ABB IRB 360, Product Manual

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

Page 2: ...Trace back information Workspace 21A version a12 not checked in Published 2021 03 24 at 09 54 37 Skribenta version 5 4 005 ...

Page 3: ...1 800 IRB 360 1 1130 IRB 360 1 1600 IRB 360 3 1130 IRB 360 6 1600 IRB 360 8 1130 IRC5 OmniCore Document ID 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved Specifications subject to change without notice ...

Page 4: ...ty by ABB for losses damage to 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 f...

Page 5: ...rking range and type of motion 52 2 3 5 The unit is sensitive to ESD 53 2 4 On site installation 53 2 4 1 Lifting the robot with fork lift 55 2 4 2 Lifting the robot with roundslings 57 2 4 3 Amount of required space 58 2 4 4 Orienting and securing the robot frame 60 2 4 5 Orienting and securing the robot 64 2 4 6 Manually releasing the brakes 66 2 4 7 Fitting equipment on robot 72 2 4 8 Loads 74 ...

Page 6: ...Screw joints 158 4 2 4 Cut the paint or surface on the robot before replacing parts 160 4 3 Complete robot 160 4 3 1 Replacement of base cover gasket 163 4 3 2 Replacement of serial measurement board 167 4 3 3 Replacement of parallel arms 172 4 3 4 Replacement of upper arm 175 4 3 5 Replacement of bearing rings 178 4 3 6 Replacement of movable plate 182 4 3 7 Replacement of telescopic shaft 185 4 ...

Page 7: ... 249 6 1 Introduction 250 6 2 Environmental information 252 6 3 Scrapping of robot 253 7 Reference information 253 7 1 Introduction 254 7 2 Applicable standards 256 7 3 Unit conversion 257 7 4 Weight specifications 258 7 5 Standard toolkit 259 7 6 Special tools 260 7 7 Lifting accessories and lifting instructions 261 7 8 Grease specification 267 8 Spare part lists 267 8 1 Spare part lists and illu...

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Page 9: ...ion and to ensure its safety It is the responsibility of the integrator to provide safety and user guides for the robot system Who should read this manual This manual is intended for installation personnel maintenance personnel repair personnel Prerequisites A maintenance repair installation craftsman working with an ABB robot must be trained by ABB and have the required knowledge of mechanical an...

Page 10: ...1000 3HAC049406 003 Circuit diagram IRC5 Compact 3HAC027707 001 Product manual IRC5 Panel Mounted Controller IRC5 with main computer DSQC 639 3HAC047137 001 Product manual IRC5 Panel Mounted Controller IRC5 with main computer DSQC1000 3HAC026871 020 Circuit diagram IRC5 Panel Mounted Controller 3HAC024120 004 Circuit diagram Euromap 3HAC050941 001 Operating manual IRC5 with FlexPendant 3HAC16578 1...

Page 11: ...AC066554 001 Application manual Controller software OmniCore 3HAC042927 001 Technical reference manual Lubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters i This manual contains all safety instructions from the product manuals for the manipulators and the controllers Revisions Description Revision First edition This revision includes the following additions and or ...

Page 12: ...ns and or changes Added caution regarding swivel cup see Fitting equipment on robot on page 66 Updated instructions for cleaning see Cleaning activities on page136 Updated tightening sequence see Replacement of base cover gasket on page 160 Updated refitting instruction see Replacement of brake release button on page 223 Added information about when to update resolver values see When to calibrate ...

Page 13: ...rent versions of bearing rings require different main tenance procedures on page 104 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 252 Spare parts and explode...

Page 14: ... of graphics in the calibration chapter Information about myABB Business Portal added S Published in release R18 2 The following updates are done in this revision Added section for inspection of labels in maintenance chapter Grease article number updated is 3HAC042560 001 was 3HAC029132 001 T Published in release R18 2 The following updates are done in this revision Reference updated U Published i...

Page 15: ... between bearing holders on page 106 Corrected image of calibration marks location see Replacing of calib ration marks on page 209 Updated the instruction Manually releasing the brakes on page 64 Size of grease nipple on telescopic shaft clarified see Telescopic shaft stainless axis 4 on page 98 Z Product manual IRB 360 15 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved Overv...

Page 16: ...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 17: ...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 17 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved Product documentation Continued ...

Page 18: ...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 19: ...ration of the robot when the safety devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed Non authorized design modifications of the robot Repairs on the robot and its spare parts carried out by in experienced or non qualified personnel Foreign objects Force majeure Spare parts and equipment ABB supplie...

Page 20: ...ence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the product manual 20 Product manual IRB 360 3HAC030005 001 Revisio...

Page 21: ...ion which if not avoided will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a potentially hazardous situation related to electrical hazards which if not avoided could result in serious injury ELECTRICAL SHOCK Signal word used to indicate a potentially hazardous...

Page 22: ...ed to indicate where to find additional information or how to do an operation in an easier way TIP 22 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Page 23: ...ription 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 crushing impact fall from height etc Caution xx090000...

Page 24: ...o 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 24 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reser...

Page 25: ... over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 360 25 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 26: ...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 26 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 27: ...01242 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 Product manual IRB 360 27 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Page 28: ...at 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 28 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Cont...

Page 29: ...in the product manual for the controller For more information see Product manual OmniCore C30 Product manual IRC5 Product manual IRC5 Compact Product manual IRC5 Panel Mounted Controller Product manual IRB 360 29 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

Page 30: ...or released at maximum speed The maximum possible impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot motion in the product specification for the respective manipulator Consider exposure to hazards such as slipping tripping and falling Hazards due to the wo...

