

Page 129: ...e 165 Disconnect the battery from the serial measurement board 3 Connection X3 Note Used batteries must never be thrown away They must be handled as hazardous waste Cut the strap and remove the battery pack Use standard tools 4 Connect the new battery to the serial measurement board 5 Connection X3 Refit the battery to the SMB using a strap 6 Replace if damaged Check the base cover gasket 7 Descri...

Page 130: ...ted to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note The wear on the bearings depends on the payload cycle environment and lubrication Telescopic shaft xx0700000556 Telescopic shaft STD A Universal joint B Set screw dog point C Continues on next page 130 Product manual IRB 360 ...

Page 131: ...e on the robot before replacing parts on page165 Interval 4 000 h or 2 Years Note Action Described in section Replacement of telescopic shaft on page 190 Change the telescopic shaft and the universal joints 1 After a collision and or if arms have fallen off See After a collision and or if arms have fallen off on page 103 Product manual IRB 360 131 3HAC030005 001 Revision U Copyright 2008 2018 ABB ...

Page 132: ...BB Business Portal www mypo rtal abb com Before starting any inspection maintenance or changing activities of lubrication always contact the local ABB Service organization for more information For ABB personnel Always check ABB Library for the latest revision of the manual Technical reference manual Lubrication in gearboxes in order to always get the latest information of updates about lubrication...

Page 133: ... gearbox A Axis 2 gearbox B Axis 3 gearbox C Axis 4 gearbox D Product manual IRB 360 133 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 5 1 Type of lubrication in gearboxes Continued ...

Page 134: ...read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on n...

Page 135: ...Spare parts gaskets in the base Gaskets base Spare parts transmission cover Gaskets cover Spare parts gear units axis 1 3 Spare parts gear units axis 1 3 Spare parts gear unit axis 4 Spare parts gear units axis 4 Loctite 243 Locking liquid 3HAC031493 001 Sikaflex 521FC Continues on next page Product manual IRB 360 135 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintena...

Page 136: ...se cover gasket on page 167 Remove the base cover 1 Described in section Replacement of gearbox unit 4 on page 202 Remove the gearbox and motor axis 4 2 xx0700000728 Remove the oil plug and drain the oil from gearbox 4 3 Types and volumes of oil are specified in the Technical refer ence manual Lubrication in gearboxes 3HAC042927 001 Fill new oil through the plug holes with spe cified volume 4 Cont...

Page 137: ...e the 12 pcs M6 screws holding the base cover 1 Described in section Replacement of parallel arms on page174 Remove the parallel arms 2 Described in section Replacement of telescopic shaft on page 190 Remove the telescopic shaft 3 Use a screwdriver Remove the 3 pcs VK covers 4 Described in section Replacement of upper arm on page 180 Remove the 3x6 pcs M6x40 holding the up per arms 5 xx0700000509 ...

Page 138: ...he transmission cover and sealing is glued on to the robot using sikaflex When removing the transmis sion cover use a screw driver to carefully separ ate the sealing from the sikaflex Carefully re move the sikaflex from the robot and transmis sion cover 8 A Transmission cover B Flange screw M6x20 Note Remove the cables to the brake release described in section Replacement of brake release button o...

Page 139: ...ing washers if necessary 12 Types and volumes of oil are specified in the Technical refer ence manual Lubrication in gearboxes 3HAC042927 001 xx0700000729 The oil is filled through the plug holes A with specified volume check oil level by re moving the oil level plug B 13 Continues on next page Product manual IRB 360 139 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maint...

Page 140: ...anol Note Make sure that all old sikaflex is removed 14 Apply a 5mm string of sikaflex on the sealing upper surface 15 Continues on next page 140 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 5 2 Gearboxes axes 1 4 Continued ...

Page 141: ...equence in the figure 16 Tightening torque 4 Nm B A xx1100000540 After tightening check that the sikaflex fill the entyre gap according to figure pos B remove superfluous or fill up if needed 17 Continues on next page Product manual IRB 360 141 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 5 2 Gearboxes axes 1 4 Continued ...

Page 142: ...ng the 6 x 3 pcs M6x40 Apply locking liquid loctite 243 20 Apply locking liquid loctite 243 Mount new VK covers on the upper arms 21 Described in section Replacement of parallel arms on page174 Refit all parallel arms 22 Described in section Replacement of telescopic shaft on page 190 Refit the telescopic shaft 23 CAUTION The base cover has sharp edges use protective gloves Described in section Re...

Page 143: ... ter Wipe with cloth Vacuum Cleaner No No No Yes Yes Standard Yes Yesii Yesi Yes Yes Wash down Yes Yesiii Yes Yes Yes Wash down stainless No No No Yes Yes Clean room i It is highly recommended that the water contains a rust prevention solution ii It is highly recommended that the water and steam contains rust preventive without cleaning detergents iii See recommended water temperature and pressure...

Page 144: ...obot the robot must be cleaned as a standard version robot xx0800000005 Base cover gasket A Brake release button B Transmission cover gasket C Axis 4 sealing ring D Movable plate E Upper arm sealing rings F Continues on next page 144 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 6 1 Introduction Continued ...

Page 145: ...erature 80 C Maximum flow 20 liters min Instructions for steam or high pressure water cleaning The IRB 360 with protection types Wash down and Wash down stainless can be cleaned using a steam cleaner or high pressure water cleaner The following list defines the prerequisites Maximum water pressure at the nozzle 2 500 kN m2 25 bar Fan jet nozzle should be used min 45 spread Minimum distance from no...

