3hac035504 PM Irb 2600-En Revae
3hac035504 PM Irb 2600-En Revae
Product manual
IRB 2600
Trace back information:
Workspace 23D version a12
Checked in 2023-12-06
Skribenta version 5.5.019
Product manual
IRB 2600-20/1.65
IRB 2600-12/1.65
IRB 2600-12/1.85
IRB 2600-20/1.65 type C
IRB 2600-12/1.65 type C
IRB 2600ID-15/1.85
IRB 2600ID-8/2.0
IRC5, OmniCore
Table of contents
Overview of this manual ................................................................................................................... 9
Product documentation .................................................................................................................... 18
How to read the product manual ...................................................................................................... 20
1 Safety 21
1.1 Safety information ............................................................................................. 21
1.1.1 Limitation of liability ................................................................................. 21
1.1.2 Requirements on personnel ...................................................................... 22
1.2 Safety signals and symbols ................................................................................. 23
1.2.1 Safety signals in the manual ...................................................................... 23
1.2.2 Safety symbols on manipulator labels ......................................................... 25
1.3 Robot stopping functions .................................................................................... 31
1.4 Safety during installation and commissioning ......................................................... 32
1.5 Safety during operation ...................................................................................... 35
1.6 Safety during maintenance and repair ................................................................... 36
1.6.1 Safety during maintenance and repair ......................................................... 36
1.6.2 Emergency release of the robot axes .......................................................... 39
1.6.3 Brake testing .......................................................................................... 40
1.7 Safety during troubleshooting .............................................................................. 41
1.8 Safety during decommissioning ........................................................................... 42
3 Maintenance 115
3.1 Introduction ...................................................................................................... 115
4 Repair 193
4.1 Introduction ...................................................................................................... 193
4.2 General procedures ........................................................................................... 194
4.2.1 Performing a leak-down test ...................................................................... 194
4.2.2 Mounting instructions for bearings ............................................................. 195
4.2.3 Mounting instructions for sealings .............................................................. 197
4.2.4 Cut the paint or surface on the robot before replacing parts ............................ 201
4.2.5 The brake release buttons may be jammed after service work ......................... 202
4.3 Complete robot ................................................................................................. 203
4.3.1 Removing the complete cable harness ........................................................ 203
4.3.2 Refitting the complete cable harness .......................................................... 216
4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID ............................ 232
4.3.4 Replacing SMB unit ................................................................................. 244
4.3.5 Replacing the brake release board ............................................................. 250
4.4 Upper arm ....................................................................................................... 255
4.4.1 Replacing the complete upper arm ............................................................. 255
4.4.2 Replacing complete tubular shaft unit ......................................................... 265
4.4.3 Replacing wrist unit ................................................................................. 272
4.4.4 Measuring the play, axis 5 ......................................................................... 279
4.4.5 Measuring the play, axis 6 ......................................................................... 281
4.4.6 Measuring the play, axis 5 (ID upper arm) .................................................... 283
4.4.7 Measuring the play, axis 6 (ID upper arm) .................................................... 286
4.5 Lower arm ....................................................................................................... 289
4.5.1 Replacing the lower arm ........................................................................... 289
4.6 Frame and base ................................................................................................ 297
4.6.1 Replacing stop pin axis 1 .......................................................................... 297
4.6.2 Replacing the base .................................................................................. 300
4.7 Motors ............................................................................................................ 312
4.7.1 Removing motors .................................................................................... 312
4.7.2 Refitting motors ...................................................................................... 325
5 Calibration 403
5.1 Introduction to calibration ................................................................................... 403
5.1.1 Introduction and calibration terminology ...................................................... 403
5.1.2 Calibration methods ................................................................................. 404
5.1.3 When to calibrate ................................................................................... 407
5.2 Synchronization marks and axis movement directions ............................................. 408
5.2.1 Synchronization marks and synchronization position for axes ......................... 408
5.2.2 Calibration movement directions for all axes ................................................ 411
5.3 Updating revolution counters ............................................................................... 412
5.3.1 Updating revolution counters on IRC5 robots ............................................... 412
5.3.2 Updating revolution counters on OmniCore robots ........................................ 416
5.4 Calibrating with Axis Calibration method ............................................................... 418
5.4.1 Description of Axis Calibration .................................................................. 418
5.4.2 Calibration tools for Axis Calibration ........................................................... 421
5.4.3 Installation locations for the calibration tools ............................................... 423
5.4.4 Axis Calibration - Running the calibration procedure ...................................... 427
5.4.5 Reference calibration ............................................................................... 433
5.5 Calibrating with Calibration Pendulum method ....................................................... 435
5.6 Calibrating with Wrist Optimization method ........................................................... 436
5.7 Verifying the calibration ...................................................................................... 438
5.8 Checking the synchronization position .................................................................. 439
6 Decommissioning 441
6.1 Introduction to decommissioning ......................................................................... 441
6.2 Environmental information .................................................................................. 442
6.3 Scrapping of robot ............................................................................................. 444
Index 467
Usage
This manual should be used during:
• installation and commissioning, from lifting the product to its work site and
securing it to the foundation, to making it ready for operation
• maintenance work
• repair work
• decommissioning work
Note
Prerequisites
A maintenance/repair/installation craftsman working with an ABB robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
• be trained to respond to emergencies or abnormal situations.
References
Tip
General
Reference Document ID
Circuit diagram - IRB 2600 3HAC029570-007
Product manual, spare parts - IRB 2600 3HAC049106-001
Safety manual for robot - Manipulator and IRC5 or OmniCore controller 3HAC031045-001
i
OmniCore robots
Reference Document ID
Product specification - IRB 2600 3HAC085909-001
Product manual - OmniCore V250XT Type B 3HAC087112-001
Product manual - OmniCore V400XT 3HAC081697-001
Operating manual - OmniCore 3HAC065036-001
Technical reference manual - System parameters 3HAC065041-001
Application manual - Additional axes for OmniCore 3HAC082287-001
IRC5 robots
Reference Document ID
Product specification - IRB 2600 3HAC035959-001
Product manual - IRC5 3HAC047136-001
IRC5 with main computer DSQC1000.
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Operating manual - Calibration Pendulum 3HAC16578-1
Operating manual - Service Information System 3HAC050944-001
Technical reference manual - System parameters 3HAC050948-001
Application manual - Additional axes and standalone controller 3HAC051016-001
Application manual - Electronic Position Switches 3HAC050996-001
Application manual - CalibWare Field 3HAC030421-001
Revisions
Revision Description
- First edition
Revision Description
A The following updates and additions have been made in this revision:
• Variant IRB 2600ID added throughout the manual.
• Safety symbols updated throughout the manual.
• Section Safety signals in the manual on page 23 added in Safety chapter.
• Added information about pressure relief valve in Safety chapter.
• Force and Torque loads updated in section Pre-installation procedure
on page 44.
• Section Installing an expansion container on page 95 added.
• Interval for inspection of signal lamp added in section Maintenance
schedule on page 117.
• New design of frame added in sections Inspecting oil level, axis-1
gearbox on page 121 and Changing the oil, axis 1 gearbox on floor
mounted robots on page 153.
• Required oil level updated in section Inspecting oil level, axis-1 gearbox
on page 121.
• Required oil level updated in section Inspecting the oil level, axis 3
gearbox on page 129.
• Required oil level updated in section Inspecting the oil level, axis 4
gearbox on page 131.
• Required oil level updated in section Inspecting oil level, gearbox axes
5 - 6 on page 133.
B The following updates and additions have been made in this revision:
• The difference in weight between the different robot variants is minor,
therefor the weight specification for the robot is simplified. See Weight,
robot on page 45.
• Figure and describing text edited for the stress forces. See Loads on
foundation, robot on page 46.
• Removed Foundry from table with protection classes. See Protection
classes, robot on page 48.
• Text added for the maximum levelness. See Requirements, foundation
on page 47.
• Length of roundslings for lifting the robot is changed from 4 m to 2 m.
See Lifting robot with roundslings on page 57.
• Note about fan cabling added in the cable list. See Robot cabling and
connection points on page 104.
• Minor editorial changes made throughout the maintenance chapter.
• Note about ambient temperature deleted from the maintenance schedule.
See Maintenance schedule on page 117.
• Added figure of suspended robot in maintenance sections for axis 1
gearbox. See Inspecting oil level, axis-1 gearbox on page 121 and
Changing the oil, axis 1 gearbox on floor mounted robots on page 153.
• A new block, about general illustrations, added in section How to read
the product manual on page 20.
• Figure of axis 1 stop pin is updated. See Replacing stop pin axis 1 on
page 297.
• Figure of axis 1 gearbox is updated. See Replacing gearbox axis 1 on
page 369.
• Figure with movement directions of axes added. See Calibration
movement directions for all axes on page 411.
• Figure of suspended robot added. See Lifting and turning a suspended
mounted robot on page 60.
• Warning of heavy weight is changed to include the complete robot in-
stead of only the arm system, section Replacing the base on page 300.
• Separated robot dimensions and mounting hole measurements in
drawings. See Fitting equipment on robot on page 72.
Revision Description
• Added section Setting the system parameters for a suspended or tilted
robot on page 61.
• Corrected spare part numbers for axes 3, 4, 5 and 6 motors. See Upper
arm and Upper arm ID.
• Added VK covers to the instruction for upper arm cabling replacement,
IRB 2600ID. See Replacing the cable harness in the upper arm - IRB
2600ID on page 232.
• Changed information about which attachment screws to remove when
removing the base from the robot. Previously the instruction said "Re-
move the attachment screws securing the gearbox to the frame", now
it says "Remove the attachment screws that secure the base to the axis
1 gearbox". See step in the end of the removal procedure in section
Replacing the base on page 300.
• Changed information about the robot position when removing motor.
See Removing motors on page 312.
• Added step about removing/refitting axis 1 motor when replacing the
axis 1 gearbox. Also added information about guide pins. See Replacing
gearbox axis 1 on page 369. Also minor additions concerning the mating
of gearbox and motor, in all such instructions.
• Added information about lifting accessories and how to attach them to
the upper arm of the robot, see Attaching the lifting accessories to the
upper arm on page 260.
• Additional information in the procedure for replacing the base with im-
proved lifting instruction etc., see Replacing the base on page 300.
• Added a second roundsling to the lifting instruction for the complet robot,
see Lifting robot with roundslings on page 57.
• Changed type of oil in axes 1, 2 and 4 gearboxes. See Type of lubrication
in gearboxes on page 151.
C The following updates and changes have been made in this revision:
• Added instructions for how to measure the play of axis 5 and 6 of an ID
upper arm. See sections Measuring the play, axis 5 (ID upper arm) on
page 283 and Required equipment on page 286.
• Deleted the spare part number for harnesses in Spare parts - lower arm
and instead inserted a reference to the Electrical connections.
• Corrected the spare part numbers for cable harnesses, see Electrical
connections.
• Corrected measurement that belong to figure xx0300000187, when fitting
tools for measuring the play of axis 5, see Measuring the play, axis 5
on page 279.
• Corrected faulty information about attachment screws between upper
and lower arm (figure, screw dimension and tightening torque), see
Replacing the complete upper arm on page 255.
• Added information about releasing the motor brakes in order to set the
weight of different axes onto lifting accessories, see Replacing the
complete upper arm on page 255, Replacing gearbox axis 3 on page 395
and Replacing gearbox axis 2 on page 382.
• Changed the instruction for how to replace the axes 2 and 3 gearboxes
without having to remove the cable harness, see Replacing gearbox
axis 3 on page 395 and Replacing gearbox axis 2 on page 382.
• Added safety information about preventing roundslings from sliding
when lifting the upper arm tube, see Replacing complete tubular shaft
unit on page 265.
• Added information about removing painting, if any, from assembly sur-
faces when replacing gearboxes and motors.
• Corrected the specified weight for the tubular shaft unit to 30 kg.
• Added tip to speed up the draining of axis 4 gearbox, see Changing the
oil, axis-4 gearbox on page 174.
Revision Description
• Corrected data for which motor pins to connect when releasing the
brakes, see Removing motors on page 312 and Refitting motors on
page 325.
• Added information about o-ring and made other minor improvements
to the instruction for replacing wrist unit, see Replacing wrist unit on
page 272.
• Added information about disconnecting the battery cable when removing
the cable harness, see Removing the complete cable harness on
page 203.
• Corrected the figure that shows location of oil plugs of axis 3 gearbox,
added a funnel to equipment list, see Changing the oil, axis-3 gearbox
on page 170.
• Corrected the figure that shows location of oil plugs of axis 3 gearbox
and adjusted the oil level, see Inspecting the oil level, axis 3 gearbox
on page 129.
• Changed instruction for replacing the wrist unit so that the wrist do not
need to be drained, see Replacing wrist unit on page 272.
• Added Profibus to the section about connections to extra equipment,
see Customer connection on robot on page 108.
• New section added to the manual, see Installation of Foundry Plus Cable
guard (option) on page 100.
• Some general tightening torques have been changed/added, see updated
values in Screw joints on page 454.
• The method of changing the axis-1 gearbox oil in suspended robots is
improved, see the new section Changing the oil, axis-1 gearbox on
suspended robots on page 161.
• Corrected the motor connector pin numbers used for releasing the motor
brakes with external power supply, see Removing motors on page 312
and Refitting motors on page 325.
• Complete process wrist for IRB 2600ID is added to the spare part list
and to the service instructions, see Spare partsand Replacing motor
axis 6 and wrist unit - IRB 2600ID on page 353, also the section Wrist
unit is deleted from the spare part list, since the wrist unit spare part
number already is specified in the upper arm spare part list.