Page 31: ...essary to protect people working with the robot system are designed and installed correctly When integrating the robot with external devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocked in accordance with appl...

Page 32: ... to drop Dump valves should be used in case of emergency Shot bolts should be used to prevent tools etc from falling due to gravity All pipes hoses and connections have to be inspected regularly for leaks and damage Damage must be repaired immediately Verify the safety functions Before the robot system is put into operation verify that the safety functions are working as intended and that any rema...

Page 33: ... and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Product manual IRB 360 33 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 5 1 Unexpected movement of robot arm ...

Page 34: ...rking as intended Hot surfaces Surfaces can be hot after running the robot Touching the surfaces may result in burns Allow the parts to cool down before maintenance or repair Allergic reaction Elimination Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn When working with lubricants there is a risk of an allergic reac tion Allergic reaction Gearbox ...

Page 35: ...in the instructions Al ways use the type of oil specified for the product Mixing types of oil may cause severe damage to the gearbox Do not mix types of oil Run the robot before changing the gearbox oil if possible 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 Wh...

Page 36: ...on Operating temperatures are listed in Operating conditions on page 46 See safety instructions for the batteries in Material product safety data sheet Battery pack 3HAC043118 001 Unexpected movement of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator move...

Page 37: ...ire using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the manipulator does not result in additional hazards for example even more severe injuries on a trapped person 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 Pr...

Page 38: ...ight of the manipulator 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 manipulator does not change position as the motors are switched off then the brake function is adequate Note For robots with the option SafeMove the Cyclic Brake Check routine is recommended See the manual for SafeMove in Refere...

Page 39: ... engineers A risk assessment must be done to address both robot and robot system specific hazards WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Related information See also the safety informat...

Page 40: ...e release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment 40 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 1 Safety 1 8 Decommissioning ...

Page 41: ...s 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 page19 before performing any installation work Note If the IRB 360 is connected to power always make sure that the robot is connected to protective earth and a residual current device R...

Page 42: ...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 42 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 2 Structure manipulator ...

Page 43: ... 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 44: ... 1 800 IRB 360 1 1130 IRB 360 3 1130 IRB 360 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 44 Product manual IRB 360 3HAC030...

Page 45: ... 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 46: ...r 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 Note The stainless version is not available for the IRB 360 used with OmniCore controllers 46 Product manual...

Page 47: ...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 47 3HAC030005 001 Revision Z Copyright 2008 2021 ABB Al...

Page 48: ...obot delivery box A Securing point x3 B Robot delivery note C 48 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 3 2 Transport Continued ...

Page 49: ...emble the parallel arms according to section 4 Replacement of telescopic shaft on page 182 Assemble the telescopic shaft accord ing to section 5 Replacement of movable plate on page 178 Assemble the movable plate according to section 6 Robot cabling and connection points on page 86 Connect the controller and the manip ulator 7 CAUTION Before mounting external equipment on the robot first read the ...

Page 50: ... X Y Z C A B D xx0700000448 Axis 1 A Axis 2 B Axis 3 C Axis 4 D Continues on next page 50 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 3 4 Working range and type of motion ...

Page 51: ...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 51 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 3 4 Working range and type of motion Continued ...

Page 52: ... sensitive electronics Safe handling Use one of the following alternatives Use a wrist strap Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use an ESD protective floor mat The mat must be grounded through a current limiting resistor Use a dissipative table mat The mat should provide a controlled discharge of static voltages and must be ground...

Page 53: ...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 Product manual IRB 360 53 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 1 Lifting the robot with fork lift ...

Page 54: ...ifting ac cessories used must be sized accordingly 1 Lift the robot package to the installation site 2 54 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 1 Lifting the robot with fork lift Continued ...

Page 55: ...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 Product manual IRB 360 55 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 2 Lifting the robot with roundslings ...

Page 56: ... Lifting position on page55 CAUTION The IRB 360 weighs 120 kg Std and 145 kg WDS All lifting accessories used must be sized accordingly 1 56 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 2 Lifting the robot with roundslings Continued ...

Page 57: ...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 Product manual IRB 360 57 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 3 Amount of...

Page 58: ... 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 58 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 4 Orienting and securing the robot frame ...

Page 59: ...rms to the specifications in section Pre installation procedure on page 43 1 Prepare the installation site 2 Use shim for leveling Example of shim shown in Shim drawing on page 59 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 Product manual IRB 360 59 3HAC030005 001 Revision Z ...

Page 60: ...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 258 Standard tools Continues on next page 60 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot ...

Page 61: ...mounted against three flat surfaces with a flatness within the specification Use shims if necessary Continues on next page Product manual IRB 360 61 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot Continued ...

Page 62: ...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 62 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 5 Orienting and securing the robot Continued ...

Page 63: ...on Lifting the robot with fork lift on page 53 and in section Lifting the robot with roundslings on page 55 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 43 Fit and tighten the bolts and wash...

Page 64: ... connected to the robot controller This procedure details how to release the holding brakes with push buttons when the robot is connected to the controller Note Action xx0700000435 A Brake release button The internal brake release unit is located at the base of the robot 1 Press and hold the brake release button keep it pressed in The brake will func tion again as soon as the button is re leased 2...

Page 65: ... 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 65 3HAC030005 001 Revision Z Copyright...

Page 66: ... 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 66 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot ...

Page 67: ...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 67 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot Continued ...

Page 68: ...RB 360 1 800 IRB 360 1 1600 xx0700000709 Continues on next page 68 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipment on robot Continued ...