Page 146: ...raulic and pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note Action Use a vaccum cleaner to remove loose particles 1 Use a dry or moistened cloth to wi...

Page 147: ...ng it is possible to use the spring units without the rubber bellows xx0700000707 To remove the rubber bellows see section Replacement of parallel arms on page 174 Product manual IRB 360 147 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 6 2 Standard cleaning Continued ...

Page 148: ...f rough soil 1 See figure for Sensitive spots on page 144 Detergent Topaz LD1 Concentration 3 Water temperature 40 60 C Foam the whole external surface with detergent 2 Let the detergent work for ap prox 20 minutes to retain effect ive cleaning properties 3 Ensure that the solvent does not dry on the surface Rinse thoroughly with water 4 Detergent P3 topactive DES Concentration 1 2 Water temperatu...

Page 149: ...labels on page 214 If the labels on the robot are damaged in the cleaning proced ure apply new labels 8 Product manual IRB 360 149 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 6 3 Wash down cleaning Continued ...

Page 150: ... and service work on robots on page 23 Note Action Water temperature max 80 C Pre rinse with water for removal of rough soil with low pressure 1 See figure for Sensitive spots on page 144 Detergent TOPAZ MD4 Concentration 3 Water temperature 40 60 C Foam the whole external surface with detergent 2 Let the detergent work for ap prox 20 minutes to retain effect ive cleaning properties 3 Ensure that ...

Page 151: ...classified grease 7 Described in section Replacement of labels on page 214 If the labels on the robot are damaged in the cleaning proced ure apply new labels 8 Product manual IRB 360 151 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 6 4 Wash down stainless cleaning Continued ...

Page 152: ...r Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note Action Use a vacuum cleaner to re move loose particles 1 Use a cloth with cleaning deter gent or Isopropyl alcohol to wipe off the dirt and dust 2 152 Product manual IRB 360 3H...

Page 153: ...ce work on robots on page 23 Required equipment and references Note Required equipment Indicator clock Dynamometer square tube length min 250 mm Tool Measuring backlash Note Action For fastening of tool on robot see hole pattern in Fitting equipment on robot on page 72 Attache the tool on manipulator 1 Place the indicator clock on a metallic surface placed underneath the manipulator 2 xx1700000046...

Page 154: ...ister first measurement point 6 xx1700000049 Apply torque 1 Nm in the other direction i e 10 N on a distance of 100 mm from center of rotation 7 Decrease force to 0N 8 Continues on next page 154 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 7 1 Measuring backlash axis 4 Continued ...

Page 155: ...700000051 Calculate the angular backlash as the differ ence between measurement point 1 and 2 di vided by 2πr Note r is the distance from center of rotation to where the measurement is done 11 Product manual IRB 360 155 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 3 Maintenance 3 7 1 Measuring backlash axis 4 Continued ...

Page 156: ...This page is intentionally left blank ...

Page 157: ... perform a specific repair activity are listed in the respective procedures The details of equipment are also available in different lists in the chapter Reference information on page 263 Safety information There are general safety information and specific safety information The specific safety information describes the danger and safety risks while performing specific steps in a procedure Make su...

Page 158: ... stresses during the assembly work 3 Assembly of tapered bearings Follow the preceding instructions for the assembly of the bearings when mounting a tapered bearing on the robot In addition to those instructions the following procedure must be carried out to enable the roller elements to adjust to the correct position against the race flange Note Action Tension the bearing gradually until the reco...

Page 159: ...tarted During operation the bearing should be filled to 70 80 of the available volume Ensure that grease is handled and stored properly to avoid contamination Grease the different types of bearings as following description Grooved ball bearings must be filled with grease from both sides Tapered roller bearings and axial needle bearings must be greased in the split condition Product manual IRB 360 ...

Page 160: ...rrect type provided with cutting edge There is no damage to the sealing edge feel with a fingernail 1 Inspect the sealing surface before mounting If scratches or damage are found the seal must be replaced since it may result in future leakage 2 Article number is specified in Equipment on page160 Lubricate the seal with grease just before fitting Not too early there is a risk of dirt and foreign pa...

Page 161: ... procedure describes how to fit o rings Note Action Ensure that the correct o ring size is used 1 Defective o rings including damaged or deformed o rings may not be used Check the o ring for surface defects burrs shape accuracy or deformation 2 Defective o rings may not be used Check the o ring grooves 3 The grooves must be geometrically correct and should be free of pores and contamination CAUTIO...

Page 162: ...in the repair maintenance or installation procedure descriptions Any special torque specified overrides the standard torque Use the correct tightening torque for each type of screw joint Only use correctly calibrated torque keys Always tighten the joint by hand and never use pneumatic tools Use the correct tightening technique that is do not jerk Tighten the screw in a slow flowing motion Maximum ...

Page 163: ...que Tightening torque Nm Class 12 9 lubricated i Tightening torque Nm Class 10 9 lubricated i Dimension 35 28 M8 70 55 M10 120 96 M12 280 235 M16 550 460 M20 950 790 M24 i Lubricated with Molycote 1000 Gleitmo 603 or equivalent Water and air connectors The following table specifies the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass...

Page 164: ... Tightening torque Nm Min Tightening torque Nm Nominal Dimension 50 30 40 1 2 90 55 70 3 4 164 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 2 3 Screw joints Continued ...