• Added instructions for adjusting the play on motors, see Adjusting the
play on page 364.
• Added information about batteries.
D The following updates and changes have been made in this revision:
• Removed faulty information about motors when rebuilding the robot,
see Rebuilding parts.
• Removed faulty information about expansion container for wall mounted
robots, see Changing the oil, axis-1 gearbox on suspended robots on
page 161. Expansion container is not used on wall mounted robots.
• Added ID variants to the information about lower arm when rebuilding
the robot, see Rebuilding parts. Also corrected the ID information in the
spare part list for the lower arm.
• Added correct variant descriptions to the information about IRB 2600ID
upper arms. See Upper arm (IRB 2600ID).
• Mounting angles and values for tilted the variant of the robot added.
• Corrected the spare part numbers for cable harnesses, see Electrical
connections.
• Corrected the spare part number for o-ring pos (5). See Base and frame
unit.
• Spare part number for VK cover, pos 41 was wrong. Has been corrected.
See Upper arm (IRB 2600ID).
• Corrected tightening torque value for oil plugs on axis-1 and axis-2
gearboxes. Correct value is 24 Nm. (Earlier incorrect value: 60 Nm.)
Revision Description
• Information about the type and amount of oil has been removed from
the manual and can now be found in Technical reference manual - Lub-
rication in gearboxes. For article number see References on page 10.
• Information about sealing washer oil plugs on the axis-1 and axis-2
gearbox changed. Also spare part number is added.
• New frame introduced throughout the manual.
• A new SMB unit and battery is introduced, with longer battery lifetime.
E The following updates and changes have been made in this revision:
• Corrected links to lubrication in gearboxes.
• Spare part numbers in general corrected.
• Added information about risks when scrapping a decommissioned robot,
see Scrapping of robot on page 444.
• Spare parts and exploded views are not included in this document but
delivered as a separate document. See Product manual, spare
parts - IRB 2600.
F The following updates have been made in this revision:
• Illustration changes in Dimension, mounting surface and guide bushing
on page 69.
• Term "Guide sleeves" changed to "Guide bushings", see Dimension,
mounting surface and guide bushing on page 69.
• Information in 2.3.4 Manually releasing the brakes has been updated
and two figures are added.
• Motors Type B added for IRB 2600 and IRB 2600ID.
• A new WARNING! is added in the section about motor replacement,
informing not to mix different motor types.
• Minor corrections.
G The following updates have been made in this revision:
• Information about removing the mech stop bracket added in section
2.4.1
• Illustrations of cable harness and motors in upper arm, improved
throughout the manual.
H The following updates have been made in this revision:
• Turning disk fixture is removed from special tools for Levelmeter calib-
ration.
• Valid serial numbers changed to type designations (Type A and Type
B) in the section "Checking the oil level" to avoid confusion between
different serial number series.
• Oil levels adjusted.
J The following updates have been made in this revision:
• Information about expansion container added.
• Updated number of screws and sizes of screws in Replacing the lower
arm.
K Published in release R16.2. The following updates are done in this revision:
• Corrections due to updates in SAP terminology.
• New standard calibration method is introduced (Axis Calibration). See
Calibration on page 403.
• Clarifications in maintenance schedule.
• Information about grounding point added. See Robot cabling and con-
nection points on page 104.
L Published in release R17.1. The following updates are done in this revision:
• Added information about how to handle cabling in the upper arm tube,
and upper arm housing, during wrist removal and cable replacement,
see Removing the wrist unit on page 355 and Replacing the cable harness
in the upper arm - IRB 2600ID on page 232.
Revision Description
• Changed the tightening torque of the oil plug located on axis-1 gearbox.
• Recommendation about changing oil in axis-2 gearbox in floor standing
position added.
• Clarification for types of motors, Motors on page 312.
M Published in release R17.2. The following updates are done in this revision:
• Information about coupled axes in Updating revolution counters on IRC5
robots on page 412.
• Caution about removing metal residues added in sections about SMB
boards.
• Information added into calibration procedure regarding installation of
calibration tool on turning disc, see Overview of the calibration procedure
on the FlexPendant on page 427.
• Information about minimum resonance frequency added.
• Bending radius for static floor cables added.
• Updated list of applicable standards.
• Article number for the Calibration tool box, Axis Calibration is changed.
• Added text regarding overhaul in section specification of maintenance
intervals.
• Updated the section Start of robot in cold environments on page 103.
• Information about isolating arc welding manipulator added.
• Updated information regarding replacement of brake release board.
• Updated information regarding disconnecting and reconnecting battery
cable to serial measurement board.
• Definition of reference calibration clarified.
N Published in release R18.1. The following updates are done in this revision:
• Information added about fatigue to Axis Calibration tool, see Calibration
tools for Axis Calibration on page 421.
• Added sections in General procedures on page 194.
• Illustration updated in dimension, mounting surface and guide bushing.
• Safety restructured.
• Added information about harness customer ethernet connection.
• Updated spare parts number for Brake release boards.
• Note added to calibration chapter to emphasize the requirement of
equally dressed robot when using previously created reference calibra-
tion values.
• Information about myABB Business Portal added.
• Added Nickel in Environmental information.
P Published in release R18.2. The following updates are done in this revision:
• Updates related to mechanical stop pin.
• Changed the method for replacing the axis-1 gearbox and the base.
Q Published in release R18.2. The following updates are done in this revision:
• Updated reference.
R Published in release 19B. The following updates are made in this revision:
• Added information about IRB 2600-20/1.65 type C, IRB 2600-12/1.65
type C to the manual. NOTE! The Type C robot is not available until
later release.
• New touch up color Graphite White available. See Cut the paint or sur-
face on the robot before replacing parts on page 201.
• New article numbers for manipulator cables in section Robot cabling
and connection points on page 104.
• Levelmeter 2000 kit (6369901-347) no longer available.
Revision Description
S Published in release 19B. The following updates are made in this revision:
• Type C variants (IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C) are
removed from the manual, due to later sales start.
T Published in release 19C. The following updates are made in this revision:
• Release date for IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is
removed in section Robot description on page 445.
• Note added about need to calibrate if the robot is other than floor
mounted. See When to calibrate on page 407.
• Procedure for changing oil in axis-5/6 gearbox is updated with informa-
tion valid for IRB 2600ID.
U Published in release 19D. The following updates are made in this revision:
• Updated oil level in axis-1 gearbox for robots IRB 2600-20/1.65 type C,
IRB 2600-12/1.65 type C.
• Updated installation procedure for expansion container, see Installing
an expansion container on page 95.
V Published in release 20A. The following updates are made in this revision:
• Added information about IRB 2600-20/1.65 type C, IRB 2600-12/1.65
type C to the manual.
• Replaced article number and name of grease, previously 3HAB3537-1.
• Clarified and added information in mounting instructions for rotating
sealings, see Mounting instructions for sealings on page 197.
• Clarified text about position of robot and added table with dependencies
between axes during Axis Calibration.
W Published in release 20B. The following updates are made in this revision:
• Article number of Calibration tool box, Axis Calibration is changed from
3HAC062326-001 to 3HAC074119-001.
• Added information about Wrist Optimization in calibration chapter.
X Published in release 20C. The following updates are made in this revision:
• Added note about differences in type of oil pre-filled in axis-4 gear
compared to recommended oil for field maintenance.
• Clarified information regarding brake release on motor connectors when
removing motors.
• Updated section about customer connections in regard to Ethernet etc.
See Customer connection on robot on page 108.
• Added illustration of base hole configuration for IRB 2600-20/1.65 type
C, IRB 2600-12/1.65 type C, see Orienting and securing the robot on
page 68.
Y Published in release 20D. The following updates are made in this revision:
• Removed inspection of axis-5 gear oil level from maintenance schedule
(IRB 2600ID).
• Added information about refilling oil in the axis-5 gear after replacing
the axis-5 motor (IRB 2600ID).
• Added tightening torque and inspection step for axis-5 gear oil plug,
after refilling oil during axis-5 motor replacement (IRB 2600ID).
Z Published in release 21A. The following updates are made in this revision:
• Changed grease to Loctite 574 on o-ring when refitting motor axes 1
and 2.
• Note regarding maximum leakage current for attached equipment. See
Customer connection on robot on page 108.
AA Published in release 21B. The following updates are made in this revision:
• Information regarding documentation of Installation of Foundry Plus
Cable guard (option no. 908-1) is changed since DVDs are removed.
See Installation of Foundry Plus Cable guard (option) on page 100.
Revision Description
• Text regarding fastener quality is updated, see Fastener quality on
page 85.
AB Published in release 21C. The following updates are made in this revision:
• Information regarding option 224-2 (expansion tank) when in inverted
mounting. See Installing an expansion container on page 95.
AC Published in release 23A. The following updates are done in this revision:
• Added support for OmniCore V250XT.
• Updated information about Gleitmo treated screws, see Screw joints on
page 454.
AD Published in release 23B. The following updates are done in this revision:
• Added axis positions for most stable transport position and removed
information about shipping position.
• Updated the tightening torque for axis 5 oil plug.
AE Published in release 23D. The following updates are done in this revision:
• Added illustrations to the section Cleaning.
• Added support for OmniCore V400XT.
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
Product manuals
Manipulators, controllers, DressPack, and most other hardware is delivered with
a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Troubleshooting.
• Decommissioning.
• 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.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
References to figures
The procedures often include references to components or attachment points
located on the manipulator/controller. The components or attachment points are
marked with italic text in the procedures and completed with a reference to the
figure where the current component or attachment point is shown.
The denomination in the procedure for the component or attachment point
corresponds to the denomination in the referenced figure.
The table below shows an example of a reference to a figure from a step in a
procedure.
Action Note/Illustration
8. Remove the rear attachment screws, gearbox. Shown in the figure Location of
gearbox on page xx.
Safety information
The manual includes a separate safety chapter that must be read through before
proceeding with any service or installation procedures. All procedures also include
specific safety information when dangerous steps are to be performed.
Read more in the chapter Safety on page 21.
Illustrations
The robot is illustrated with general figures that does not take painting or protection
type in consideration.
Likewise, certain work methods or general information that is valid for several robot
models, can be illustrated with illustrations that show a different robot model than
the one that is described in the current manual.
1 Safety
1.1 Safety information
Limitation of liability
Any information given in this manual regarding safety must not be construed as a
warranty by ABB that the industrial robot will not cause injury or damage even if
all safety instructions are complied with.
The information does not cover how to design, install and operate a robot system,
nor does it cover all peripheral equipment that can influence the safety of the robot
system.
In particular, liability cannot be accepted if injury or damage has been caused for
any of the following reasons:
• Use of the robot in other ways than intended.
• Incorrect operation or maintenance.
• Operation 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 as
intended.
• 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.
General
Only personnel with appropriate training are allowed to install, maintain, service,
repair, and use the robot. This includes electrical, mechanical, hydraulics,
pneumatics, and other hazards identified in the risk assessment.
Persons who are under the influence 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.
Hazard levels
The table below defines the captions specifying the hazard levels used throughout
this manual.
Symbol Designation Significance
DANGER Signal word used to indicate an imminently hazard-
ous situation which, if not avoided, will result in ser-
ious injury.
Introduction to symbols
This section describes safety symbols used on labels (stickers) on the manipulator.
Symbols are used in combinations on the labels, describing each specific warning.
The descriptions in this section are generic, the labels can contain additional
information such as values.
Note
The symbols on the labels on the product must be observed. Additional symbols
added by the integrator must also be observed.
Types of symbols
Both the manipulator and the controller are marked with symbols, containing
important information about the product. This is important for all personnel handling
the robot, for example during installation, service, or operation.
The safety labels are language independent, they only use graphics. See Symbols
on safety labels on page 25.
The information labels can contain information in text.
Symbol Description
Warning!
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
xx0900000812
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!
Warns that an accident may occur if the instructions are not
followed that can result in injury and/or damage to the product.
It also applies to warnings of risks that include burns, eye injury,
skin injury, hearing damage, crushing or slipping, tripping, im-
xx0900000811 pact, fall from height, etc. Furthermore, it applies to warnings
that include function requirements when fitting and removing
equipment where there is a risk of damaging the product or
causing a breakdown.
Prohibition
Used in combinations with other symbols.
xx0900000839
Symbol Description
See user documentation
Read user documentation for details.
Which manual to read is defined by the symbol:
• No text: Product manual.
• EPS: Application manual - Electronic Position Switches.
xx0900000813
xx0900000816
Do not disassemble
Disassembling this part can cause injury.
xx0900000815
Extended rotation
This axis has extended rotation (working area) compared to
standard.
xx0900000814
Brake release
Pressing this button will release the brakes. This means that
the robot arm can fall down.
xx0900000808
Symbol Description
Tip risk when loosening bolts
The robot can tip over if the bolts are not securely fastened.
xx0900000810
xx1500002402
Crush
Risk of crush injuries.
xx0900000817
Symbol Description
Heat
Risk of heat that can cause burns. (Both signs are used)
xx0900000818
!
3HAC 4431-1/06
xx1300001087
Moving robot
4 6 The robot can move unexpectedly.
3 5
1
xx0900000819
xx1000001141
2 3
xx1500002616
Symbol Description
Brake release buttons
xx0900000820
xx1000001140
Lifting bolt
xx0900000821
xx1000001242
Lifting of robot
xx0900000822
Oil
Can be used in combination with prohibition if oil is not allowed.
xx0900000823
Mechanical stop
xx0900000824
Symbol Description
No mechanical stop
xx1000001144
Stored energy
Warns that this part contains stored energy.