Page 69: ...te with swivel CAUTION Never drill a hole in the manipulator without first consulting maintenance repair personnel 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 69 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 ...

Page 70: ...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 70 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipmen...

Page 71: ...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 155 Tightening torque Product manual IRB 360 71 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 4 7 Fitting equipmen...

Page 72: ... 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 72 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 73: ... 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 74: ...orkspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Location xx0700000546 Warning lamp A Screw M8 of suitable length B Continues on next page 74 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 1 Inst...

Page 75: ...160 Standard toolkit on page 258 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 75 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installat...

Page 76: ...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 76 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 1 Installation of safety lamp option 213 1 Continued ...

Page 77: ...es before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page Product manual IRB 360 77 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 2 Installation of optional customer connections I...

Page 78: ...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 78 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 2 Installation of optional customer connections IRB 360 Continued ...

Page 79: ...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 80: ...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 81: ...e supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page Product manual IRB 360 81 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 21...

Page 82: ...x 6 bar E Vacuum switch F Air filter compressed air side G Air filter vacuum side H Continues on next page 82 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 83: ...lange M6 x 20 A2 DIN6921 E Gasket F Note Action Follow the refitting instructions in section Replace ment of ejector unit on page 216 1 Continues on next page Product manual IRB 360 83 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 84: ...ble 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 When connecting to OmniCore controller Note Action X Depending on length see section Robot cabling and connec tion points on page 86 Assemble the customer cable 3HAC14860 X 1 Continues on next page 84 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 AB...

Page 85: ...5 connector into several open ends 3 Assemble the open ends to the local I O on the controller 4 Product manual IRB 360 85 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 2 Installation and commissioning 2 5 3 Installation of vacuum system option 218 9 Continued ...

Page 86: ...ive units in the control cabinet to the robot motors Robot cable power R1 MP4 6 XP1 OmniCore X1 SMB S IRC5 Transfers resolver data from and power supply to the seri al measurement board Robot cable signals XP2 OmniCore Robot control cable power and signal for IRC5 These cables are sold in pair including both one robot cable power and one robot cable signal Art no Cable 3HAC029903 001 Robot control...

Page 87: ...ble 3HAC030198 001 Customer control cable 3 m 3HAC030198 002 Customer control cable 7 m 3HAC030198 003 Customer control cable 15 m 3HAC030198 004 Customer control cable 22 m 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 3HAC148...

Page 88: ... 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 89: ... 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 19 before performing any service work Note If the IRB 360 is connected to power always make sure that the IRB 360 is connected to protec...

Page 90: ...he 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 The SIS used in OmniCore is further described in the Operating manual IRC5 with FlexPendant Robots with the functionality Service Information System ...

Page 91: ...Inspect regularly Telescopic shaft Spring units Bars Universal joints 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 136 Clean the robot Recommended lubrication see section Mounting instructions f...

Page 92: ... 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 104 vi Oil should only be changed once after the first 30 000 h vii The battery...

Page 93: ... 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 136 Cleaning instructions for wash down version see section Cleaning activities on page 136 Product manual IRB 360 93 3HAC030005 001 Revision Z Copyrig...

Page 94: ... Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 94 Product manual IRB 360 3HAC030005 001 Revision Z C...

Page 95: ...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 185 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 185 Move the movable ...

Page 96: ...tic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 182 Spare parts telescopic shaft Continues on next page 96 Product manual IRB 360 3HAC03000...

Page 97: ...en 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 185 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 185 Move the movable plate in different directions in order to chec...

Page 98: ...d the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Note The wear on the bearings depends on the payload cycle environment and lubrication Note The stainless version is not available for the IRB 360 used with OmniCore controllers Continues on next page 98 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 20...

Page 99: ...les DIN 3402 Grease gun Grease specification on page 261 Grease Spare parts telescopic shaft Telescopic shaft Standard toolkit on page 258 Standard tools References Spare parts telescopic shaft Replacement of telescopic shaft on page 182 Continues on next page Product manual IRB 360 99 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 3 Telescopic shaft stainl...

Page 100: ... 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 185 Check for damages on the universal joint 2 How to replace the universal joint see section Replacement of universal joint on page 185 Move the movable plate in differen...

Page 101: ...er hydraulic and pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page Product manual IRB 360 101 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 4 Vacuum system optional ...

Page 102: ...e Spare part no Required equipment Spare parts ejector unit Pneumatic valve unit References Replacement of ejector unit on page 216 Draining of water separation filter on page 214 Continues on next page 102 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 4 Vacuum system optional Continued ...

Page 103: ... 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 216 Product manual IRB 360 103 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 4 Vacuum syste...

Page 104: ...ll 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 3HAC028087 001 might have been changed to beari...

Page 105: ...ferent maintenance proced ures on page 104 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 175 Check for wear on bearing rings listen for screeching Replace if needed 1 Type of grease see Required equipment and references on page 104 Lubricate bearing rings that are not mainten ance free see Differen...

Page 106: ...ce significantly Note Action IRB 360 Std A xx1000000018 Measure the distance A between the bearing holders according to the figure Refer to the table below to see what distance re quires replacement of the bearing ring Replace the bearing ring if required according to section Replacement of bearing rings on page 175 1 IRB 360 WDS A xx2000002385 Continues on next page 106 Product manual IRB 360 3HA...

Page 107: ...DS 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 i The bearing ring is worn out and requires immediate replacement Operating the robot beyond this value will cause permanent damage to the arm system components Product manual IRB 360 107 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 5 Bar system Continued ...