Page 165: ...wood Tooling pin Ethanol Cleaning agent Knife Lint free cloth 3HAC036639 001 Touch up paint Clean Room White Removing Description Action xx0900000121 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid that the paint cracks 1 Carefully grind the paint edge that is left on the structure to a smooth surface 2 Refitting Description Action Use etha...

Page 166: ... Use Touch up paint Clean Room white to paint the joint Note Always read the instruction in the product data sheet in the paint repair kit for Clean Room 6 Note After all repair work wipe the robot free from particles with spirit on a lint free cloth 166 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 2 4 Cut the paint or surface on the robot...

Page 167: ...ng the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page Product manual IRB 360 167 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 1 Replacement ...

Page 168: ...tandard toolkit on page 268 Standard tools See Product manual spare parts IRB 360 Plastic washer See Product manual spare parts IRB 360 Rubber gasket CAUTION Always cut the paint with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Continues on next page 168 Product manual IRB 360 3HAC030005 001 Revision U Copyri...

Page 169: ...not lubricate the hollow o ring for the base cover it can slip out of position when cleaning Refit a new hollow o ring 2 CAUTION The base cover has sharp edges use protective gloves Refit the base cover 3 See tightening sequence Location and tightening sequence on page 168 Refit the flange screws with plastic washers Note Check that the washers are not damaged Replace if needed 4 Use tightening to...

Page 170: ... the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page 170 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 2 Replacement of...

Page 171: ...ith the 3 pole battery contact has longer lifetime for the battery It is important that the SMB unit uses the correct battery Make sure to order the correct spare parts Do not replace the battery contact Note Spare part no Equipment Standard toolkit on page 268 Standard tools Continues on next page Product manual IRB 360 171 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 R...

Page 172: ... flange screws holding the bracket for the SMB unit 2 Disconnect all the cables from the SMB unit 3 Remove the SMB unit 4 Note This product contains certain materials considered hazardous This product must be disposed of in accordance with the current legislation of the country in which the robot and control unit is installed Refitting SMB unit Note Check the new battery using a voltameter It shou...

Page 173: ...pdating re volution counters on page 248 Update the revolution counters 5 Product manual IRB 360 173 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 2 Replacement of serial measurement board Continued ...

Page 174: ...pace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page 174 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 3 Replacement of parallel ...

Page 175: ...RB 360 1 1600 xx0700000488 Upper arm A Parallel arm B Spring unit C Bearing ring D Continues on next page Product manual IRB 360 175 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 3 Replacement of parallel arms Continued ...

Page 176: ...andard toolkit on page 268 Standard tools 3HAC6194 1 Pliers for parallel arms See Product manual spare parts IRB 360 Parallel arms References Spring units on page 120 Special tools on page 269 Continues on next page 176 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 3 Replacement of parallel arms Continued ...

Page 177: ... the springs Only work on one side or the spring will be overstressed Removing the parallel arms Removing by hand CAUTION Never use unnecessary force when removing the springs Only work on one side or the spring will be overstressed xx0700000525 Continues on next page Product manual IRB 360 177 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 3 Replacement of para...

Page 178: ...the parallel arms CAUTION Never use unnecessary force when refitting the springs Only work on one side or the spring will be overstressed Refitting the parallel arms Use the procedure to refit the parallel arms Note Action By hand Apply grease according to section Spring units on page120 Fit the springs on the parallel arms 1 Continues on next page 178 Product manual IRB 360 3HAC030005 001 Revisio...

Page 179: ...t both 2 By hand or tool according to fig ures Note Always mount the movable plate with the axis 4 calibration mark in direction axis 1 Refit the parallel arm to the movable plate by hand or using tool either on the left side or the right side not both 3 See Calibration information on page 237 Recalibrate the robot 4 Product manual IRB 360 179 3HAC030005 001 Revision U Copyright 2008 2018 ABB All ...

Page 180: ...lated to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location A B xx0700000595 VK cover A 6x hex socket head cap screw M6 x 40 12 9 gleitmo and 6x plain washer 6 4x12x1 6 steel A2 F B Continues on next page 180 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 A...

Page 181: ...with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Removal Note Action Described in section Replacement of parallel arms on page 174 Remove the parallel arm on the specific upper arm 1 Use a screwdriver Remove the VK cover 2 6x Hex socket head cap screw M6 x 40 12 9 gleitmo and 6x plain washer 6 4x12x1 6 Steel ...

Page 182: ...Loctite 243 and the new flange gasket Tip Mounting instructions for seals on page 160 1 Tightening torque 11 Nm Refit the upper arm using the 6x hex socket head cap screw M6 x 40 12 9 Gleitmo and 6x plain washer 6 4x12x1 6 steel A2 F 2 By hand Fit a new VK cover 3 Described in section Replacement of parallel arms on page 174 Refit the parallel arm 4 See Calibration information on page 237 Recalibr...

Page 183: ...ver sions IRB 360 1 800 IRB 360 1 1130 IRB 360 3 1130 and IRB 360 1 1600 Drifter Dolly Special tools on page 269 Special tools on page 269 Pliers for parallel arms Valid for robot versions IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 Grease Required for non mainten ance free bearing rings Mobilgrease FM 102 Optimol Obeen UF 2 See Different versions of bearing rings require different ...

Page 184: ...ft or right side not both 1 xx0700000486 Remove the bearing ring using a screwdriver 2 Refitting CAUTION Never use unnecessary force when refitting the springs Only work on one side or the spring will be overstressed Note Action Place a new bearing ring into the joint socket 1 Continues on next page 184 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 ...