Used in combination with Do not disassemble symbol.
xx0900000825
Pressure
Warns that this part is pressurized. Usually contains additional
text with the pressure level.
xx0900000826
xx0900000827
Do not step
Warns that stepping on these parts can cause damage to the
parts.
xx1400002648
Layout
The robot integrated to a robot system shall be designed to allow safe access to
all spaces during installation, operation, maintenance, and repair.
If robot movement can be initiated from an external control panel then an emergency
stop must also be available.
If the manipulator is delivered with mechanical stops, these can be used for reducing
the working space.
A perimeter safeguarding, for example a fence, shall be dimensioned to withstand
the following:
• The force of the manipulator.
• The force of the load handled by the robot if dropped 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 working position and posture for a person working with or near
the robot shall be considered.
Hazards due to noise emission from the robot needs to be considered.
Consider hazards from other equipment in the robot system, for example, that
guards remain active until identified hazards are reduced to an acceptable level.
Allergenic material
See Environmental information on page 442 for specification of allergenic materials
in the product, if any.
Electrical safety
Incoming mains must be installed to fulfill national regulations.
The power supply wiring to the robot must be sufficiently fused and if necessary,
it must be possible to disconnect it manually from the mains power.
The power to the robot must be turned off with the main switch and the mains
power disconnected when performing work inside the controller cabinet. Lock and
tag shall be considered.
Harnesses between controller and manipulator shall be fixed and protected to
avoid tripping and wear.
Wherever possible, power on/off or rebooting the robot controller shall be performed
with all persons outside the safeguarded space.
Note
Use a CARBON DIOXIDE (CO2) extinguisher in the event of a fire in the robot.
Safety devices
The integrator is responsible for that the safety devices necessary 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 applicable standards.
Other hazards
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
The risk assessment should also consider other hazards arising from the
application, such as, but not limited to:
• Water
• Compressed air
• Hydraulics
End-effector hazards require particular attention for applications which involve
close human collaboration with the robot.
Note
Automatic operation
Verify the application in the operating mode manual reduced speed, before changing
mode to automatic and initiating automatic operation.
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.
General
Corrective maintenance must only be carried out by personnel trained on the robot.
Maintenance or repair must be done with all electrical, pneumatic, and hydraulic
power switched off, that is, no remaining hazards.
Hazards due to stored mechanical energy in the manipulator for the purpose of
counterbalancing axes must be considered before maintenance or repair.
Never use the robot as a ladder, which means, do not climb on the controller,
manipulator, including motors, or other parts. There are hazards of slipping and
falling. The robot might be damaged.
Make sure that there are no tools, loose screws, turnings, or other unexpected
parts remaining after maintenance or repair work.
When the work is completed, verify that the safety functions are working as
intended.
Hot surfaces
Surfaces can be hot after running the robot, and touching these may result in burns.
Allow the surfaces to cool down before maintenance or repair.
Allergic reaction
Allergic reaction
Note
Allergic reaction
When opening the oil or grease Open the plug carefully and keep
plug, there may be pressure away from the opening. Do not
present in the gearbox, causing overfill the gearbox when filling.
lubricant to spray from the
opening.
Possible pressure
build-up in gearbox
Overfilling of gearbox lubricant Make sure not to overfill the
can lead to internal over-pres- gearbox when filling it with oil or
sure inside the gearbox which in grease.
turn may: After filling, verify that the level
• damage seals and gas- is correct.
Do not overfill kets
• completely press out
seals and gaskets
• prevent the robot from
moving freely.
Mixing types of oil may cause When filling gearbox oil, do not
severe damage to the gearbox. mix different types of oil unless
specified in the instructions. Al-
ways use the type of oil specified
for the product.
Do not mix types of oil
Oil residues might be present in Make sure that protective gear
a drained gearbox and spilled like goggles/protective visor,
when separating a motor and gloves and arm protection are
gearbox during repair. always worn during this activity.
Put oil absorbent cloth or paper
Oil residues
at appropriate locations to catch
any oil residues.
Warm oil drains quicker than Run the robot before changing
cold oil. the gearbox oil, if possible.
Contaminated oil in
gearboxes
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 information related to installation and operation.
Description
In an emergency situation, the brakes on a robot axis can be released manually
by pushing a brake release button.
How to release the brakes is described in the section:
• Manually releasing the brakes on page 65.
The robot may be moved manually on smaller robot models, but larger models
may require 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.
When to test
During operation, the holding brake of each axis normally wears down. A test can
be performed to determine whether the brake can still perform its function.
How to test
The function of the holding brake of each axis motor may be verified as described
below:
1 Run each axis to a position where the combined weight 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
General
When troubleshooting requires work with power switched on, special considerations
must be taken:
• Safety circuits might be muted or disconnected.
• Electrical parts must be considered as live.
• The manipulator can move unexpectedly at any time.
DANGER
CAUTION
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 information related to installation, operation, maintenance, and
repair.
General
See section Decommissioning on page 441.
If the robot is decommissioned for storage, take extra precaution to reset safety
devices to delivery status.
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.
General
This chapter contains assembly instructions and information for installing the IRB
2600/IRB 2600 ID at the working site.
See also the product manual for the robot controller.
The installation must be done by qualified installation personnel in accordance
with the safety requirements set forth in the applicable national and regional
standards and regulations.
The technical data is detailed in section Technical data on page 45.
Safety information
Before any installation work is commenced, all safety information must be 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 page 21 before performing any installation
work.
Note
Always connect the IRB 2600/IRB 2600 ID and the robot to protective earth and
residual current device (RCD) before connecting to power and starting any
installation work.
For more information see:
• Product manual - OmniCore V250XT
• Product manual - OmniCore V250XT Type A
• Product manual - IRC5
• Product manual - IRC5 Panel Mounted Controller
2.2 Unpacking
Introduction
This section is intended for use when unpacking and installing the robot for the
first time. It also contains information useful during later re-installation of the robot.
Action
1 Make a visual inspection of the packaging and make sure that nothing is damaged.
2 Remove the packaging.
3 Check for any visible transport damage.
Note
Weight, robot
The table shows the weight of the robot.
Robot model Weight
IRB 2600/IRB 2600 ID 280 kg
Note
The weight does not include tools and other equipment fitted on the robot.
Mounting positions
The table shows valid mounting options for the manipulator.
Mounting option Installation angle Note
Floor mounted 0°
Wall mounted 90°
Suspended 180° i
Tilted 0-15° Contact ABB for further in-
formation about acceptable
loads.
i IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is not available for suspended installation.
Note
The actual mounting angle must always be configured in the system parameters,
otherwise the performance and lifetime is affected. See Setting the system
parameters for a suspended or tilted robot on page 61.
Txy
Fz
Fxy
Tz
xx1100000521
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Wall mounted
Suspended
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Requirement Value Note
Flatness of foundation 0.5 mm Flat foundations give better repeatability of the
surface resolver calibration compared to original settings
on delivery from ABB.
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
Minimum resonance 25 Hz The value is recommended for optimal perform-
frequency ance.
Note Due to foundation stiffness, consider robot mass
including equipment. i
It may affect the For information about compensating for founda-
manipulator life- tion flexibility, see the application manual of the
time to have a controller software, section Motion Process
lower resonance Mode.
frequency than
recommended.
i The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Working range
The figures show the working ranges of the robot variants mounted in different
ways.
The extreme positions of the robot arm are specified at the wrist center (dimensions
in mm).
xx0900000194
IRB 2600ID
xx1000000300
xx0900000195
xx1000000986
Turning radius
The turning radius of the robot that is floor or suspended mounted is shown in the
figure.
xx0900000199
Robot motion,
The table specifies the types and ranges of motion in every axes.
Location of motion Type of motion Range of movement
Axis 1 Rotation motion ±180°
Axis 2 Arm motion +155° / -95°
Axis 3 Arm motion +75° / -180°
Axis 4 (IRB 2600 standard) Wrist motion ±400°
Axis 4 (IRB 2600ID) Wrist motion ±175°
Axis 5 Bend motion ±120°
Axis 6 Turn motion ±400°
Risk of tipping
If the robot is not fastened to the foundation while moving the arm, the robot is not
stable in the whole working area. Moving the arm will displace the center of gravity,
which may cause the robot to tip over.
The transportation position is the most stable position.
Do not change the robot position before securing it to the foundation!
Transportation position
This figure shows the robot in its transportation position.
The figure shows IRB 2600 but is also valid for IRB 2600ID. Best position of IRB
2600ID axis 4 is ±90°.
The position where part of the lower arm (A) is beginning to show in the hole, is
approximate.
0°
45
°
A
15
°
xx0900000211
Note
WARNING
The robot will be mechanically unstable if not properly secured to the foundation.
Description
ESD (electrostatic discharge) is the transfer of electrical static charge between two
bodies at different potentials, either through direct contact or through an induced
electrical field. When handling parts or their containers, personnel not grounded
may potentially transfer high static charges. This discharge may destroy 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 grounded.
Introduction
When lifting the robot use roundslings and an overhead crane.
Required equipment
Equipment Note
Overhead crane Lifting capacity 1 000 kg (Max load at 90°)
Roundslings (2 pcs) • Lifting capacity/roundsling: 1 000 kg
• Lengths: 2 m, 1.5 m
Lifting
Attach the roundslings as shown in the figure.
45°
B
A
1000
°
15
xx0900000236
Lifting instructions
Use this procedure to lift the robot in a safe way.
Action Note
1
CAUTION
2
CAUTION
3
WARNING
5
DANGER
6 Attach roundsling A to the lifting lug on the See the figure in:
frame, and put folded in a U-shape on either • Lifting on page 57
side of the upper arm.
7 Attach roundsling B at axis 3 gearbox by run- See the figure in:
ning it folded in a U-shape around the gear- • Lifting on page 57
box.
8 Make sure the roundslings do not rub against
any sharp edges.
Action Note
9 When the robot is lifted the roundslings will
adjust themselves.
CAUTION
xx0800000291
Introduction
How to lift and turn the robot to a suspended position using the turning accessory
is described in the lifting instruction delivered with the turning accessory. Article
numbers for the accessory and the instruction is specified in Special tools on
page 459. Any additional equipment required is specified in the instruction for the
lifting accessory. Contact ABB for more information.
How to lift and turn the robot into position for wall position: Contact ABB for more
information.
How to lift and turn the robot into position for tilted position: Contact ABB for more
information.
Illustration
xx1500002117
General
The robot is configured for mounting parallel to the floor, without tilting, on delivery.
If the robot is mounted in any other angle than 0°, then the system parameters
that describe the mounting angle (how the robot is oriented relative to the gravity)
must be re-defined.
Note
With inverted installation, make sure that the gantry or corresponding structure
is rigid enough to prevent unacceptable vibrations and deflections, so that
optimum performance can be achieved.
Note
The mounting positions are described in Mounting positions on page 45, and
the requirements on the foundation are described in Requirements, foundation
on page 47.
Note
IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is not available for suspended
installation.
System parameters
Note
Gravity Beta
If the robot is mounted upside down or on a wall (rotated around the y-axis), then
the robot base frame and the system parameter Gravity Beta must be redefined.
Gravity Beta should then be π (+3.141593) if the robot is mounted upside down
(suspended), or ±π/2 (±1.570796) if mounted on a wall.
The Gravity Beta is a positive rotation direction around the y-axis in the base
coordinate system. The value is set in radians.
Gravity Alpha
If the robot is mounted on a wall (rotated around the x-axis), then the robot base
frame and the system parameter Gravity Alpha must be redefined. The value of
Gravity Alpha should then be ±π/2 (±1.570796).
The Gravity Alpha is a positive rotation direction around the x-axis in the base
coordinate system. The value is set in radians.
Note
The system parameter Gravity Alpha is not supported for all robot types. It is not
supported for IRB 140, IRB 1410, IRB 1600ID, IRB 2400, IRB 4400, IRB 6400R,
IRB 6400 (except for IRB 6400 200/2.5 and IRB 6400 200/2.8), IRB 6600, IRB
6650, IRB 6650S and IRB 7600 (except for IRB 7600 325/3.1).
If the robot does not support Gravity Alpha, then use Gravity Beta along with the
recalibration of axis 1 to define the rotation of the robot around the x-axis.
Note
The parameter is supported for all robots on track when the system parameter
7 axes high performance motion is set, see Technical reference manual - System
parameters.
Gamma Rotation
Gamma Rotation defines the orientation of the robot foot on the travel carriage
(track motion).
xx1500000532
Note
General
The section below describes how to release the holding brakes of each axis' motor.
This can be done in one of three ways:
• using the push-button when the robot is connected to the controller.
• using the push-button on the robot with an external power supply.
• using an external voltage supply directly on the respective brake.
DANGER
When releasing the holding brakes with push-buttons, the robot must be properly
attached!
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 arm!
xx0800000272
Note
WARNING
xx0800000269
DANGER
WARNING
Axes 4, 5 and 6:
Pos 6: 0 V Pos 4: +24 V
xx1400001985
Introduction
This section describes how to orient and secure the robot to the foundation or base
plate in order to run the robot safely. The requirements made on the foundation
are shown in sections Loads on foundation, robot on page 46 and Requirements,
foundation on page 47.
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx0900000193
A Center axis 1
Note
Only the three outer holes are used to secure the robot!