Page 108: ...e 34 Check joint balls xx0700000500 Movable plate A Joint balls B Required equipment and references Note Spare part No Required equipment Standard toolkit on page 258 Standard tools 3HAC6194 1 Pliers for parallel arms References Replacement of joint balls on page 187 Interval 4 000 hours or 2 years Note Action If necessary replace the part as de scribed in Replacement of joint balls on page 187 Ch...

Page 109: ...tering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Check upper arm A B xx0700000501 Upper arm tube A Joint balls B Continues on next page Product manual IRB 360 109 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 7 Upper arms ...

Page 110: ... 2 years Note Action If necessary replace the part as described in section Replacement of upper arm on page 172 Check the surface of the tube for cracks 1 If necessary replace the part as described in Replacement of joint balls on page 187 Check surface of joint balls for cracks or burrs 2 110 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenanc...

Page 111: ... manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 Product manual IRB 360 111 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance...

Page 112: ...uum hoses on page 211 Interval 500 hours Note Action If necessary exchange the part as described in Replacement of vacuum hoses on page 211 Check the entire hose and make sure there are no folds or surface damage 1 112 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 8 Hoses Continued ...

Page 113: ...e 32 Electrical safety on page 31 Maintenance and repair on page 34 CAUTION The spring units must be removed according to the description in section Replacement of parallel arms on page 167or 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 Continues on next page Product manual ...

Page 114: ...IRB 360 Spring References Replacement of parallel arms on page 167 Interval 500 hours Note Action If necessary exchange the part as described in Replacement of par allel arms on page 167 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 2 114 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 A...

Page 115: ...umatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 258 Standard tools Continues on next page Product manual IRB 360 115 3HAC030005 001 Revision Z C...

Page 116: ... Note Action As described in section Manually releasing the brakes on page 64 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 178 Check axis 4 so that the rotation is smooth 2 116 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 10 Movable plat...

Page 117: ...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 267 Labels Continues on next page Product manual IRB 360 117 3HAC030005 001 Revision Z Copyright 2...

Page 118: ... air pressure supply to the robot before entering the robot work ing area 1 See the figure in Location of information labels on page 117 Check all labels 2 Replace any missing or damaged labels 3 118 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 3 11 Inspecting information labels Continued ...

Page 119: ...f the robot is powered off 16 h day The lifetime can be extended 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 Pneumatic or hydraulic related hazards on page 3...

Page 120: ...A xx0700000506 SMB battery A Continues on next page 120 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 4 1 Changing the battery in the measuring system Continued ...

Page 121: ...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 258 Standard tools Battery retainer strap References Updating revolution counters on page 241 Replacement of base cover gasket on page 160 Continues on next page Product manual IRB 360 121 3HAC030005 00...

Page 122: ...e 158 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 123: ...the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 Product manual IRB 360 123 3HAC030005 001 Revision Z Copyright 2...

Page 124: ...ce on the robot before replacing parts on page158 Interval 4 000 h or 2 Years Note Action Described in section Replacement of telescopic shaft on page 182 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 95 124 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB ...

Page 125: ...oil in gearboxes Information about the type of lubrication article number as well as the amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal www abb com myABB Location of gearboxes The figure shows the location of the gearboxes xx1300000177 Continues on next page Product manual IRB 360 125 3HAC03...

Page 126: ... gearbox A Axis 2 gearbox B Axis 3 gearbox C Axis 4 gearbox D 126 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 5 1 Type of lubrication in gearboxes Continued ...

Page 127: ...he workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Continues on next page Product manual IRB 360 127 3...

Page 128: ...e 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 Trans7 3HAC073510 001 Sealing compound Continues on next page 128 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Mai...

Page 129: ...se cover gasket on page 160 Remove the base cover 1 Described in section Replacement of gearbox unit 4 on page 194 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 130: ...e the 12 pcs M6 screws holding the base cover 1 Described in section Replacement of parallel arms on page167 Remove the parallel arms 2 Described in section Replacement of telescopic shaft on page 182 Remove the telescopic shaft 3 Use a screwdriver Remove the 3 pcs VK covers 4 Described in section Replacement of upper arm on page 172 Remove the 3x6 pcs M6x40 holding the up per arms 5 xx0700000509 ...

Page 131: ...ssion cover and sealing is glued on to the robot using sealing com pound When removing the transmission cover use a screwdriver to carefully separate the sealing from the sealing compound Carefully remove the sealing compound from the ro bot and transmission cover 8 A Transmission cover B Flange screw M6x20 Note Remove the cables to the brake release described in section Replacement of brake relea...

Page 132: ...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 132 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maint...

Page 133: ... Make sure that all old sealing compound is removed 14 Apply a 5 mm string of sealing compound on the sealing upper sur face 15 Continues on next page Product manual IRB 360 133 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 5 2 Gearboxes axes 1 4 Continued ...

Page 134: ...the figure 16 Tightening torque 4 Nm B A xx1100000540 After tightening check that the sealing com pound fills the entire gap according to figure position B Remove ex cessive compound or fill up if needed 17 Continues on next page 134 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 5 2 Gearboxes axes 1 4 Continued ...

Page 135: ...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 page167 Refit all parallel arms 22 Described in section Replacement of telescopic shaft on page 182 Refit the telescopic shaft 23 CAUTION The base cover has sharp edges use protective gloves Described in section Re...

Page 136: ...nts High pressure water or steam Rinse with wa 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 ...