Page 185: ...nce free see Different versions of bearing rings require different maintenance proced ures on page 112 2 Valid for robot versions IRB 360 8 1130 IRB 360 6 1600 3 Push the bearing ring into its resting position by hand By hand or using tool according to section Replacement of parallel arms on page 174 Refit the parallel arms to the upper arm left or right side not both 4 Run the robot for six 6 hou...

Page 186: ... to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 A B C xx0700000532 Universal joint A Set screw dog point B Sealing ring V ring C Continues on next page 186 Product manual IRB 360 3HAC030005 001 Revision U Copyrigh...

Page 187: ...quid Standard toolkit on page 268 Standard tools References Replacement of parallel arms on page 174 Replacement of vacuum hoses on page 220 CAUTION Always cut the paint with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Continues on next page Product manual IRB 360 187 3HAC030005 001 Revision U Copyright 2008 ...

Page 188: ...ve all three parallel arms from the movable plate 2 Use standard tools Hold the movable plate while raising the sealing ring C and removing the set screw B that locks the universal joint Remove the movable plate from the tele scopic shaft 3 Calibration mark axis 4 IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 xx0700000629 Axis 4 calibration mark A IRB 360 8 1130 IRB 360 6 1600 Continu...

Page 189: ...or set screw 3HAC12846 2 M6x16 A2 7 Nm Tightening torque for set screw 3HAC12846 3 M6x16 FZB 9 5 Nm Tightening torque for set screw 3HAC12846 4 M6x16 A4 8 5 Nm Tip Use a 90 angled bit holder Push the sealing ring C back in place 3 Described in section Replacement of parallel arms on page 174 Refit the parallel arms to the movable plate 4 Described in section Replacement of vacuum hoses on page 220...

Page 190: ...neumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location xx0700000538 Telescopic shaft A Set screw B Required equipment and references Note Spare part no Equipment Standard toolkit on page 268 Standard tools Continues on next page 190 Product manual IRB 360 3HAC030005 001 Revision U Co...

Page 191: ...nt or surface on the robot before replacing parts on page165 Removal Note Action Described in section Replacement of parallel arms on page 174 Remove the parallel arms 1 Described in section Replacement of movable plate on page 186 Remove the movable plate 2 xx0700000612 Remove the upper set screw 3 Tip Use a 90 angled bit holder Remove the telescopic shaft 4 Refitting Note Action Refit the telesc...

Page 192: ...t screw 3HAC12846 4 M6x16 A4 8 5 Nm Tip Use a 90 angled bit holder Described in section Replacement of movable plate on page 186 Refit the movable plate use locking liquid Loc tite 243 3 Described in section Replacement of parallel arms on page 174 Refit the parallel arms 4 192 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 7 Replacement o...

Page 193: ... on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location xx0800000020 Required equipment and references Note Spare part no Equipment Standard toolkit on page 268 Standard tools Loctite 243 Locking liquid See Product manual spare parts IRB 360 Universal joint Continues on next page Product manual IRB 360 193 3HA...

Page 194: ...ing Note Action Use locking liquid Loctite 243 Refit the universal joint 1 Use locking liquid Loctite 243 Refit the set screw in order to lock the universal joint to the telescopic shaft 2 Tightening torque for set screw 3HAC12846 2 M16x6 A2 7 Nm Tightening torque for set screw 3HAC12846 3 M16x6 FZB 9 5 Nm Tightening torque for set screw 3HAC12846 4 M16x6 A4 8 5 Nm See section Replacement of teles...

Page 195: ...ith live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Location xx0700000534 Joint ball A Joint ball B Required equipment and references Note Spare part no Equipment Standard toolkit on page 268 Standard tools See Product manual spare parts IRB 360 Joint ball 3HAC6194 1 Pliers for parallel arms Loctite 243 Locking liquid Continues on next page Pro...

Page 196: ...k on one side or the spring will be overstressed Note Action Described in section Replacement of parallel arms on page 174 Remove the parallel arms 1 Described in section Replacement of movable plate on page 186 Remove the movable plate 2 Use standard tools Remove the joint balls Note Locking liquid secures the joint balls to the movable plate A heat gun must be used if the movable plate is stainl...

Page 197: ...e stainless joint balls 1 Described in section Replacement of movable plate on page 186 Refit the movable plate 2 Described in section Replacement of parallel arms on page 174 Refit the parallel arms 3 Run the robot for six 6 hours for the bearing rings to wear in 4 Wipe clean the joint balls and the bearing rings 5 Product manual IRB 360 197 3HAC030005 001 Revision U Copyright 2008 2018 ABB All r...

Page 198: ...ions Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot Described in section Calibration method on page 238 Continues on next page 198 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 A...

Page 199: ... Standard tools See Product manual spare parts IRB 360 Gearbox with motor axes 1 3 See Product manual spare parts IRB 360 Gaskets References Gearboxes axes 1 4 on page 134 Circuit diagram 3HAC028647 009 Calibration method on page 238 Continues on next page Product manual IRB 360 199 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 10 Replacement of gearbox unit 1 ...

Page 200: ... axes 1 4 on page 134 Method 2 xx0700000539 Remove the four hex sock et head cap screw M10 x 30 with washers WARNING This action will loosen the gearbox unit weight 16 kg 5 A Hex socket head cap screw M10 x 30 B Plain washer 16 5x20x2 steel A3F Refitting Note Action Tightening torque 33 Nm Refit the gearbox unit using the four hex socket head cap screw M10 x 30 with washer 16 5x20x2 steel A3F Note...