500
0°
12
SECTION G-G
xx2000001773
E F
Ø60
Ø0.5 AB
C C (3 2.5 25
X12 2x 1x45º
0º
Ø 35 -0.025 f7
) (A)
-0.050
Ø22
1.6
Ø 500
A B B
A
0.5 (C)
Ø35 +0.024 J8
1
-0.015
216.5 2x Ø 90 R
B
(433±0.5)
G 433 ±0.5
G (D)
Ø35 +0.024 J8
-0.015
A (37)
1.6
1x45º
10 10
20 min 20 min 30 min
xx1700001492
xx1200000885
xx0300000251
4
CAUTION
5 Lift the robot to its installation site. How to lift the robot is described in sec-
tion:
• Lifting robot with roundslings on
page 57
6 Fit two guide bushings to the rear bolts in the
base.
7 Guide the robot gently, using the attachment Make sure the robot base is correctly fit-
screws while lowering it into its mounting ted onto the guide sleeves.
position.
Action Note
8 Fit the securing screws and washers in the
attachment holes of the base.
9 Tighten the bolts in a criss-cross pattern to
ensure that the base is not distorted.
Isolating AW manipulator
CAUTION
If the manipulator is used for arc welding and is mounted on a pedestal, make
sure that the manipulator is isolated from the pedestal with isolators.
xx1400000831
Introduction
The robot features mounting holes for additional equipment.
Access to any of the following mounting holes may be obstructed by any additional
cabling, equipment, etc., fitted by the robot user. Make sure the required mounting
holes are accessible when planning the robot cell.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Note
Robot dimensions
Dimensions IRB 2600-20(12)/1.65, IRB 2600 Type C-20(12)/1.65
1019
323
238,4 190,6 795 85
115
700
1382
445
B
A
xx0900000481
Pos Description
A R 337 Minimum turning radius of axis 1
B R 98 Minimum turning radius of axis 4
Pos Description
C IRB 2600ID = 281 mm
Other types than Type A (IRB 2600ID) = 276 mm
xx0900000680
Pos Description
B For all other dimensions see IRB 2600-20(12)/1.65
xx1000000962
Pos Description
A For dimensions, see IRB 2600-X/1.85
B R 172 Minimum turning radius for axis 4
xx1000000963
Pos Description
A For dimensions, see IRB 2600-X/1.85
B R 172 Minimum turning radius for axis 4
xx0800000275
300
300
250
280 360
A
260
260
C
IRB 2600 -1.65 = 700
IRB 2600 -1.85 = 900
200
380
xx0900000189
Variant Max load A Max load B Max load C Max load Max load D
A+C
IRB 2600-20/1.65 10 kg 1 kg 10 kg 10 kg 35 kg
IRB 2600 Type C-
20/1.65
IRB 2600-12/1.85
IRB 2600-12/1.65 15 kg 1 kg 15 kg 15 kg 35 kg
IRB 2600 Type C-
12/1.65
IRB 2600ID
xx1000000319
Variant Max load A Max load B Max load C Max load Max load D
A+C
IRB 2600ID-15/1.85 10 kg 1 kg 10 kg 10 kg 35 kg
IRB 2600ID-8/2.00 15 kg 1 kg 15 kg 15 kg 35 kg
Note
xx0900000227
xx0900000234
A Center axis 4
B Center axis 3
IRB 2600ID
xx1000000707
Lower arm of IRB 2600 -12/1.85, IRB 2600ID -15/1.85 and -8/2.00
445
xx0900000492
- The uppermost holes for fitting equipment on the lower arm are only applicable
to variant IRB 2600 -12/1.85.
Lower arm of IRB 2600 -20/1.65 and -12/1.65, IRB 2600 Type C-20(12)/1.65
445
xx0900000491
Upper arm
xx1000000823
Fitting equipment on wrist and mounting flange IRB 2600/IRB 2600 ID.
The illustration shows the fitting holes available for fitting extra equipment on the
wrist of the robot.
The illustration also shows the mechanical interface for the mounting flange.
IRB 2600 standard
110
6 H7 8
12,5
D
0,05 B C
30°
25
P
50
P-P
60°
2x M6 12 10
C
B
79 (2x M6)
6x M6
63 h8
31,5H8
0,3 B C D
P
7
A = R98
xx0800000278
Note
Use attachment screws M6, quality 12.9 and 10 mm used thread length.
IRB 2600ID
xx1000000822
Variant C mm
IRB 2600ID-15/1.85 135
IRB 2600ID-8/2.00 200
Fastener quality
When fitting tools on the tool flange, only use screws with quality 12.9. For other
equipment use suitable screws and tightening torque for your application.
2.3.7 Loads fitted to the robot, stopping time and braking distances
General
Any loads mounted on the robot must be defined correctly and carefully (with
regard to the position of center of gravity and mass moments of inertia) in order
to avoid jolting movements and overloading motors, gears and structure.
CAUTION
Incorrectly defined loads may result in operational stops or major damage to the
robot.
References
Load diagrams, permitted extra loads (equipment) and their positions are specified
in the product specification. The loads must be defined in the software.
• Operating manual - IRC5 with FlexPendant
• Operating manual - OmniCore
General
When installing the robot, make sure that it can move freely within its entire working
space. If there is a risk that it may collide with other objects, its working space
should be limited.
The working range of the following axes may be restricted:
• Axis 1, hardware (mechanical stop) and software
• Axis 2, software
• Axis 3, software.
This section describes how to install hardware that restricts the working range.
Note
WARNING
Remove the mechanical stop bracket if the robots full working range is from one
mechanical stop to another mechanical stop. Otherwise the mechanical stop pin
will be worn out.
xx1500000253
Note
Required equipment
Additional stops
The additional stops are fitted as shown in the figure.
D, E
xx0800000273
General
A cooling fan can be installed on motor axis 1 and/or axis 2 for IRC5 robots.
xx0900000232
Cooling fan
The details of the cooling fan are shown in the figure below.
xx0900000137
A Fanbox
B Groove in the connector
C Back plate
D Part of the fanbox that can be removed, if needed. NOTE! Only valid on motor
axis 1!
Required equipment
2 Remove the back plate of the fanbox. See the figure in:
• Cooling fan on page 92
3 Place the fanbox around motor axis 1 and 2. See the figure in:
• Cooling fan on page 92
4 Refit the back plate of the fanbox.
5 See the figure in:
Tip • Cooling fan on page 92
6 Push the fanbox in line with the connection box. Align the upper part of the fan with the
lower part of the connection box.
A B C
xx1000000124
Parts:
• A: Connection box
• B: Position where the fan shall
be aligned with connection box
• C: Fan
7 Fit the fanbox with two attachment screws
M6x25.
Action Note
8 Connect the fan connector to motor and fan.
xx0900000405
Parts:
• A: Connector, signal
• B: Connector, power
• C: Fan cable
• D: Connector, fan
• E: Cable gland
• F: Motor cover, with fan cable
9 After fitting the motor cover, fit the protection A
cover using two attachment screws for the
motor cover.
xx0900000406
Parts:
• A: Protection cover
• B: Fan
10 Secure the fan cable to the protection cover
with a cable strap.
Note
IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C are not valid for inverted
mounting.
Expansion container
xx1000000318
A Cover
B Attachment screw M6x16, quality 8.8-A2F (5 pcs)
C Oil expansion container with cover
D Base
E O-ring D220x5
F Attachment screw M5x20, quality 8.8-A2F and washer (2+2 pcs)
G O-ring D1=9.5 D2=1.6
H Oil plug (to be removed)
Required equipment
Equipment Note
Expansion container Kit including oil.
Lifting accessory 3HAC034766-001
Lifting instruction Included with the lifting accessory.
Grease -
Locking liquid -
Loctite 2400 (or equivalent Loctite 243)
O-ring for base cover Replace if damaged.
xx1500001958
xx1900001818
xx1500001956
Action Information
7 Apply locking liquid to the three screw holes Locking liquid: - (Loctite 2400 (or equival-
in the expansion container. ent Loctite 243)).
Knock in the VK-cover with a rubber mallet. Screws: M6x8 (3 pcs).
Secure with three screws and washers.
xx1500001957
xx1500001956
Tip
Action Information
12 Check the o-ring used on the cover. Replace
it if damaged.
13 Refit the cover on the base with its attach-
ment screws.
xx1900001819
Introduction
Separate instructions for IRB 2600, 4600, 6620, 6640, 6650S, 6660 and 7600 are
available in English, German, French, Spanish, and Italian and can be found for
registered users on myABB Business Portal (www.abb.com/myabb) and delivered
with the Cable guard, article number 3HAC035933-001.
Description
A signal lamp with a yellow fixed light can be mounted on the robot, as a safety
device.
Installation
See the assembly instruction delivered with the signal lamp.
Function
The lamp is active in MOTORS ON mode.
Further information
Further information about the MOTORS ON/MOTORS OFF mode may be found in
the product manual for the controller.
Introduction
This procedure describes how to start the robot in a hot environment. This
procedure must be performed the first time the robot is started in a hot environment
or if it has not been used for some time in a hot environment.
There is a possibility that some overpressure has been built up in the system. This
overpressure must be released before starting up the robot.
2
CAUTION
3
Note
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
Introduction
Connect the robot and controller to each other after securing them to the foundation.
The lists below specify which cables to use for each respective application.
CAUTION
Connect the male and female connectors perfectly aligned horizontally to avoid
any kind of tilt or skew.
CAUTION
Verify that the serial number is according to the number(s) in the Declaration of
Incorporation (DoI).
Robot cables
These cables are included in the standard delivery. They are completely
pre-manufactured and ready to plug in.
Cable sub-category Description Connection Connection
point, cabinet point, robot
Robot cable, power Transfers drive power from the XS1 (IRC5 con- R1.MP
drive units in the control cabinet trollers)
to the robot motors. X1 (OmniCore
controllers)
Robot cable, signals Transfers resolver data from XS2 (IRC5 con- R1.SMB
and power supply to the serial trollers)
measurement board. X2 (OmniCore
controllers)
A
B
xx1600002016
A Diameter
B Diameter x10
xx1600001001
xx1800001155
Note
The maximum leakage current for attached equipment must not exceed 10mA.
The customer connections are located on the robot as shown in the figure.
A B C D
xx2000001658
A R2.PROC1
Air M16x1.5
(24° cone sealing)
B R2.ETHERNET
C R2.CP or R2.CBUS
D R2.CS or R2.CP/CS
E Signal lamp
- R3.H1 +, R3.H2 - (inside the arm house, not shown in figure)
A B C D
xx2000001636
A R1.CP/CS
B R1.PROC1 (Air M16x1.5)
C R1.ETHERNET
D R1.SMB
A B E C D
xx2000001637
A R1.CP/CS
B R1.PROC1 (Air M16x1.5)
C R1.ETHERNET
D R1.SMB
E R2.FB7
Connection sets
To connect power and signal conductors to the robot base/upper arm connectors,
the following parts are recommended.
Connection Connector Art. no. Content
set
PROC1 on R1.CP/CS 3HAC16667-1 • Sockets for cable area of 0.14-2.5
base mm²
• Hood foundry
• Hinged frame, hood
• Multicontact-module, female
Connector set R1.ETHER- 3HAC033181-001 • Hose coupling
on base NET • M12 connector, male
R2.CP/R2.CS R2.CP/R2.CS 3HAC025396-001 • Pins for cable area 0.21 - 0.93
mm 2
• Bottle shaped shrinking hose
• Angle shaped shrinking hose
• Hose coupling
Connector set R2.ETHER- 3HAC070439-001 • Pins for cable area 0.21 - 0.93
upper arm NET mm 2
• Bottle shaped shrinking hose
• Angle shaped shrinking hose
Signal name Customer Ter- Customer Contact Customer Contact on robot base
minal Controller on Upper arm, R2 (cable between robot and controller
not supplied)
CPA XP6.1 R2.CP.A R1.CP/CS.d1
CPB XP6.2 R2.CP.B R1.CP/CS.d6
CPC XP6.3 R2.CP.C R1.CP/CS.d3
CPD XP6.4 R2.CP.D R1.CP/CS.d4
CPE XP6.1 R2.CP.E R1.CP/CS.d1
CPF XP6.2 R2.CP.F R1.CP/CS.d6
CPG - R2.CP.G (Earth) -
CPH - R2.CP.H R1.CP/CS.d7
CPJ XP6.3 R2.CP.J R1.CP/CS.d3
CPK XP6.4 R2.CP.K R1.CP/CS.d4
Signal name Customer Ter- Customer Contact Customer Contact on robot base
minal Controller on Upper arm, R2 (cable between robot and controller
not supplied)
CSA XP5.1.1 R2.CS.A R1.CP/CS.b1
CSB XP5.1.2 R2.CS.B R1.CP/CS.b2
CSC XP5.2.1 R2.CS.C R1.CP/CS.b3
CSD XP5.2.2 R2.CS.D R1.CP/CS.b4
CSE XP5.2.3 R2.CS.E R1.CP/CS.b5
CSF XP5.2.4 R2.CS.F R1.CP/CS.b6
CSG XP5.1.9 R2.CS.G R1.CP/CS.b7
CSH XP5.1.10 R2.CS.H R1.CP/CS.b8
CSJ XP5.1.11 R2.CS.J R1.CP/CS.b9
CSK XP5.1.12 R2.CS.K R1.CP/CS.b10
CSL XP5.1.3 R2.CS.L R1.CP/CS.b11
CSM XP5.1.4 R2.CS.M R1.CP/CS.b12
CSN XP5.1.5 R2.CS.N R1.CP/CS.b13
CSP XP5.1.6 R2.CS.P R1.CP/CS.b14
CSR XP5.3.1 R2.CS.R R1.CP/CS.b15
CSS XP5.3.2 R2.CS.S R1.CP/CS.b16
CST XP5.3.3 R2.CS.T R1.CP/CS.b18
CSU XP5.3.4 R2.CS.U R1.CP/CS.b19
CSV XP5.3.5 R2.CS.V R1.CP/CS.b20
CSW XP5.3.6 R2.CS.W R1.CP/CS.b21
CSX XP5.2.9 R2.CS.X R1.CP/CS.b22
Signal name Customer Ter- Customer Contact Customer Contact on robot base
minal Controller on Upper arm, R2 (cable between robot and controller
not supplied)
CSY XP5.2.10 R2.CS.Y R1.CP/CS.b23
CSZ XP5.2.11 R2.CS.Z R1.CP/CS.b24
Safe handling
Use the following procedure after installation, maintenance, or repair, before
initiating motion.