Page 137: ...robot must be cleaned as a standard version robot xx2100000169 Movable plate E Base cover gasket A Upper arm sealing rings F Brake release button B Universal joints G Transmission cover gasket C Axis 4 sealing ring D Continues on next page Product manual IRB 360 137 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 6 1 Introduction Continued ...

Page 138: ...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 139: ...Vacuum cleaner Cloth Cleaning instructions DANGER Turn off all electrical power hydraulic and pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Note Action Use a vaccum cleaner to remove loose particles 1 Use a dry or moistened cl...

Page 140: ...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 167 140 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 6 2 Standard cleaning Continued ...

Page 141: ...ve spots on page 137 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 temperature 10 40 C Time approx 20 min Apply t...

Page 142: ...labels on page 206 If the labels on the robot are damaged in the cleaning proced ure apply new labels 8 142 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 6 3 Wash down cleaning Continued ...

Page 143: ... the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 137 Detergent TOPAZ MD4 Concentration 3 Water temperature 40 60 C Foam the whole external surfa...

Page 144: ...th water 6 After cleaning bearing races swivel cup sealing and sealing ring V ring lubricate them with provision classified grease 7 Described in section Replacement of labels on page 206 If the labels on the robot are damaged in the cleaning proced ure apply new labels 8 144 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 6 4 Wash down ...

Page 145: ...ering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 Product manual IRB 360 145 3HAC030005 001 Revision Z Copyright 200...

Page 146: ... 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 66 Attache the tool on manipulator 1 Place the indicator clock on a metallic surface placed underneath the manipulator 2 xx1700000046 Apply torque 1 Nm i e 10N on a dista...

Page 147: ...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 Product manual IRB 360 147 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 7 1 Measuring backlash axis 4 Continued ...

Page 148: ...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 11 148 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 3 Maintenance 3 7 1 Measuring backlash axis 4 Continued ...

Page 149: ... particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 19 before commencing any service work Note If the IRB 360 is connected to power always make sure that the IRB 360 is connected to protective earth and a residual current device RCD before starting any repair work For more informat...

Page 150: ... 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 151: ...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 152: ...al mounting The fitting of sealings and gears must be carried out on clean workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the main lip 1 Inspect the shaft surface before mounting If scratches or damage are found the shaft...

Page 153: ... and the main lip with grease If the sealing is without dust lip just lubricate the main lip with a thin layer of grease 3 A xx2000000072 A Gap Mount the sealing correctly with a mounting tool Never hammer directly on the sealing as this may result in leakage 4 Make sure that no grease is left on the robot surface 5 Continues on next page Product manual IRB 360 153 3HAC030005 001 Revision Z Copyri...

Page 154: ...tening the flange joint 4 O rings The following 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 Check the o ring grooves 3 The grooves must be geometrically correct and should be free of pores and contami...

Page 155: ...n 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 a...

Page 156: ...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 157: ... Tightening torque Nm Min Tightening torque Nm Nominal Dimension 50 30 40 1 2 90 55 70 3 4 Product manual IRB 360 157 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 2 3 Screw joints Continued ...

Page 158: ...d Tooling pin Ethanol Cleaning agent Knife Lint free cloth White 3HAC036639 001 Touch up paint Clean Room 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 ethanol...

Page 159: ...hite to paint any damaged surfaces Note Always read the instruction in the product data sheet in the paint repair kit for Clean Room 5 Note After all repair work wipe the robot free from particles with spirit on a lint free cloth Product manual IRB 360 159 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 2 4 Cut the paint or surface on the robot before replacing par...

Page 160: ...matic pressure supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page 160 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 1 Replacement of base cover gasket ...

Page 161: ...tandard toolkit on page 258 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 page158 Continues on next page Product manual IRB 360 161 3HAC030005 001 Revision Z Copyri...

Page 162: ...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 161 Refit the flange screws with plastic washers Note Check that the washers are not damaged Replace if needed 4 Use tightening to...

Page 163: ...tic pressure supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page Product manual IRB 360 163 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 2 Replacement of serial measurement board ...

Page 164: ...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 258 Standard tools Continues on next page 164 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 R...

Page 165: ... 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 166: ...pdating re volution counters on page 241 Update the revolution counters 5 166 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 2 Replacement of serial measurement board Continued ...

Page 167: ...d the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Location IRB 360 1 1130 IRB 360 3 1130 IRB 360 1 800 IRB 360 1 1600 xx0700000488 Upper arm A Parallel arm B Spring unit C Bearing ring D Continues on next page Product manual IRB 360 167 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair...

Page 168: ...oduct manual spare parts IRB 360 Parallel arms References Spring units on page 113 Special tools on page 259 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 page158 Continues on next page 168 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 R...

Page 169: ...en removing the springs Only work on one side or the spring will be overstressed xx0700000525 xx0700000555 Continues on next page Product manual IRB 360 169 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 3 Replacement of parallel arms Continued ...

Page 170: ...Spring units on page113 Fit the springs on the parallel arms 1 Use the pliers according to Illustra tions on page 169 Refit the parallel arm to the upper arm by using the pliers either on the left side or the right side not both 2 Article number is specified in Re quired equipment and references on page 168 Note Press with the tool on the alumini um surface not on the carbon fiber or the parallel ...

Page 171: ...See Calibration information on page 227 Recalibrate the robot 4 Product manual IRB 360 171 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 3 Replacement of parallel arms Continued ...

Page 172: ...d the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 172 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 4...

Page 173: ...t with a knife and grind the paint edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page158 Removal Note Action Described in section Replacement of parallel arms on page 167 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 Stee...