Page 201: ...e 134 Method 2 Refit the transmission cover 4 Described in section Gearboxes axes 1 4 on page 134 Method 2 Refit the arm system 5 See Calibration information on page 237 Recalibrate the robot 6 Product manual IRB 360 201 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 10 Replacement of gearbox unit 1 3 Continued ...

Page 202: ...ons Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot Described in section Calibration method on page 238 Continues on next page 202 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 AB...

Page 203: ...ual spare parts IRB 360 Gearbox unit axis 4 Standard toolkit on page 268 Standard tools See Product manual spare parts IRB 360 Sealing rings Loctite 243 Locking liquid References Replacement of telescopic shaft on page 190 Replacement of base cover gasket on page 167 Continues on next page Product manual IRB 360 203 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3...

Page 204: ...emove the gearbox unit axis 4 5 Remove the sealing ring w dust lip 6 Refitting Note Action See section Grease on sealings on page 272 Refit a new sealing ring apply grease 1 Refit the axis 4 gearbox unit 2 Tightening torque 9 Nm Refit the 3x hexagon socket head screw M6x25 with plain washer 6 4x12x1 6 steel A2F B 3 Described in section Replacement of telescopic shaft on page 190 Refit the telescop...

Page 205: ...ety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Note This action demands standard calibration of the robot Described in section Calibration method on page 238 Continues on next page Product manual IRB 360 205 3HAC030005 001 Revision U Copyright 2008 2018 ABB All r...

Page 206: ...6 4x12x1 6 steel A2F D Nitrile rubber O ring 67 5x3 0 E Oil plug F Oil plug upper oil level hole G Oil plug H Gear Z1 1 3 16 cog I Continues on next page 206 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 12 Replacement of motor axis 1 3 Continued ...

Page 207: ...ut the paint or surface on the robot before replacing parts on page165 Removal Note Action Described in section Replacement of gearbox unit 1 3 on page 198 Remove the gearbox unit 1 3 1 Shown in figure Location on page 206 Unscrew the three screws C holding the motor 2 DANGER Oil will be running out of the motor attachment hole when removing the motor The oil can be hot Take any necessary measures...

Page 208: ...figure Location on page 206 Fit a new O ring E onto the motor flange lubricate the o ring with grease FM222 1 Continues on next page 208 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 12 Replacement of motor axis 1 3 Continued ...

Page 209: ...ion on page 206 Ensure that the gear is kept absolutely still Apply loctite 243 and tighten the screws C 5 Tightening torque 9 Nm Shown in figure Refitting on page 208 Check through the upper oil level hole that gear wheel B is axially mov able 6 Specified in section Grease specification on page 271 Fill the gearbox with oil 7 Described in section Replacement of gearbox unit 1 3 on page 198 Refit ...

Page 210: ...pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Safety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 Continues on next page 210 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All ri...

Page 211: ...ng nitrile rubber C Hex socket head cap screw M6x25 8 8 D Washer 6 4x12x1 6 A2F E Oil plug F Continues on next page Product manual IRB 360 211 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 13 Replacement of motor axis 4 Continued ...

Page 212: ...n page 167 Remove base cov er 1 Described in section Replacement of gearbox unit 4 on page202 Remove gear box with motor 2 DANGER Oil will be running out of the motor attachment hole when remov ing the motor The oil can be hot Take any necessary measures to collect the oil Remove motor 3 Refitting Note Action Lubrication specified in section Grease specification on page271 Fit the new o ring C ont...

Page 213: ... 4 If there is a backlash loosen the screws D and go back to step 3 Check the play again 5 Lubrication specified in section Grease specification on page271 Fill the gearbox with oil 6 Described in section Replacement of gearbox unit 4 on page202 Refit the gear box with motor 7 Described in section Replacement of base cover gasket on page 167 Refit the base cov er 8 Product manual IRB 360 213 3HAC0...

Page 214: ...nd positioning of labels on the IRB 360 Label positioning SECTION A A 5 6 Axis 1 Axis 2 Axis 3 11 11 11 xx0700000691 Continues on next page 214 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 14 Replacement of labels ...

Page 215: ...ic warning 6 Rating label 7 UL label 70x35 8 UL label 70x35 9 Cleanroom Logotype 10 Axis marks 11 Instruction plate 12 Transport protection label 13 Required equipment and references Note Spare part no Equipment See Product manual spare parts IRB 360 Label set Continues on next page Product manual IRB 360 215 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 14 Rep...

Page 216: ... sure the surface is clean 1 Assemble the labels according to the illustrations 2 216 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 14 Replacement of labels Continued ...

Page 217: ...ety risks related to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on next page Product manual IRB ...

Page 218: ...yle1 C Required equipment and references Note Spare part no Equipment Standard toolkit on page 268 Standard tools See Product manual spare parts IRB 360 Calibration mark Continues on next page 218 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 15 Replacing of calibration marks Continued ...

Page 219: ... on page165 Remove Note Action Use standard tools Remove the two M5 nuts 1 Remove the calibration mark 2 Refitting Note Action Refit a new calibration mark 1 Tightening torque 4Nm Refit the two M5 nuts 2 Product manual IRB 360 219 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 3 15 Replacing of calibration marks Continued ...

Page 220: ...d to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on next page 220 Product manual IRB 360 3HAC0300...

Page 221: ...t edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Removal Note Action Open all straps 1 Pull the hose out from the swivel 2 Pull the hose out from the air filter 3 Refitting Note Action Fit a new hose on the swivel 1 Continues on next page Product manual IRB 360 221 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Rep...