DANGER
Initiating motion without fulfilling the following aspects, may increase the risk for
injury or cause damage to the robot.
Action
1 Remove all tools and foreign objects from the robot and its working area.
2 Verify that the robot is properly secured to its position by all screws, before it is powered
up.
3 Verify that any safety equipment installed to secure the position or restrict the robot
motion during service activity is removed.
4 Verify that the fixture and work piece are well secured, if applicable.
5 Verify that all safety equipment is installed, as designed for the application.
6 Verify that no personnel are inside the safeguarded space.
7 If maintenance or repair has been done, verify the function of the part that was main-
tained.
8 Verify the application in the operating mode manual reduced speed.
Collision risks
CAUTION
When programming the movements of the robot, always identify potential collision
risks before initiating motion.
3 Maintenance
3.1 Introduction
Safety information
Observe all safety information before conducting any service work.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures. Read the chapter Safety on page 21 before performing any service
work.
The maintenance must be done by qualified personnel in accordance with the
safety requirements set forth in the applicable national and regional standards and
regulations.
Note
If the IRB 2600/IRB 2600 ID is connected to power, always make sure that the
IRB 2600/IRB 2600 ID is connected to protective earth and a residual current
device (RCD) before starting any maintenance work.
For more information see:
•
• Product manual - OmniCore V250XT Type A
• Product manual - IRC5
• Product manual - IRC5 Panel Mounted Controller
• Robot cabling and connection points on page 104.
Introduction
The intervals are specified in different ways depending on the type of maintenance
activity to be carried out and the working conditions of the IRB 2600/IRB 2600 ID:
• Calendar time: specified in months regardless of whether the system is
running or not.
• Operating time: specified in operating hours. More frequent running means
more frequent maintenance activities.
• SIS: specified by the robot's SIS (Service Information System). A typical
value is given for a typical work cycle, but the value will differ depending on
how hard each part is run.
The SIS used in M2004 is further described in the Operating manual - Service
Information System (IRC5) or Operating manual - OmniCore.
The SIS used in OmniCore is further described in the Operating
manual - OmniCore.
Robots with the functionality Service Information System activated can show active
counters in the device browser in RobotStudio, or on the FlexPendant.
Overhaul
Depending on application and operational environment a complete overhaul may
be necessary in average around 40000 hours.
ABB Connected Services and its Assessment tools can help you to identify the
real stress level of your robot, and define the optimal ABB support to maintain your
robot working.
Contact your local ABB Customer Service to get more information.
General
The robot must be maintained regularly to ensure proper function. The maintenance
activities and intervals are specified in the following table.
Non-predictable situations also give rise to inspections of the robot. Any damage
must be attended to immediately.
The inspection intervals do not specify the life of each component. Values for these
are specified in the section Expected component life on page 120
Instructions for how to perform the different maintenance activities are found in
sections:
• Inspection activities on page 121
• Replacement / Changing activities on page 151
• Cleaning on page 188
General
The expected life of a specific component of the robot can vary greatly depending
on how hard it is run.
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx0800000304
xx1800001132
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx1200000883
Required equipment
Equipment Note
Oil plug sealing washer, gearbox 3HAC029646-001
Lubrication oil See section Type of lubrication in gearboxes
on page 151.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
2
DANGER
3
CAUTION
4 Open the oil plug, inspection. See Location of oil plugs (floor mounted)
on page 121.
Action Note
5 Measure the oil level at the oil plug hole.
A C
Required oil level for IRB 2600-20/1.65, IRB
2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0: B
• 10 mm ± 3 mm below the lower edge
of the oil plug inspection hole.
Required oil level for IRB 2600-20/1.65 type
C, IRB 2600-12/1.65 type C: D
xx1200001352
Parts:
A Oil level
B Measurement of required oil level
C Oil plug hole inspection
D Gear
6 Add oil if required. How to fill oil is described in section:
• Changing the oil, axis 1 gearbox on
floor mounted robots on page 153
7 Refit the oil plug, inspection. Tightening torque:
• 24 Nm
CAUTION
If the robot has the earlier design of the frame, and the robot is filled with an
amount of oil suited for an inverted position, the oil level of the axis-1 gearbox
will be above the oil plug hole when the robot is standing on the floor, which will
result in oil leakage if the plug is opened while robot stands on the floor! The oil
level of axis-1 gearbox can therefore only be inspected when the robot is mounted
in an inverted position!
Action Note
1
WARNING
Action Note
2
DANGER
3
CAUTION
4 Open the oil plug inspection on the axis 1 See the figure in:
gearbox. • Location of oil plugs (suspended
mounted) on page 122
5 Required oil level:
• up to the lower edge of the oil plug
hole.
Note
xx1100000008
xx0800000305
Required equipment
Equipment Note
Oil plug sealing washer, gearbox 3HAC029646-001
Lubrication oil See section Type of lubrication in gearboxes
on page 151.
Oil plug (Quick connect fitting) For article number see Spare part lists on
page 463.
Standard toolkit Content is defined in section Standard tools
on page 458.
Equipment Note
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
2
DANGER
3
CAUTION
4 Open the oil plug, inspection (location de- See the figure in:
pends on how the robot is mounted). • Location of axis 2 gearbox on
page 126
Note
Action Note
7 Refit the oil plug. Tightening torque:
• 24 Nm
Note
xx0800000306
Required equipment
Equipment Note
Lubrication oil See section Type of lubrication in gearboxes
on page 151.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
4
CAUTION
xx0800000307
Required equipment
Equipment Note
Lubrication oil See section Type of lubrication in gearboxes
on page 151.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Action Note
2 Move the robot to where the upper arm points
straight up and the oil plug hole is on top of
the axis 4 gearbox.
3
DANGER
4
CAUTION
xx0900000139
Required equipment
Equipment Note
Lubrication oil See section Type of lubrication in gearboxes
on page 151.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Action Note
2
DANGER
3
CAUTION
xx0900000012
xx0900000384
A Cable harness
B Bracket, lower arm
C Bracket, lower arm
D Cable straps, one not visible here (steel)
E Bracket, frame
F Cable strap, lower arm (plastic)
G Bracket, upper arm
Required equipment
Equipment Note
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Circuit diagram See chapter Circuit diagram on page 465.
Action Note
1
DANGER
xx1000000205
Required equipment
Inspecting labels
Use this procedure to inspect the labels on the robot.
Action Note
1
DANGER
Action Note
2 Check all labels. See the figure in Location of information
labels on page 138.
3 Replace any missing or damaged labels.
xx0800000298
A Fixed stop
B Mechanical stop pin, axis 1
Required equipment
2 Regularly check that the mechanical stop pin See the figure in:
is not bent or damaged in any other way. • Location of mechanical stop pin,
axis 1 on page 140
3 How to replace the stop pin is described
Note in section Replacing stop pin axis 1 on
page 297.
If the mechanical stop pin has been deformed
or damaged, all of its mounting parts have to
be replaced.
xx0800000045
Parts:
A Attachment screws
B Bracket
C O-ring (2 pcs) - Not used if bracket (D)
is installed.
D Bracket
E Stop pin
Action Note
5 Check that the mechanical stop pin can move
freely in both directions and the bracket
works as it is supposed to.
xx1000000222
D, E
xx0800000273
Required equipment
Location of dampers
The figure shows the location of all dampers to be inspected.
The figure shows IRB 2600 with Standard upper arm.
xx0800000297
Required equipment
Inspecting dampers
Use this procedure to inspect the dampers.
Action Note
1
DANGER
2 Check all dampers for damage or cracks. See the figure in:
• Location of dampers on page 145
3 Check all dampers for existing impressions
larger than 2-3 mm.
4 Check attachment screws for deformation.
5 If any damage is detected the damper must
be replaced.
xx0900000131
Required equipment
Equipment Note
Standard toolkit Content is defined in section Standard tools
on page 458.
2
DANGER
Action Note
3 Check if the pressure relief valve is contam-
inated or covered with litter.
4 Clean if necessary.
Note
B C D
xx0800000290
A Signal lamp
B R3.H1 +, R3.H2 -
C R2.CP
D R2.CS
Required equipment
Equipment Note
Signal lamp For spare parts no. see Spare parts - Spare
parts options in Product manual, spare
parts - IRB 2600.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Note
Action Note
1 Check that the signal lamp is lit when motors
are put in operation ("MOTORS ON").
Action Note
2 If the signal lamp is not lit, continue tracing
the fault with the steps below.
3
DANGER
Introduction
This section describes where to find information about the type of lubrication,
article number and the amount of lubrication in the specific gearbox. It also
describes the equipment needed when working with lubrication.
Note
The type of oil pre-filled in axis-4 gear differs from the type of oil recommended
for field maintenance, due to differences in factory and customer sites
prerequisites. The two types of oil are fully equal and compatible.
Use the type of oil specified in Technical reference manual - Lubrication in
gearboxes, even though it differs from the oil specified in WebConfig.
Location of gearboxes
The figure shows the location of the gearboxes.
xx0900000312
Equipment
Equipment Note
Oil dispenser Includes pump with outlet pipe.
Use the suggested dispenser or a similar one:
• Orion OriCan article number 22590
(pneumatic)
Nipple for quick connect fitting, with o-ring Used on the axis-2 gearbox (IRB 2600-20/1.65,
IRB 2600-12/1.65, IRB 2600-12/1.85, IRB
2600ID-15/1.85, IRB 2600ID-8/2.0).
Used on the axis-1 and axis-2 gearboxes (IRB
2600-20/1.65 type C, IRB 2600-12/1.65 type C).
Expansion container, gearbox axis 1 Used when the robot is fitted in a suspended
position.
(valid for IRB 2600-20/1.65, IRB 2600-12/1.65,
IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
2600ID-8/2.0)
General
This section describes how to change the axis-1 gearbox oil in a floor mounted
robot.
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx0800000304
xx1800001135
Required equipment
Equipment Note
Oil plug sealing washer, gearbox Valid for IRB 2600-20/1.65, IRB 2600-12/1.65,
IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
2600ID-8/2.0
3HAC029646-001
Lubricating oil See section Type of lubrication in gearboxes
on page 151.
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Oil dispenser One example of oil dispenser can be found
in section:
• Type of lubrication in gearboxes on
page 151
Standard toolkit Content is defined in section Standard tools
on page 458.
2
WARNING
3
CAUTION
xx1800001136
Action Note
5 Valid for IRB 2600-20/1.65, IRB 2600- The capacity of the vessel must be suffi-
12/1.65, IRB 2600-12/1.85, IRB 2600ID- cient to take the complete amount of oil.
15/1.85, IRB 2600ID-8/2.0:
• Put an oil collecting vessel as close
as possible to the draining hole of
the gearbox.
• Replace oil plug draining quickly with
a nipple (M10x1.5) where a draining
hose is fitted and connect the oil
dispenser.
xx1800001138
Note
Draining is time-consuming.
Elapsed time varies depending on the
temperature of the oil.
One example of oil dispenser can be
found in section:
• Type of lubrication in gearboxes on
page 151
6 Remove the plug from the vent hole. Different position due to design differ-
ences:
WARNING
xx1800001137
xx1800001139
Note
Action Note
8
WARNING
xx1800001136
Note
Action Note
12 Refit the oil plug, venting. Tightening torque: 24 Nm
Different position due to design differ-
ences:
xx1800001137
xx1800001139
2
WARNING
Action Note
3
CAUTION
xx1800001136
Note
xx1800001137
6 Valid for IRB 2600-20/1.65, IRB 2600-12/1.65, Different position due to design differ-
IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB ences:
2600ID-8/2.0:
Open the oil plug, filling.
xx1800001137
xx1800001139
Action Note
7 Refill the gearbox with lubrication oil. Where to find type of oil and total
Valid for IRB 2600-20/1.65 type C, IRB 2600- amount is detailed in Type and
12/1.65 type C: amount of oil in gearboxes on
page 151.
Use the oil dispenser.
Note
8 Inspect the oil level. How to inspect the oil level is de-
scribed in section:
• Inspecting oil level, axis-1
gearbox on page 121
9 Valid for IRB 2600-20/1.65 type C, IRB 2600-
12/1.65 type C:
Remove the oil dispenser and refit the protect-
ive cap to the nipple.
xx1800001136
xx1800001137
xx1800001139
General
This section describes how to change the axis-1 gearbox oil in a suspended robot.
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx1200000883
Required equipment
Equipment Note
Oil plug sealing washer, gearbox 3HAC029646-001
Lubricating oil See section Type of lubrication in gearboxes
on page 151
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Oil dispenser One example of oil dispenser can be found
in section:
• Type of lubrication in gearboxes on
page 151
Oil change equipment
Hose Used with the oil dispenser
Standard toolkit Content is defined in section Standard tools
on page 458.
Tip
In order to save time, a pneumatic oil dispenser can be used to suck the oil out
from the gearbox.