Page 174: ...ctite 243 and the new flange gasket Tip Mounting instructions for sealings on page 152 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 167 Refit the parallel arm 4 See Calibration information on page 227 Recalib...

Page 175: ...0 IRB 360 3 1130 and IRB 360 1 1600 Drifter Dolly Special tools on page 259 Special tools on page 259 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 maintenance procedures on page 104 Re...

Page 176: ...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 176 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 ...

Page 177: ...nce free see Different versions of bearing rings require different maintenance proced ures on page 104 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 167 Refit the parallel arms to the upper arm left or right side not both 4 Run the robot for six 6 hou...

Page 178: ... safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 178 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4...

Page 179: ...quid Standard toolkit on page 258 Standard tools References Replacement of parallel arms on page 167 Replacement of vacuum hoses on page 211 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 page158 Continues on next page Product manual IRB 360 179 3HAC030005 001 Revision Z Copyright 2008 ...

Page 180: ...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 181: ...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 167 Refit the parallel arms to the movable plate 4 Described in section Replacement of vacuum hoses on page 211...

Page 182: ...ty sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Location xx0700000538 Telescopic shaft A Set screw B Required equipment and references Note Spare part no Equipment Standard toolkit on page 258 Standard tools Continues on next page 182 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights rese...

Page 183: ...nt or surface on the robot before replacing parts on page158 Removal Note Action Described in section Replacement of parallel arms on page 167 Remove the parallel arms 1 Described in section Replacement of movable plate on page 178 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 184: ...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 178 Refit the movable plate use locking liquid Loc tite 243 3 Described in section Replacement of parallel arms on page 167 Refit the parallel arms 4 184 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 7 Replacement o...

Page 185: ...ydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Location xx0800000020 Required equipment and references Note Spare part no Equipment Standard toolkit on page 258 Standard tools Loctite 243 Locking liquid See Product manual spare parts IRB 360 Universal joint Continues on next page Product manual IRB 360 185 3HAC030005 001 Revision Z Copyright 2008...

Page 186: ...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 187: ...ge 32 Electrical safety on page 31 Maintenance and repair on page 34 Location xx0700000534 Joint ball A Joint ball B Required equipment and references Note Spare part no Equipment Standard toolkit on page 258 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 Product manual IRB 360 187 3HAC030005 00...

Page 188: ...k on one side or the spring will be overstressed Note Action Described in section Replacement of parallel arms on page 167 Remove the parallel arms 1 Described in section Replacement of movable plate on page 178 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 189: ...e stainless joint balls 1 Described in section Replacement of movable plate on page 178 Refit the movable plate 2 Described in section Replacement of parallel arms on page 167 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 360 189 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All r...

Page 190: ...manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Note This action demands standard calibration of the robot Described in section Calibration method on page 228 Continues on next page 190 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 1...

Page 191: ... 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 127 Circuit diagram 3HAC028647 009 Calibration method on page 228 Continues on next page Product manual IRB 360 191 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 10 Replacement of gearbox unit 1 ...

Page 192: ...rs R3 FB1 3 and R3 MP1 3 4 Described in section Gearboxes axes 1 4 on page 127 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 hea...

Page 193: ...the base cover 3 Described in section Gearboxes axes 1 4 on page 127 Method 2 Refit the transmission cover 4 Described in section Gearboxes axes 1 4 on page 127 Method 2 Refit the arm system 5 See Calibration information on page 227 Recalibrate the robot 6 Product manual IRB 360 193 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 10 Replacement of gearbox unit 1 ...

Page 194: ...anipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Note This action demands standard calibration of the robot Described in section Calibration method on page 228 Continues on next page 194 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 11...

Page 195: ...ual spare parts IRB 360 Gearbox unit axis 4 Standard toolkit on page 258 Standard tools See Product manual spare parts IRB 360 Sealing rings Loctite 243 Locking liquid References Replacement of telescopic shaft on page 182 Replacement of base cover gasket on page 160 Continues on next page Product manual IRB 360 195 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3...

Page 196: ...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 262 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 182 Refit the telescop...

Page 197: ...tor Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Note This action demands standard calibration of the robot Described in section Calibration method on page 228 Continues on next page Product manual IRB 360 197 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 12 Replac...

Page 198: ...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 198 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 12 Replacement of motor axis 1 3 Continued ...

Page 199: ...ut the paint or surface on the robot before replacing parts on page158 Removal Note Action Described in section Replacement of gearbox unit 1 3 on page 190 Remove the gearbox unit 1 3 1 Shown in figure Location on page 198 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 200: ...figure Location on page 198 Fit a new O ring E onto the motor flange lubricate the o ring with grease FM222 1 Continues on next page 200 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 12 Replacement of motor axis 1 3 Continued ...

Page 201: ...ion on page 198 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 200 Check through the upper oil level hole that gear wheel B is axially mov able 6 Specified in section Grease specification on page 261 Fill the gearbox with oil 7 Described in section Replacement of gearbox unit 1 3 on page 190 Refit ...

Page 202: ...f all electrical power hydraulic and pneumatic pressure supplies before entering the workspace of the manipulator Also read the safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 Continues on next page 202 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 13 Replace...

Page 203: ...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 360 203 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 13 Replacement of motor axis 4 Continued ...

Page 204: ...age 261 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 page158 Removal Note Action See Replacement of base cover gasket on page 160 Remove the base cover 1 See Replacement of gearbox unit 4 on page 194 Remove the gearbox with motor 2 xx0700000728 Remove the oil plug and drain the oil 3 ...