Page 222: ...4 Tighten the straps 5 Make a small program low velocity and check that the hose runs freely 6 Fit a new hose on the swivel 7 Fix the hose do not tighten against the three clamps on the parallel arm 8 222 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 4 1 Replacement of vacuum hoses Continued ...

Page 223: ...e 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Location xx0700000544 Air filter comp A Air filter Vac B Water separation bottom nipple C Continu...

Page 224: ... Drain the water separation filter opening the bottom nipple C 1 224 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 4 2 Draining of water separation filter Continued ...

Page 225: ...ydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on next page Product manual IRB 360 225 3HAC030005 001 Revision ...

Page 226: ...s ejector unit Spare parts References Spare parts ejector unit Replacement of base cover gasket on page 167 CAUTION Always cut the paint with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Continues on next page 226 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Re...

Page 227: ...on Replacement of base cover gasket on page167 Remove the base cover 2 Use standard tools Remove the 2x hexagon socket head cap screw M8x35 holding the filter holder and remove the fil ters 3 Remove all the nuts for the air nozzles pressure guard cap and the pressure guard nut 4 Remove the ejector unit inwards direction 5 Continues on next page Product manual IRB 360 227 3HAC030005 001 Revision U ...

Page 228: ...he inside 2 Tightening torque 4 Nm Refit all the nuts for the air nozzles pressure guard cap and the pressure guard nut 3 Use standard tools Refit the filters using the 2x hexagon socket head cap screw M8x35 4 Reconnect the air supply vacuum hoses and signal cable from the ejector unit 5 Replacement of base cover gas ket on page 167 Refit the base cover 6 228 Product manual IRB 360 3HAC030005 001 ...

Page 229: ...to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on next page Product manual IRB 360 229 3HAC030005...

Page 230: ...FB4 J X1 SMB M X2 SMB R3 FB1 4 L Required equipment and references Note Spare part no Equipment Standard toolkit on page 268 Standard tools Continues on next page 230 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 5 1 Replacement of cable harness Continued ...

Page 231: ...sket on page 167 Remove the base cover 1 Remove the cable straps holding the cable harness using a cut off pliers 2 Disconnect all connections 3 Remove the cable harness 4 Refitting Note Action Refit the new cable harness 1 Described in circuit diagram see Circuit diagrams on page 279 Connect all connections 2 Strap all cable connections to there connector brackets 3 Described in section Replaceme...

Page 232: ...to pneumatic hydraulic systems on page 33 Risks associated with live electric parts on page 29 Safety risks during installation and service work on robots on page 23 CAUTION Always read the specific instructions for Clean Room robots before doing any repair work see Cut the paint or surface on the robot before replacing parts on page 165 Continues on next page 232 Product manual IRB 360 3HAC030005...

Page 233: ... toolkit on page 268 Standard tools CAUTION Always cut the paint with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page165 Continues on next page Product manual IRB 360 233 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 5 2 Replacement of brake release button Continued ...

Page 234: ...n cover from metal residues before opening Metal residues can cause shortage on the boards which can result in hazardous failures 1 Tip Use a screw driver to push in the locking device Remove the contact from the push button pushing in the locking device 2 Continues on next page 234 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 5 2 Replacem...

Page 235: ... or the robot will not fulfill the IP67 and IP69K classification 1 xx0800000011 Press to refit the contact 2 Tip Refit the cables to the contact before this step Replacement of base cover gasket on page 167 CAUTION The base cover has sharp edges use protective gloves Refit the base cover 3 Product manual IRB 360 235 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 4 Repair 4 5...

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Page 237: ...ed See Updating revolution counters on page 248 This will occur when The battery is discharged A resolver error occurs The signal between a resolver and measurement board is interrupted A robot axis is moved with the control system disconnected The revolution counters must also be updated after the robot and controller are connected at the first installation The robot is rebuilt If the robot is re...

Page 238: ... calibration ring can be performed after a gearbox or an upper arm has been replaced to ensure en hanced robot arm accuracy than when perform ing standard calibration Factory reset alters the robot s unique production settings for axis 1 3 Factory reset To perform ring calibration the parallel arms must first be removed from the robot The up per arms must then be positioned vertically so that the ...

Page 239: ...ct point for axis 1 3 and modifies cal_position The Ring calibration method gives a better nominal kinematics and the modified cal_positions will help to get back to the same points when calibrating with Standard calibration Product manual IRB 360 239 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 2 Calibration method Continued ...

Page 240: ...hown in the graphic below Calibration movement and jogging directions The following graphic shows the positive and negative directions for each axis and the linear directions when jogging the robot in the base coordinate system X Y Z C A B D xx0700000448 Axis 1 A Axis 2 B Axis 3 C Axis 4 D 240 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibratio...

Page 241: ...rks and the synchronization position for each axis Synchronization marks IRB 360 xx0700000569 Calibration mark axis 4 A Calibration marks axis 1 3 B Product manual IRB 360 241 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 4 Synchronization marks and synchronization position for axes ...

Page 242: ... method on page 238 The calibration positions are shown in Checking the synchronization position on page 254 Note Calibration should be performed by specially trained personnel Axis moving directions X Y Z C A B D xx0700000448 Axis 1 A Axis 2 B Axis 3 C Axis 4 D Continues on next page 242 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration inf...

Page 243: ... en0400000795 Check the motors off button make sure that the button flashes 3 xx0700000435 A Brake release button Press the brake release button to re lease the brakes 4 Continues on next page Product manual IRB 360 243 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 5 Calibrating axis 1 3 Continued ...