Action Note
1
DANGER
2
WARNING
3
CAUTION
4 Connect the oil dispenser to the oil plug for See Required equipment on page 161.
draining.
xx1800001271
5 Put the end of the hose in an oil collecting The capacity of the vessel must be suffi-
vessel. cient to take the complete amount of oil.
6 Open the end plug of the hose.
Action Note
7 Open the oil plug, venting. See Location of oil plugs on page 161.
xx1800001272
2
WARNING
Action Note
3
CAUTION
xx1800001271
xx1800001272
6 Prepare oil change equipment with the same Where to find type of oil and total
amount of lubrication oil that was drained. amount is detailed in Type and
amount of oil in gearboxes on
Note page 151.
7 Inspect the oil level. How to inspect the oil level is de-
scribed in section:
• Inspecting oil level, axis-1
gearbox on page 121
8 Disconnect the oil change equipment and put
on the protective hood on the oil plug.
9 Refit the oil plug for venting. Tightening torque:
• 3-8 Nm
Note
xx0900000129
A Expansion container
Note
xx0800000305
Note
On a wall-mounted IRB 2600 the oil plugs are rotated into such a position that it
is not possible to drain the oil, or fill the correct amount of oil. Therefore it is
recommended that the manipulator is being taken down when changing oil.
Required equipment
Equipment Note
Oil plug sealing washer, gearbox 3HAC029646-001
Lubricating oil Information about the oil is found in Technical
reference manual - Lubrication in gearboxes.
See Type and amount of oil in gearboxes on
page 151.
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Nipple (TEMA IF 3820 S06) To be fitted on a hose, and then used for
draining connected to the quick connect fit-
ting.
See Location of oil plugs on page 166.
Equipment Note
Standard toolkit Content is defined in section Standard tools
on page 458.
2
WARNING
3
CAUTION
Note
Draining is time-consuming.
Elapsed time varies depending on the
temperature of the oil.
Action Note
7
WARNING
8
Note
2
WARNING
3
CAUTION
Action Note
5 Refill the gearbox with lubrication oil. Where to find type of oil and total amount
is detailed in Type and amount of oil in
Note gearboxes on page 151.
6 Inspect the oil level. How to inspect the oil level is described
in section:
• Inspecting the oil level, axis 2
gearbox on page 126
7 Refit oil plug. Tightening torque:
• 24 Nm
Note
xx0800000306
Required equipment
Equipment Note
Lubricating oil Information about the oil is found in Technical
reference manual - Lubrication in gearboxes.
See Type and amount of oil in gearboxes on
page 151.
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Oil dispenser One example of oil dispenser can be found
in section:
• Type of lubrication in gearboxes on
page 151
Funnel
xx1200000862
xx0800000327
3
WARNING
4
CAUTION
Action Note
7 Drain the gearbox oil using an oil collecting
vessel. Note
Draining is time-consuming.
Elapsed time varies depending on the
temperature of the oil.
8
WARNING
xx0800000329
2
DANGER
3
WARNING
Action Note
4
CAUTION
Use a funnel.
Note
xx0900000311
Required equipment
Equipment Note
Lubricating oil Where to find information of the type of oil,
article number and the amount in the gear-
box, see section Type of lubrication in gear-
boxes on page 151
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Plastic hose Used for venting the gearbox during draining.
A suitable hose would be a hose normally
used for compressed air.
Length: minimum 300 mm. Diameter: 5 mm.
Funnel
xx1200000862
Draining oil
Use this procedure to drain oil from the gearbox.
Action Note
1 Move the robot to the position shown in the
figure.
xx0800000328
3
WARNING
4
CAUTION
Draining is time-consuming.
Tip
Elapsed time varies depending on the
temperature of the oil.
Insert a compressed air hose approximately
100 mm into the gearbox, to vent the gear-
box.
This speeds up the draining significantly.
Action Note
7
WARNING
Filling oil
Use this procedure to fill oil in the gearbox.
Action Note
1 Move the upper arm to the position shown
in the figure.
xx0800000330
2
DANGER
3
WARNING
4
CAUTION
Action Note
5 Open the oil plug, filling. See the figure in:
• Location of oil plugs on page 174
6 Refill the gearbox with lubricating oil. Where to find type of oil and total amount
is detailed in Type and amount of oil in
gearboxes on page 151.
Tip
Use a funnel.
Note
xx0900000139
xx1000000987
Note
Required equipment
Equipment Note
Lubrication oil Where to find information of the type of oil,
article number and the amount in the gear-
box, see section: Type of lubrication in gear-
boxes on page 151
Oil collecting vessel The capacity of the vessel must be sufficient
to take the complete amount of oil.
Standard toolkit Content is defined in section Standard tools
on page 458.
CAUTION
The gearbox can contain an excess of pressure that can be hazardous. Open
the oil plug carefully in order to let out the excess pressure.
Action Note
1 Move the upper arm to a horizontal position.
2 IRB 2600: See the figure in Location of oil plugs on
Turn axis-4 to the calibration position. page 178.
IRB 2600ID:
Turn axis-4 +90° so that the oil plug for
filling is on top.
3
DANGER
4
WARNING
5 Remove the oil plugs in the wrist. See the figure in Location of oil plugs on
IRB 2600ID: page 178.
The oil plug, venting can stay seated until
the wrist is rotated.
6 Turn axis-4 through so that the oil plug on
the side of the wrist points downwards.
IRB 2600ID:
Open the oil plug, venting.
7 IRB 2600:
Then turn axis-4 another 90°.
8 IRB 2600:
Let the remaining oil run out through the oil
plug hole, tilthouse.
CAUTION
The gearbox can contain an excess of pressure that can be hazardous. Open
the oil plug carefully in order to let out the excess pressure.
Action Note
1 Run the upper arm to a horizontal position.
2 IRB 2600:
Turn axis-4 to the calibration position.
IRB 2600ID:
Turn axis-4 to +90° so that the oil plug for
filling is on top.
3
DANGER
4
WARNING
Action Note
8
Note
Note
The battery low alert (38213 Battery charge low) is displayed when the battery
needs to be replaced. The recommendation to avoid an unsynchronized robot
is to keep the power to the controller turned on until the battery is to be replaced.
For an SMB board with 3-pole battery contact (RMU101 3HAC044168-001 or
RMU102 3HAC043904-001), the lifetime of a new battery is typically 36 months.
For an SMB board with 2-pole battery contact, the typical lifetime of a new battery
is 36 months if the robot is powered off 2 days/week or 18 months if 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 or Operating manual - OmniCore for instructions.
WARNING
DSQC 633A
xx0800000322
RMU 101
A
B
xx1300000339
Required equipment
Note
There are two variants of SMB units and batteries. One with 2-pole battery contact
and one with 3-pole battery contact. The variant with 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!
Equipment Note
SMB battery pack Battery includes protection circuits. Replace it only with given
spare part no. or an ABB approved equivalent.
See Spare part lists on page 463.
Standard toolkit Content is defined in section Standard tools on page 458.
Circuit diagram See chapter Circuit diagram on page 465.
Action Note
2
DANGER
3
ELECTROSTATIC DISCHARGE (ESD)
4 Remove the SMB battery cover. See the figure in Location of SMB
battery on page 184.
CAUTION
5 Pull out the SMB battery. See the figure in Location of SMB
battery on page 184.
6 Disconnect the battery cable and remove the bat- See the figure in Location of SMB
tery. battery on page 184.
7 How to dispose of the used SMB battery, see
chapter Decommissioning on page 441.
2
ELECTROSTATIC DISCHARGE (ESD)
3 Reconnect the battery cable to the SMB battery. See the figure in Location of SMB
battery on page 184.
Action Note
4 Put the battery unit into its recess while arranging See the figure in Location of SMB
the SMB cables as shown in the figure. battery on page 184.
5 Secure the SMB cover with its attachment screws. See the figure in Location of SMB
battery on page 184.
6 Update the revolution counter. Detailed in Updating revolution
counters on IRC5 robots on
page 412.
7
DANGER
3.5 Cleaning
DANGER
General
To secure high uptime it is important that the IRB 2600/IRB 2600 ID is cleaned
regularly. The frequency of cleaning depends on the environment in which the
product works.
Different cleaning methods are allowed depending on the type of protection of the
IRB 2600/IRB 2600 ID.
Note
Oil spills
Oil spills from gearboxes
Use the following procedure if any oil spills are detected that can be suspected to
originate from a gearbox.
1 Inspect that the oil level in the suspected gearbox is according to the
recommendations, see Inspection activities on page 121.
2 Write down the oil level.
3 Inspect the oil level again after, for example, 6 months.
4 If the oil level is decreased then replace the gearbox.
• Do not remove any covers or other protective devices before cleaning the
robot.
Cleaning methods
The following table defines what cleaning methods are allowed depending on the
protection type.
Note
Rinsing with water is not allowed for a robot with integrated dressing (ID variants).
xx2300001604
Gaskets
xx2300001605
Connectors
xx2300001606
xx2300001607
xx2300001608
xx2300001609
Cables
Movable cables need to be able to move freely:
• Remove waste material, such as sand, dust and chips, if it prevents cable
movement.
• Clean the cables if they have a crusty surface, for example from dry release
agents.
Cooling fans
Inspect the air supply inlet of the the motor cooling fans. Clean to remove any
contamination that could hinder the air supply.
4 Repair
4.1 Introduction
WARNING
Repair activities not described in this chapter must only be carried out by ABB.
Note
When replacing a part on the IRB 2600/IRB 2600 ID, report to your local ABB the
serial number, the article number, and the revision of both the replaced unit and
the replacement unit.
This is 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 21 before commencing any
service work.
Note
If the IRB 2600/IRB 2600 ID is connected to power, always make sure that the
IRB 2600/IRB 2600 ID is connected to protective earth and a residual current
device (RCD) before starting any repair work.
For more information see:
•
• Product manual - OmniCore V250XT Type A
• Product manual - IRC5
• Product manual - IRC5 Panel Mounted Controller
Required equipment
Action Note
1 Finish the refitting procedure of the motor or gear in
question, but do not refill the gearbox with oil before
performing the leak-down test.
2 Remove the upper oil plug on the gear and replace
it with the leak-down tester.
Regulators, which are included in the leak-down test,
may be required.
3 Use caution, apply compressed air and raise the Correct value:
pressure with the knob until the correct value is 0.2-0.25 bar (20-25 kPa)
shown on the manometer.
CAUTION
General
This section describes how to mount and grease different types of bearings on the
robot.
Equipment
Note
The roller elements must be rotated a specified number of turns before pre-
tensioning is carried out and also rotated during the pre-tensioning sequence.
2 Make sure the bearing is properly aligned as this will directly affect the durab-
ility of the bearing.
Greasing of bearings
Note
General
This section describes how to mount different types of sealings.
Equipment
Rotating sealings
The following procedures describe how to fit rotating sealings.
CAUTION
Radial sealings
A radial sealing consists of a flexible rubber lip bonded to a rigid metal case. Only
one side of the sealing is static with a metal insert.
xx2300000433
Action Note
1 Check the sealing to ensure that:
• The sealing is of the correct type.
• There is no damage on the main lip.
2 Inspect the shaft surface before mounting. If scratches
or damage are found, the shaft must be replaced since
it may result in future leakage. Do not try to grind or
polish the shaft surface to get rid of the defect.
3 Lubricate the sealing with grease just before fitting. Article number is specified in
(Not too early - there is a risk of dirt and foreign Equipment on page 197.
particles adhering to the sealing.)
Fill 2/3 of the space between the dust lip and the main
lip with grease. If the sealing is without dust lip, just
lubricate the main lip with a thin layer of grease.
A B C
xx2000000071
A Main lip
B Grease
C Dust lip
Note
Action Note
4 Mount the sealing correctly with a mounting tool. A
Never hammer directly on the sealing as this may
result in leakage.
xx2000000072
A Gap
O-rings
The following procedure describes how to fit o-rings.
Action Note
1 Ensure that the correct o-ring size is used.
2 Check the o-ring for surface defects, burrs, Defective o-rings, including damaged
shape accuracy, or deformation. or deformed o-rings, may not be used.
Action Note
3 Check the o-ring grooves and mating surfaces.
They should be free of pores, contamination
and obvious scratches/damage.
4 Lubricate the o-ring with grease.
5 Tighten the screws evenly while assembling.
6 Check that the o-ring is not squashed outside
the o-ring groove.
4.2.4 Cut the paint or surface on the robot before replacing parts
General
Follow the procedures in this section whenever breaking the paint of the robot
during replacement of parts.
Required equipment
Removing
Action Description
1 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.
xx2300000950
4.2.5 The brake release buttons may be jammed after service work
Description
The brake release unit has push-buttons for the brake release of each axis motor.
When service work is performed inside the SMB recess that includes removal and
refitting of the brake release unit, the brake release buttons may be jammed after
refitting.
DANGER
Elimination
To eliminate the danger after service work has been performed inside the SMB
recess, follow the procedure below.
Action
1 Make sure the power is turned off.
2 Remove the push-button guard, if necessary.
3 Verify that the push-buttons of the brake release unit are working by pressing them
down, one by one.
Make sure none of the buttons are jammed in the tube.
4 If a button gets jammed in the depressed position, the alignment of the brake release
unit must be adjusted so that the buttons can move freely in their tubes.
Introduction
This procedure describes how to remove the cable harness on the different variants
of IRB 2600:
• IRB 2600 Standard: Axes 1, 2, 3, 4, 5 and 6
• IRB 2600ID: Axes 1, 2, 3 and 4. How to remove the cable harness on axes 5
and 6 is described in section Replacing the cable harness in the upper arm
- IRB 2600ID on page 232.