Page 205: ... gently in direc tion A at the same time as you feel for the backlash by moving the outgoing axis B back and forward 3 Tightening torque 10 Nm Make sure that the gear is kept absolutely still Apply Loctite 243 and tighten the screw D In figure Location on page 203 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 speci...

Page 206: ...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 206 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 14 Replacement of labels ...

Page 207: ...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 360 207 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 14 Rep...

Page 208: ... sure the surface is clean 1 Assemble the labels according to the illustrations 2 208 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 14 Replacement of labels Continued ...

Page 209: ...page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Location xx2000002386 Dowel for calibration mark A Calibration mark plastic B 2 pcs M5 prevailing torque type hexagon nut non metallic insert style1 C Cont...

Page 210: ...sassembling parts See Cut the paint or surface on the robot before replacing parts on page158 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 2 210 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 3 15 R...

Page 211: ...e safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Continues on next page Product manual IRB 360 211 3HAC030005 001 Revision Z Copyright 2008 2021...

Page 212: ...t edge when disassembling parts See Cut the paint or surface on the robot before replacing parts on page158 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 212 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Rep...

Page 213: ...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 Product manual IRB 360 213 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 4 1 Replacement of vacuum hoses Continued ...

Page 214: ...c related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Location xx0700000544 Air filter comp A Air filter Vac B Water separation bottom nipple C Continues on next page 214 Product manual IR...

Page 215: ... Drain the water separation filter opening the bottom nipple C 1 Product manual IRB 360 215 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 4 2 Draining of water separation filter Continued ...

Page 216: ...s Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Continues on next page 216 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights ...

Page 217: ...s ejector unit Spare parts References Spare parts ejector unit Replacement of base cover gasket on page 160 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 page158 Continues on next page Product manual IRB 360 217 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Re...

Page 218: ...on Replacement of base cover gasket on page160 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 218 Product manual IRB 360 3HAC030005 001 Revision Z ...

Page 219: ...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 160 Refit the base cover 6 Product manual IRB 360 219 3HAC030005 001 ...

Page 220: ...safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Continues on next page 220 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 A...

Page 221: ...FB4 J X1 SMB M X2 SMB R3 FB1 4 L Required equipment and references Note Spare part no Equipment Standard toolkit on page 258 Standard tools Continues on next page Product manual IRB 360 221 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 5 1 Replacement of cable harness Continued ...

Page 222: ...on page 160 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 dia gram IRB 360 3HAC028647 009 Connect all connections 2 Strap all cable connections to there connector brackets 3 Described in section Rep...

Page 223: ...safety sections Pneumatic or hydraulic related hazards on page 32 Electrical safety on page 31 Maintenance and repair on page 34 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 158 Continues on next page Product manual IRB 360 223 3HAC030005 001 Revision Z Copyright 2008 2021 A...

Page 224: ... toolkit on page 258 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 page158 Continues on next page 224 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 5 2 Replacement of brake release button Continued ...

Page 225: ...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 Product manual IRB 360 225 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 5 2 Replacem...

Page 226: ... 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 160 CAUTION The base cover has sharp edges use protective gloves Refit the base cover 3 226 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 4 Repair 4 5...

Page 227: ...l 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 rebuilt for example after a crash or when the reach ability of a robot is changed it needs to be re calibrated for new resolver va...

Page 228: ... 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 229: ...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 360 229 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 2 Calibration method Continued ...

Page 230: ...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 230 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibratio...

Page 231: ...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 360 231 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 4 Synchronization marks and synchronization position for axes ...

Page 232: ... method on page 228 The calibration positions are shown in Checking the synchronization position on page 245 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 232 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration inf...

Page 233: ...manual position 2 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 360 233 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 5 Calibrating axis 1 3 Continued ...

Page 234: ... 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 When connecting to OmniCore controller Note Action On the FlexPendant press the stop button 1 xx2000002535 On the FlexPendant press Manual to switch to manual mode 2 On the FlexPendant press Motor Off to set the robot as motor off st...

Page 235: ...ition When the upper arm reaches the cal ibration device apply the brake 6 Described in section Fine calibration procedure on FlexPendant on page 238 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 Product manual IRB 360 235 3HAC030005 001 Revision Z Cop...

Page 236: ...age 245 The axes moving directions are shown in Calibrating axis 1 3 on page 232 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 236 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration informatio...

Page 237: ...xis 4 so that the calibration marks are in line 4 Described in section Fine calibration proced ure on FlexPendant on page 238 Store the resolver value by doing a fine calibration 5 Described in section Checking the synchron ization position on page 245 Check the position 6 Product manual IRB 360 237 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 6...

Page 238: ...warning 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 b...

Page 239: ...rwise the calibration summary page for the available mechanical unit is displayed Select the unit that needs to be calibrated from the Mechanical Unit list 3 The calibration summary for the selected mechan ical unit is displayed On the right pane tap Calibration Methods 4 Tap Calibration Parameters 5 The calibration parameters are displayed Tap Fine Calibration 6 A dialog box is displayed urging y...

Page 240: ...lts in briefly displaying a dialog box announcing that the calibration pro cess has started The axis is calibrated and the system returns to the list of available mechanical units Tap OK 9 The fine calibration process is complete 240 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 7 Fine calibration procedure on FlexPendant C...

Page 241: ... move the manipulator to the cal ibration position for axes 1 3 1 See Calibrating axis 4 on page236 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 241 3 Step 2 Updating the revolution counter with the FlexPendant When connecting to IRC5 controller Use this procedure to upd...