Page 244: ...ion device apply the brake 6 Described in section Fine calibration procedure on FlexPendant on page 247 Store the resolver value by doing a fine calibration 7 Release the brakes and gently pull the calibrated upper arm in to a horizontal position 8 Return to step 4 and proceed with axis 2 and 3 9 244 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Cal...

Page 245: ...age 254 The axes moving directions are shown in Calibrating axis 1 3 on page 242 Note Calibration should be performed by specially trained personnel Location IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 xx0700000629 Axis 4 calibration mark A Continues on next page Product manual IRB 360 245 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration informatio...

Page 246: ...s 4 so that the calibration marks are in line 4 Described in section Fine calibration proced ure on FlexPendant on page 247 Store the resolver value by doing a fine calibration 5 Described in section Checking the synchron ization position on page 254 Check the position 6 246 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 6 C...

Page 247: ...g that updating the revolution counters may change programmed robot positions Tap Yes to proceed Tap No to cancel Select the check box for the axis to calibrate 4 Tap Calibrate 5 A dialog box is displayed warning that calibration of the selected axes will be changed which cannot be undone Tap Calibrate to proceed Tap Cancel to cancel Tapping Calibrate results in briefly displaying a dialog box ann...

Page 248: ...s 1 to 6 Manually move the manipulator to the cal ibration position for axes 1 3 1 See Calibrating axis 4 on page245 steps 1 to 4 Manually move the manipulator to the cal ibration position for axis 4 2 Continue with step 2 Step 2 Updating the revolution counter with the FlexPendant on page 248 3 Step 2 Updating the revolution counter with the FlexPendant Use this procedure to update the revolution...

Page 249: ...2 Tap the mechanical unit in question xx1500000943 A screen is displayed tap Rev Counters en0400000771 3 Continues on next page Product manual IRB 360 249 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 8 Updating revolution counters Continued ...

Page 250: ...ating operation cannot be undone Tap Update to proceed with updating the revolution counters Tap Cancel to cancel updating the revolution counters Tapping Update updates the selected revolution counters and removes the tick from the list of axes 6 CAUTION If a revolution counter is incorrectly updated it will cause incorrect manipulator posi tioning which in turn may cause damage or injury Check t...

Page 251: ...mory or the com plete controller is new or replaced by an un used spare part the data stored in the controller memory is automatically copied to the robot SMB memory the SMB is replaced by a new unused spare part SMB the data in the controller memory and the robot SMB memory is different You must update the controller memory manually from the the robot SMB memory the flash disk or the complete con...

Page 252: ...dated Serial numbers for mechanical units Calibration data SIS data The data is loaded Tap Yes to acknowledge and restart the robot system 4 Update data in robot SMB memory This section describes how to update data on the serial measurement board from the controller This is e g after calibration data has been loaded to the controller via RobotStudio or using the FlexPendant If the SMB already cont...

Page 253: ...d Tap Clear to delete the controller memory for the selected robot Repeat the procedure for all robots in the controller memory 3 Tap Clear Robot Memory if the SMB should be replaced and used as a spare part A list of the SMB data stored in the robot SMB memory is displayed Tap Clear to delete the memory for the selected robot Repeat the procedure for all robots using this SMB board 4 Related info...

Page 254: ...r axis 1 3 A Note A position where all three axes are in calibration position at the same time like in figure is not possible Check or calibrate one axis a time then set the calibrated axis horizontal Note Action Manual mode described in the section Calibrating axis 1 3 on page 242 In manual mode tap Jog ging in the ABB menu 1 Continues on next page 254 Product manual IRB 360 3HAC030005 001 Revisi...

Page 255: ... 2 or 3 3 xx0700000435 A Brake release button Press the brake release button to release the brakes 4 Continues on next page Product manual IRB 360 255 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 10 Checking the synchronization position Continued ...

Page 256: ...the ABB factory and is a robot specific parameter For more information about parameter Calibration Position see topic Motion type Arm in Technical reference manual System parameters The value in the jogging window should be within the tolerance 0 1 If the axis position is not ok calibrate the axis again see Ring calibration on page 239 7 Continues on next page 256 Product manual IRB 360 3HAC030005...

Page 257: ...ition is ok return to step 4 and check axes 2 and 3 8 Product manual IRB 360 257 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 5 Calibration information 5 10 Checking the synchronization position Continued ...

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Page 259: ... the country in which the robot and the control unit are installed If the robot or the control unit is partially or completely disposed of the various parts must be grouped together according to their nature which is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the robo...

Page 260: ...nodular iron Gears screws joints brackets and so on Steel Base box WDS telescopic shafts WDS Stainless steel Brakes motors Neodymium Cables connectors transmission cover and so on Plastic rubber Gearboxes Oil grease Motor housings telescopic shafts standard WD Aluminium Upper arms tube bars Carbon fiber Oil and grease Where possible arrange for oil and grease to be recycled Dispose of via an autho...

Page 261: ...to organisms Oxygen transfer could also be impaired Spillage can penetrate the soil causing ground water contamination Product manual IRB 360 261 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 6 Decommissioning 6 2 Environmental information Continued ...

Page 262: ...attery is exposed to heat for example from a blow torch it will explode Always remove all oil grease in gearboxes If exposed to heat for example from a blow torch the oil grease will catch fire When motors are removed from the robot the robot will collapse if it is not properly supported before the motor is removed 262 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All ri...

Page 263: ...apter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 360 263 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 1 Introduction ...