How to refit the cable harness is described in section Refitting the complete cable
harness on page 216.
The removal procedure is presented in the order the work is recommended to be
performed. Therefore the order is different in the two procedures removal and
refitting of the cable harness. Cross references will make it easy to find what is
needed to know as the work continues.
The section Removing the complete cable harness consists of the following parts
presented in the order the work is recommended to be performed:
• Removal in the base Removing cable harness in base on page 206
• Removal in the frame Removing cable harness in frame on page 211
• Removal in lower arm and armhouse Removing cable harness in lower arm
and armhouse on page 212.
How to replace the SMB unit, brake release unit and motors can be found in:
• SMB unit Removing the SMB unit on page 245
• Brake release unit Removing the brake release board on page 251
• Motors Removing motors on page 312
xx0900000009
A Cover base
B Bracket
C Cable harness
D Axis-1 motor cable
E Axis-2 motor cable
F Axis-2 motor
G Axis-1 motor
xx0900000384
A Cable harness
B Bracket, lower arm
C Bracket, lower arm
D Cable straps, one not visible here (steel)
E Bracket, frame
F Cable strap, lower arm (plastic)
G Bracket, upper arm
Required equipment
Equipment Note
Deep well hexagon socket Width 30 mm
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be re- These procedures include references to the
quired. See references to these procedures tools required.
in the step-by-step instructions below.
Action Note
3 Disconnect the following connectors on the
base cover:
• R1.CP/CS
• R1.MP
• R1.ETHERNET (if used)
Tip
xx0900000014
Do not remove the R1.SMB-connector and
air hose connector at this stage. It will be Parts:
easier to remove these two when the cover • A: R1.CP/CS
base has been removed. • B: R1.MP
• C: Air hose connector
• D: Position of R1.ETHERNET (if
used)
• E: R1.SMB
4 Remove the cover base.
C
xx0800000456
A Base
B Cover base
C Attachment screws
5 Disconnect connectors on the brake release
unit:
• X8
• X9
• X10
Action Note
6 Cut the cable straps securing the battery
cable.
xx0900000099
Parts:
• A: Cable straps (2 pcs)
7 Disconnect the battery cable.
8 Unscrew the thin nut securing the R1.SMB
connector on the outside of the bracket.
Tip
xx1200000888 D
C
B
xx1200000889
Action Note
10 Remove the screw that secures the bracket
and unscrew the three other screws a little
just enough to be able to slide the bracket
sideways.
xx0900000100
Parts:
• A: Screw to be removed
• B: Screws to be unscrewed (3 pcs)
11 Remove the bracket by sliding it off the re-
maining three attachment screws and put
it at a 90° angle from the base.
Putting the bracket at a 90° angle facilitates
the disconnecting of cables from the
bracket.
Note xx0900000013
A
B
C
D
xx1200000890
A R1.CP/CS
B R1.MP
C Air hose connector
D R1.SMB
13 Remove the SMB unit from its attachment How to remove the SMB unit is described
screws. in section:
Leave the screws in the base. • Removing the SMB unit on page 245
Action Note
14 Disconnect connectors on the SMB unit:
• R1.SMB1-2
• R1.SMB2-6
• R2.SMB
15 Disconnect the screen connections of:
• R1.SMB1-2
• R1.SMB2-6
A
xx0900000035
Parts:
• A: Screen connection (4 pcs)
16 Disconnect the earth cables.
xx0900000015
Parts:
• A: Earth
• B: Distance screws
Action Note
17 Remove the bracket securing the cable
package inside the base on the left side, by
following these steps:
• Unscrew the attachment screws just
enough to be able to remove the
bracket.
• Lift the bracket off the screws.
xx0900000018
Parts:
• A: Base
• B: Attachment screws
• C: Bracket
18 Continue removal of the cable package from How to remove the cable package from
the frame. the frame is described in section
• Removing cable harness in frame
on page 211
Tip
Before starting this procedure, first remove the cable harness in the base. See
Removing the complete cable harness on page 203.
Action Note
1
DANGER
2 Disconnect the motor cables on the axis-1 How to remove the motor cables is de-
and axis-2 motors. scribed in section:
• Removing motors on page 312
3 Remove the bracket securing the cable See the figure in:
package to the frame. • Location of the cable harness on
page 204
Action Note
4 Cut the cable straps securing the cable See the figure in:
harness to the frame and lower arm. • Location of the cable harness on
page 204
5 Prepare the end of the cable package in the
base with tape as shown in the figure.
Tip
A
In order to protect the connectors from
getting residual grease on the cable har-
ness, put some plastic over them prior to F
pushing it through the hole in the frame.
C
B
xx1200000886
A Tape
B Connectors to SMB unit and Brake
release unit
C R1.CP/CS
D Air hose
E R1.MP
F R1.SMB (Connector bent and taped
upwards)
6 Pull out the cable package through the hole
in the frame.
Note
7 Continue the removal of the cable package How to remove the cable package from
from the lower arm and armhouse. the lower arm and armhouse is described
in section:
• Removing cable harness in lower
arm and armhouse on page 212
Tip
Before starting this procedure, first remove the cable harness in the base
Removing the complete cable harness on page 203 and frame Removing the
complete cable harness on page 203.
Action Note
1
DANGER
2 Cut the cable strap on the lower arm. See the figure in:
• Location of the cable harness on
page 204 (Cable harness, lower arm)
Action Note
3 Remove the brackets on the lower arm.
D
C
xx0900000020
D
C
xx2300001190
Parts:
• A: Bracket, lower arm
• B: Bracket, lower arm
• C: Bracket, armhouse
• D: Cable bracket
Action Note
4 Remove the bracket on the armhouse.
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws
• C: Bracket, armhouse
5 Remove the cable cover on the armhouse.
xx0800000338
Parts:
• A: Signal lamp
• B: Bracket
• C: Cable cover, armhouse
6 Remove signal lamp if used.
7 IRB 2600 Standard: How to remove the motor cables from the
Continue the removal of the cable package axis-3, axis-4, axis-5 and axis-6 motors
by disconnecting the motor cables of the see section:
axis-3, axis-4, axis-5 and axis-6 motors. • Removing motors on page 312
Introduction
This procedure describes how to refit the cable harness on the different variants
of IRB 2600:
• IRB 2600 Standard: Axes 1, 2, 3, 4, 4, 5 and 6
• IRB 2600ID: Axes 1, 2, 3 and 4. How to refit the cable harness on axes 5 and
6 is described in section Replacing the cable harness in the upper arm - IRB
2600ID on page 232.
How to remove the cable harness is described in Removing the complete cable
harness on page 203.
The refitting procedure is presented in the order the work is recommended to be
performed.
Therefore the order is different in the two procedures removal and refitting of the
cable harness. Cross references will make it easy to find what is needed to know
as the work continues.
The section Refitting the complete cable harness consists of the following parts
presented in the order the work is recommended to be performed:
• Refitting in the frame Refitting the cable harness in the frame on page 219
• Refitting in the base Refitting the cable harness in the base on page 222
• Refitting in the lower arm and armhouse Refitting the cable harness in the
lower arm and armhouse on page 228.
How to refit the SMB unit, brake release unit and motors can be found in:
• SMB unit Refitting the SMB unit on page 248
• Brake release unit Refitting the brake release board on page 252
• Motors Refitting motors on page 325
xx0900000009
A Cover base
B Bracket
C Cable harness
D Axis-1 motor cable
E Axis-2 motor cable
F Axis-2 motor
G Axis-1 motor
The figure shows IRB 2600 Standard but is also valid for IRB 2600ID.
xx0900000384
A Cable harness
B Bracket, lower arm
C Bracket, lower arm
D Cable straps, one not visible here (steel)
E Bracket, frame
F Cable strap (plastic)
G Bracket, upper arm
Required equipment
Equipment Note
Deep well hexagon socket Width 30 mm
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be re- These procedures include references to the
quired. See references to these procedures tools required.
in the step-by-step instructions below.
Cable grease 3HAC042536-001 (Shell Gadus S2)
Tip
F
C
B
xx1200000886
A Tape
B Connectors to SMB unit and Brake
release unit
C R1.CP/CS
D Air hose
E R1.MP
F R1.SMB (Connector bent and taped
upwards)
Action Note
5 Use this procedure when replacing the old
cable harness:
Method 1, step 2:
Push the cable package carefully in through
the base and up through the hole in the
frame.
Note
Note
Tip
Note
Action Note
8
Note
xx0900000096
Parts:
• A: Cables
• B: Air hose
• C: Hole in frame
• D: Cable guide
• E: Position of the front of the robot
9 Secure the cover to the frame with its attach-
ment screws.
xx0900000016
Parts:
• A: Frame
• B: Hole in frame
• C: Cover
10 Connect the axis-1 and axis-2 motor cables. How to refit the motor cables is described
in section:
• Refitting motors on page 325
Action Note
11 Sort out the different cables the way they
later will be fit on the bracket in the base.
xx0900000017
Connections:
• A: Earth cables
• B: R1.SMB1-2
• C: R1.SMB3-6
• D: R2.SMB
• E: R1.CP/CS
• F: R1.MP
• G: Air hose
• H: Position of R1.ETHERNET (if
used)
• J: R1.SMB
12 Continue the refitting of the cable harness How to refit the cable harness in the base
in the base. is described in section:
• Refitting the cable harness in the
base on page 222
Tip
Before starting this procedure, first refit the cable harness in the frame. See:
• Refitting the complete cable harness on page 216
Action Note
1
DANGER
Action Note
2 Attach the cable harness to the bracket.
xx0900000098
Parts:
• A: Attachment screw and nut
• B: Bracket
• C: Cable harness
3 Secure the bracket on its attachment screws
in the base.
Tip
xx0900000018
Parts:
• A: Base
• B: Attachment screws (2 pcs)
• C: Bracket
Action Note
4 Refit the earth cables.
xx0900000015
Parts:
• A: Earth
• B: Distance screws
5 Connect the contacts on the SMB unit:
• R1.SMB1-2
• R1.SMB3-6
• R2.SMB
6 Refit the SMB unit. How to refit the SMB unit is described in
section:
• Refitting the SMB unit on page 248
7 Refit the cables with the screen connec-
tions.
A
xx0900000035
Parts:
• A: Screen connections (4 pcs)
8
Tip
xx0900000013
Parts:
• A: Bracket
• B: Base
Action Note
9 Before refitting the connectors on the
bracket, arrange cables and connectors as
shown in the figure.
A B C
xx1200000857
A R1.CP/CS
B R1.MP
C Air hose
10 Refit the connectors and air hose on the
bracket:
• R1.CP/CS
• R1.ETHERNET (if used)
• R1.MP
Tip
xx0900000017
Connectors:
• A: Earth cables
• B: R1.SMB1-2
• C: R1.SMB3-6
• D: R2.SMB
• E: R1.CP/CS
• F: R1.MP
• G: Air hose
• H: Position of R1.ETHERNET (if
used)
• J: R1.SMB
Action Note
11 Secure the bracket on the distance screws.
B
C
D
xx1200000887
A Base
B Distance screw
C Attachment screw
D Bracket
12 Reconnect connectors on the brake release
unit:
• X8
• X9
• X10
13 Refit the R1.SMB-connector on the bracket.
Tip
xx1200000888
D
C
B
xx1200000889
Note
Action Note
16 Secure the battery cable with cable straps.
xx0900000099
Parts:
• A: Cable straps (2 pcs)
17 Use caution when pushing the base cover
into position while at the same time check-
ing that no cables are damaged.
C
xx0800000456
Parts:
• A: Base
• B: Base cover
• C: Attachment screws (6 pcs)
18 Secure the base cover with its attachment
screws.
19 Refit the bracket on the frame. See the figure in:
• Location of the cable harness on
page 217
20 Refit the cable straps securing the cable See the figure in:
harness to the frame. • Location of the cable harness on
page 217
21 Continue the refitting of the cable package How to refit the cable harness on the
on lower arm and armhouse. lower arm and armhouse is described in
section:
• Refitting the cable harness in the
lower arm and armhouse on
page 228
Tip
Before starting this procedure, first refit the cable harness in the frame and base.
See:
• Refitting the complete cable harness on page 216
• Refitting the complete cable harness on page 216
Action Note
1
DANGER
Action Note
2 Secure the brackets on the lower arm.
D
C
xx0900000020
D
C
xx2300001190
Parts:
• A: Bracket, lower arm
• B: Bracket, lower arm
• C: Bracket, armhouse
• D: Cable bracket
3 Refit the cable straps securing the cable See the figure in:
harness to the lower arm. • Location of the cable harness on
page 217 (Cable harness, lower arm)
Action Note
4 Push the cable harness carefully into the
armhouse.
5 Secure the bracket, armhouse with its at-
tachment screws.
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws
• C: Bracket, armhouse
6 Secure the bracket to the armhouse with
its attachment screws.
xx0800000338
Parts:
• A: Signal lamp
• B: Bracket, armhouse
• C: Cable bracket
7 IRB 2600 Standard: How to connect the axis-3, axis-4, axis-5
Reconnect the axis-3, axis-4, axis-5 and and axis-6 motor cables, see:
axis-6 motor cables. • Refitting motors on page 325
Action Note
10 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
11
WARNING
12
DANGER
4.3.3 Replacing the cable harness in the upper arm - IRB 2600ID
Introduction
This procedure describes how to replace the cable harness in the upper arm on
IRB 2600ID.
Note
xx1000001000
Required equipment
Equipment Note
VK cover 2 pcs.