Page 242: ...2 Tap the mechanical unit in question xx1500000943 A screen is displayed tap Rev Counters en0400000771 3 Continues on next page 242 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 8 Updating revolution counters Continued ...

Page 243: ...to OmniCore controller Use this procedure to update the revolution counter with the FlexPendant OmniCore Action On the start screen tap Calibrate 1 Select Calibration from the menu 2 The Mechanical Units page displays a list of available mechanical units Note This step is required only if you are not already in the Mechanical Unit page when you open Calibrate Note The Mechanical Unit page is displ...

Page 244: ...olution counter for the selected axes is updated CAUTION If a revolution counter is incorrectly updated it will cause incorrect manipulator posi tioning which in turn may cause damage or injury Check the synchronization position very carefully after each update See Checking the synchronization position on page 245 10 244 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All ...

Page 245: ...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 232 In manual mode tap Jog ging Jog in the ABB menu 1 Continues on next page Product manual IRB 360 245 3HAC030005 001 Revi...

Page 246: ...1 2 or 3 3 xx0700000435 A Brake release button Press the brake release button to release the brakes 4 Continues on next page 246 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 9 Checking the synchronization position Continued ...

Page 247: ...st the calibra tion device Note Always check one axis at a time starting with axis 1 5 Continues on next page Product manual IRB 360 247 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 5 Calibration information 5 9 Checking the synchronization position Continued ...

Page 248: ...tion 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 229 7 If the axis position is ok return to step 4 and check axes 2 and 3 8 248 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All righ...

Page 249: ... 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 250: ...bars Carbon fiber Gear housings base box standard WD Cast iron nodular iron Cables motors Copper Brakes motors Neodymium Gearboxes Oil grease Cables connectors transmission cover and so on Plastic rubber Base box WDS telescopic shafts WDS Stainless steel Gears screws joints brackets and so on Steel Oil and grease Where possible arrange for oil and grease to be recycled Dispose of via an authorized...

Page 251: ...to organisms Oxygen transfer could also be impaired Spillage can penetrate the soil causing ground water contamination Product manual IRB 360 251 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 6 Decommissioning 6 2 Environmental information Continued ...

Page 252: ...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 252 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All ri...

Page 253: ...apter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 360 253 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 1 Introduction ...

Page 254: ...or design ISO 13849 1 2006 Safety of machinery Emergency stop Principles for design ISO 13850 Safety of machinery Electrical equipment of machines Part 1 General requirements IEC 60204 1 2005 Safety of machinery Functional safety of safety related elec trical electronic and programmable electronic control systems IEC 62061 2005 Region specific standards and regulations Description Standard Safety ...

Page 255: ...2014i Classification of air cleanliness ISO 14644 1 2015ii Degrees of protection provided by enclosures IP code IEC 60529 1989 A2 2013 i Only valid for arc welding robots Replaces IEC 61000 6 4 for arc welding robots ii Only robots with protection Clean Room Product manual IRB 360 255 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 2 Applicable stand...

Page 256: ...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 256 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 3 Unit conversion ...

Page 257: ...essory 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 arm weighs 25 kg All lifting accessories used must be sized accord ingly Product manual IRB 360 257 3HAC030005 001 Revision Z Copyright 2008 2021 ABB Al...

Page 258: ...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 258 Product manual IRB 36...

Page 259: ...s 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 arms Heat gun Required if the moveable plate ...

Page 260: ...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 260 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 7 Lifting accessories and lifting i...

Page 261: ...ection Type of lubrication in gearboxes on page 125 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 360 261 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 8 Grease specification ...

Page 262: ...ber Type For Pos 3HAC042560 001 Food accepted FM 222 O rings in gear units G Continues on next page 262 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 263: ...e For Pos 3HAC042560 001 Food accepted FM 222 Grease in swivel I Continues on next page Product manual IRB 360 263 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 264: ...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 104 Continues on next page 264 Product manual IRB 360 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

Page 265: ... Mobilgrease FM 102 or Optimol Obeen UF 2 See Different versions of bearing rings require different mainten ance procedures on page 104 Grease Product manual IRB 360 265 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 7 Reference information 7 8 Grease specification Continued ...

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Page 267: ...but delivered as a separate document for registered users on myABB Business Portal www abb com myABB Tip All documents can be found via myABB Business Portal www abb com myABB Product manual IRB 360 267 3HAC030005 001 Revision Z Copyright 2008 2021 ABB All rights reserved 8 Spare part lists 8 1 Spare part lists and illustrations ...

Page 268: ...This page is intentionally left blank ...

Page 269: ...ting equipment 66 FlexPendant updating revolution counters 241 G gearboxes location of 125 grease 34 disposal 250 H hanging installed hanging 30 hazard levels 21 hazardous material 250 height installed at a height 30 hot surfaces 34 HRA 30 I installation checking site prior robot installation 43 instructions for assembly 41 integrator responsibility 30 L labels robot 23 lifting accessory 54 55 257...

Page 270: ...21 safety standards 254 scales on robot 231 screw joints 155 secured robot frame 58 Secure the robot 60 signals safety 21 SMB 119 replacing 163 space required 57 special tools 259 speed adjusting 88 stainless steel disposal 250 standards 254 ANSI 254 CAN 254 EN IEC 254 EN ISO 254 start of robot in cold environments 88 steel disposal 250 symbols safety 21 synchronization position 241 sync marks 231...

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Page 272: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC030005 001 Rev Z en Copyright 2008 2021 ABB All rights reserved Specifications subject to change without notice ...