Page 264: ...015i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 2008 EMC Generic emission EN 61000 6 4 2007 A1 2011 IEC 61000 6 4 2006 A1 2010 option 129 1 EMC Generic immunity EN 61000 6 2 2005 IEC 61000 6 2 2005 Arc welding equipment Part 1 Welding power sources EN IEC 60974 1 2012ii Arc welding equipment Part 10 EMC requirements EN IEC 60974 10 2014ii Safety of machinery Electrical equipment o...

Page 265: ... R15 06 Safety standard for robots and robotic equipment ANSI UL 1740 Industrial robots and robot Systems General safety require ments CAN CSA Z 434 14 Product manual IRB 360 265 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 2 Applicable standards Continued ...

Page 266: ...39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume 266 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 3 Unit conversion ...

Page 267: ...ssory when handling components with a weight exceeding 22 kg A wide range of lifting accessories and devices are available for each manipulator model Example Following is an example of a weight specification in a procedure Note Action CAUTION The robot weighs 120 kg All lifting accessories used must be sized accord ingly Product manual IRB 360 267 3HAC030005 001 Revision U Copyright 2008 2018 ABB ...

Page 268: ...ned in the following table This way the tools required are the sum of the standard toolkit and any tools listed in the instruction Contents standard toolkit Tool Qty Ring open end spanner 7 35mm 1 Socket head cap 3 5 8 mm 1 Torque wrench 4 33 Nm 1 Small screwdriver 1 Plastic mallet 1 Ratchet head for torque wrench 1 2 1 Cut off pliers 1 90 angled bit holder 1 Spirit level 268 Product manual IRB 36...

Page 269: ...also specified directly in concerned procedures for repair Robot variant Art no Description IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 3HAC4184 1 Press tool for bearing Drifter for mounting bearing rings IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 3HAC4182 1 Press tool Dolly for joint socket when inserting new bearing rings All variants 3HAC6194 1 Pliers for parallel...

Page 270: ...ting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories This implies that the instructions delivered with the lifting accessories should be stored for later reference 270 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 7 Lifting accessories and lifting i...

Page 271: ...ection Type of lubrication in gearboxes on page 132 Grease in robot xx0700000725 Amount Spare part number Type For Pos 3HAC042560 001 Food accepted FM 222 Telescopic shaft WDS E 3HAC042560 001 Food accepted FM 222 Spring units F Continues on next page Product manual IRB 360 271 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 8 Grease specification ...

Page 272: ...ber Type For Pos 3HAC042560 001 Food accepted FM 222 O rings in gear units G Continues on next page 272 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 273: ...e For Pos 3HAC042560 001 Food accepted FM 222 Grease in swivel I Continues on next page Product manual IRB 360 273 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 274: ...gs 3HAC2091 1 Bearing rings 3HAC028087 001 must not be lubricated Read about the difference in Different versions of bearing rings require different maintenance procedures on page 112 Continues on next page 274 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 275: ... Mobilgrease FM 102 or Optimol Obeen UF 2 See Different versions of bearing rings require different mainten ance procedures on page 112 Grease Product manual IRB 360 275 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

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Page 277: ...iews are not included in the manual but delivered as a separate document for registered users on myABB Business Portal www mypo rtal abb com Product manual IRB 360 277 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 8 Spare part lists 8 1 Spare part lists and illustrations ...

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Page 279: ...B 140 type C 3HAC025611 001 Circuit diagram IRB 260 3HAC028647 009 Circuit diagram IRB 360 3HAC036446 005 Circuit diagram IRB 460 3HAC025691 001 Circuit diagram IRB 660 3HAC025691 001 Circuit diagram IRB 760 3HAC046307 003 Circuit diagram IRB 1200 3HAC2800 3 Circuit diagram IRB 1410 3HAC021351 003 Circuit diagram IRB 1600 1660 3HAC039498 007 Circuit diagram IRB 1520 3HAC6670 3 Circuit diagram IRB ...

Page 280: ...B 6650S 3HAC025744 001 3HAC025744 001 Circuit diagram IRB 6660 3HAC029940 001 3HAC043446 005 Circuit diagram IRB 6700 3HAC13347 1 Circuit diagram IRB 7600 3HAC025744 001 3HAC050778 003 Circuit diagram Product ProductName 3HAC056159 002 Circuit diagram IRB 910SC 280 Product manual IRB 360 3HAC030005 001 Revision U Copyright 2008 2018 ABB All rights reserved 9 Circuit diagrams 9 1 Circuit diagrams C...

Page 281: ...ipment 31 external safety devices 24 F fire extinguishing 20 Fitting equipment 72 FlexPendant updating revolution counters 248 G gearboxes location of 132 grease disposal 260 H hanging installed hanging 23 hazardous material 260 height installed at a height 23 hold to run 28 HRA 18 I installation checking site prior robot installation 49 instructions for assembly 47 integrator responsibility 17 L ...

Page 282: ...n manual 38 safety standards 264 safety zones 18 scales on robot 241 screw joints 162 secured robot frame 63 Secure the robot 65 serial numbers data storage 251 signals safety 38 SIS Service Information System data storage 251 SMB 126 251 replacing 170 space required 62 special tools 269 speed adjusting 96 stainless steel disposal 260 standards 264 ANSI 265 CAN 265 EN 264 EN IEC 264 EN ISO 264 sta...

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Page 284: ...Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC030005 001 Rev U en Copyright 2008 2018 ABB All rights reserved Specifications subject to change without notice ...