Art. no. is specified in Spare part lists on
page 463.
Sikaflex 521FC Art. no. 3HAC026759-001
Flange sealant -
Loctite 574 (or equivalent)
Grease 3HAC042536-001
Shell Gadus S2
For lubrication of the cable spiral.
Standard toolkit Content is defined in section Standard
tools on page 458.
Other tools and procedures may be required. These procedures include references to
See references to these procedures in the step- the tools required.
by-step instructions below.
A B C
xx1000000991
Parts:
A Motor axis 4
B Motor axis 3
C MP connectors axes 3, 4, 5 and 6
(see markings for axis)
D FP connectors axes 3, 4, 5 and 6
(see markings for axis)
8 Remove the wrist. See section
(This is done in order to be able to discon- • Removing the wrist unit on page 355
nect the motor cables of motor axis 6)
Note
Action Information
9 Remove the mechanical stop, bracket and See section
cover . • Replacing motor axis 5 - IRB
2600ID on page 341
xx1000000879
Parts:
A Attachment screws (5 pcs)
B Mechanical stop
C O-ring
D Distance ring
E Bracket
F Cover
10 Remove the two VK-covers, covering the
attachment screws securing the cable har-
ness to the arm tube.
xx1000000934
Parts:
A VK-covers (2 pcs)
Action Information
11 Remove the attachment screws (2 pcs),
securing the cable harness bracket to the
arm tube.
Note
xx1000000998
Parts:
A Bracket
B Attachment screws (2 pcs)
C Connectors motor axis 5
D Motor axis 5
12 Remove the attachment screws (A) securing
the cover (B) on the arm house.
13 Remove the attachment screws (C) (8 pcs)
securing the arm tube.
xx1000001001
Parts:
A Attachments screws (6 pcs)
B Cover
C Attachment screws (8 pcs) securing
arm tube
14 Pull out the tube of the arm house a little,
enough to be able to disconnect cables to
the axis-5 motor.
15 Disconnect connectors to motor axis 5. How to remove the motor cables, see:
• Replacing motor axis 5 - IRB
2600ID on page 341
Note
Action Information
18 Pull carefully out the cables off the hole in
the arm house from the arm house where
the connectors are.
xx1000000996
Part:
A Hole in arm house
19 Remove the cable harness.
xx1000000996
Part:
A Hole for cables
Action Information
2 Place the cable harness spiral into its pos- Grease: Shell Gadus S2, 3HAC042536-001.
ition in the arm house.
Lubricate the cables in the spiral with
grease.
Note
xx1000001005
Parts:
A Cable harness spiral
B Attachment screws (8 pcs) M8x25
quality Steel 12.9 Gleitmo
3 Apply flange sealant on the surface where
the cover shall be fitted. See figure!
xx1000001006
Part:
A Flange sealant: Loctite 574 (or
equivalent), -
Action Information
4 Secure the cover with its attachment Tightening torque: 10 Nm.
screws.
xx1000001001
Parts:
A Attachment screws (6 pcs) M6x20
quality 8.8-A2F
B Cover
C Attachment screws (8 pcs) M8x25
quality Steel 12.9 Gleitmo
5 Use an overhead crane (or similar) and lift
the upper arm tube almost all the way into Note
its position.
It must still be possible to reach inside the
armtube for the remaining assembly inside.
xx1000000998
Parts:
A Bracket
B Attachment screws (2 pcs)
C Connectors motor axis 5
D Motor axis 5
Action Information
9 For IRB 2600ID - 8/2.0: cut the cable tie
that holds the harness loop together to
loosen the cabling and make it longer.
Fasten the cabling to the MP5 cable.
Tighten the cable ties gently with hand
force.
For IRB 2600ID - 15/1.85: remake the har-
ness loop if it is missing. Fasten the loop
to the MP5 cable. Tighten the cable ties
gently with hand force. Diameter of the loop
should be approximately Ø40 mm.
xx1600001494
11
CAUTION
CAUTION
xx1000001004
Part:
A Cable strap used as transport protec-
tion
Action Information
13 Check that the cable harness is fitted cor-
rectly by releasing the brakes on the axis- Note
4 motor and manually moving axis 4 very
carefully all the way to each end position. If axis 4 is not running correctly the spiral
of the cable harness must be refitted.
CAUTION
Note
xx1000001003
Parts:
A Surface where Sikaflex 521FC shall
be applied
B Surface where Loctite 574 (or equi-
valent) shall be applied.
15 Secure the upper arm tube with its attach- Tightening torque: 35 Nm.
ment screws.
16 Refit the wrist. See section
• Refitting the wrist on page 360
Action Information
17 Refit the cover (A) with two screws (B).
18 Refit the bracket (C) with two screws.
19 Apply Sikaflex 521FC on the surfaces A
shown in the figure.
xx1600001557
Parts:
A Cover
B Attachment screws for the cover (2
A pcs of totally 5 pcs)
C Bracket (including 2 cover attach-
ment screws)
D Mechanical stop (including o-ring
and one cover attachment screw)
xx1600001558
A B C
xx1000000991
Parts:
A Motor axis 4
B Motor axis 3
C MP connectors axes 3, 4, 5 and 6
(see markings for axis)
D FP connectors axes 3, 4, 5 and 6
(see markings for axis)
22 Refit the cover on the arm house with its Tightening torque: 14 Nm.
attachment screws.
Action Information
23 Fit new VK covers to the arm tube.
xx1000000934
Parts:
A VK-covers (2 pcs). See article num-
ber in section Spare part lists on
page 463.
24 Recalibrate the robot. Pendulum Calibration is described in Oper-
ating manual - Calibration Pendulum, en-
closed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
25
DANGER
xx0800000466
A R1.SMB3-6
B R1.SMB1-2
C R2.SMB
D SMB unit
E Attachment screws M6x16 quality 8.8-A2F (2 pcs)
F Brake release unit
G Bracket
Required equipment
Note
There are different variants of SMB units and batteries. The variant with the
3-pole battery contact (RMU) 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!
Equipment Note
Standard toolkit Content is defined in section Standard tools
on page 458.
Equipment Note
Other tools and procedures may be re- These procedures include references to the
quired. See references to these procedures tools required.
in the step-by-step instructions below.
SMB unit For spare part no. see chapter Spare parts,
section:
• Spare part lists on page 463
Action Note
3 Remove the base cover.
CAUTION
C
Clean cover from metal residues before
opening.
Metal residues can cause shortage on the
boards which can result in hazardous fail-
ures.
A
xx0900000103
Parts:
A Attachment screws (6 pcs)
B Base cover
C Cable straps, securing the battery
cable (2 pcs)
4 Cut the cable straps securing the battery
cable.
5 Remove the screw that secures the bracket
and unscrew the three other screws a little
just enough to be able to slide the bracket
sideways.
Note
xx0900000100
Parts:
A Screw to be removed
B Screws to be unscrewed a little (3
pcs)
Action Note
6 Remove the bracket by sliding it off the re- Cable harness can stay connected to all
maining three attachment screws and put connectors except to the SMB unit.
it at a 90° angle from the base.
Putting the bracket at a 90° angle facilitates
the disconnecting of cables from the
bracket.
Note
A
xx0900000035
Parts:
A Cable clamps
8 Unscrew the attachment screws securing See the figure in:
the SMB unit just enough to be able to re- • Location of SMB unit on page 244
move the SMB unit.
9 Remove the SMB unit.
10 Disconnect the battery cable by pressing
down the upper lip of the R1.G connector
to release the lock while pulling the connect-
or upwards.
xx1700000993
xx1700000994
3 Place the SMB unit on its attachment See the figure in:
screws. • Location of SMB unit on page 244
4 Secure the SMB unit with its attachment
screws.
5 Refit the cable clamps.
A
xx0900000035
Parts:
A Cable clamps
6 Put back the cable harness in the base and See the figure in:
refit the bracket on the distance screws. • Location of SMB unit on page 244
Note
Action Note
7 Secure the battery cable with cable straps.
8 Use caution when pushing the base cover
into position while at the same time check-
ing that no cables are damaged.
9 Secure the base cover with the attachment
screws.
C
xx0800000456
Parts:
A Attachment screws (6 pcs)
B Base cover
C Base
10 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
11
DANGER
xx0900000101
X8
X10
X9
xx1700000978
Required equipment
Equipment Note
Brake release board 3HAC065020-001 i DSQC1050
3HAC062021-001 ii DSQC1052
Standard toolkit Content is defined in section
Standard tools on page 458.
Other tools and procedures These procedures include refer-
may be required. See refer- ences to the tools required.
ences to these procedures
in the step-by-step instruc-
tions below.
i Valid for robots that are equipped with motors of Type A and Type B (see Product manual, spare
parts - IRB 2600).
Includes brake release board and harness.
ii Valid for robots that are equipped with motors of Type B (see Product manual, spare parts - IRB
2600).
Includes brake release board and harness.
2
ELECTROSTATIC DISCHARGE
(ESD)
3 Remove the push button guard from the The guard must be removed to ensure a
SMB cover. correct refitting of the brake release
board.
Action Note
4 Remove the base cover.
CAUTION
C
xx0800000456
Parts:
A Base
B Base cover
C Attachment screws M6x16 quality
8.8-A2F (6 pcs)
5 Take a picture or make notes of how the
robot cabling is positioned in regard to the
brake release board.
6 Disconnect connectors X8, X9 and X10 from
the brake release board.
X8
X10
X9
xx1700000978
Action Note
2
ELECTROSTATIC DISCHARGE
(ESD)
3 Secure the brake release board to the bracket Maximum tightening torque: 5 Nm.
with its nuts with flange. See the figure in:
• Location of brake release board
on page 250
4 Reconnect connectors X8, X9 and X10 to the
brake release board.
Be careful not to damage the sockets or pins.
Make sure the connector and its locking arms X8
X10
are snapped down properly. X9
xx1700000978
WARNING
C
xx0800000456
Parts:
A Base
B Base cover
C Attachment screws M6x16 quality
8.8-A2F (6 pcs)
7 Secure the base cover with its attachment
screws.
Action Note
8
WARNING
xx1100000947
A Upper arm
B Attachment screws M8x40, quality steel 12.9 gleitmo (12 pcs)
Required equipment
Equipment Note
Armhouse For spare parts no. see Spare parts - Upper arm
(2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
Tubular shaft unit For spare parts no. see Spare parts - Upper arm
(2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
Rotating lifting point 2 pcs. Dimension: M8.
Example: Gunnebo RLP GrabiQ M8-10.
xx1100000564
xx0800000336
Action Note
3
DANGER
4
CAUTION
5 Attach the lifting accessories to the upper See Attaching the lifting accessories to
arm. the upper arm on page 260.
6 Unload the weight of the upper arm by
stretching the roundslings.
Tip
7
DANGER
8 Disconnect all motor cables from motors How to disconnect cables from motors is
axes 3, 4, 5 and 6. detailed in sections:
• Removing motors on page 312
Action Note
9 Remove the bracket fitted on the tubular
shaft unit.
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws M6x16 qual-
ity 8.8-A2F (2 pcs)
• C: Bracket
10 Remove the signal lamp, if used.
11 Remove the cable bracket on the armhouse.
xx0800000338
Parts:
• A: Signal lamp
• B: Bracket
• C: Cable bracket
12 Using caution, pull the cable package out
of the hole where the cable bracket was fit-
ted.
13 Remove the attachment screws securing See the figure in:
the upper arm to the lower arm. • Location of the complete upper arm
on page 255
Note
Action Note
14 Remove the complete upper arm.
Action Note
1 Fit two screws in the wrist unit. Dimension is specified in Required equipment on
The purpose of these screws is page 256.
to prevent the roundsling from
sliding.
The wrist unit of IRB 2600ID looks
a bit different. Either run the
roundsling around the ID wrist in
such a way that the sling can not
slide, or remove the mechanical xx1100000581
stop at the wrist temporarily and
use the attachment holes to fit the
screws to prevent the sling from
sliding.
2 Fit two rotating lifting points to the Dimension is specified in Required equipment on
attachment holes in the arm page 256.
house, see the figure. Secure the The figures show IRB 4600 but the same attachment
lifting point tightly against the arm holes are used also for IRB 2600.
house, but at the same time mak-
ing sure that the screw does not
bottom. Use an extra washer if
the screw does bottom.
Tightening torque: 30 Nm.
xx1100000565
xx1100000566
Action Note
4 Make a loop of the third round- Dimension is specified in Required equipment on
sling, running it around the wrist page 256.
unit. Run the roundsling on both See figure Attaching the roundslings to the upper
sides of the screws and fasten the arm on page 261.
free end of the roundsling to the
lifting hook.
Use the shortest roundsling (1.5
m).
xx1100000567
2
CAUTION
Action Note
9 Using caution, push the cable package
through the hole where the cable bracket
will be fitted.
xx0800000338
Parts:
• A: Signal lamp
• B: Bracket
• C: Cable bracket
10 Refit the cable bracket with its attachment
screws.
11 Reconnect all motor cables. How to connect motor cables is detailed
in sections:
• Refitting motors on page 325
12 Refit the bracket on the tubular shaft unit.
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws M6x16 qual-
ity 8.8-A2F (2 pcs)
• C: Bracket
13 Refit the signal lamp, if used.
Action Note
14 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
15
DANGER
Introduction
This section is not valid for IRB 2600ID.
xx0900000385
A Armhouse
B Parallel pin, hardened M8x16 m6 (2 pcs)
C Attachment screws M8x35 quality 8.8-A2F and washers (6+6 pcs)
D Tubular shaft unit
E Wrist
Required equipment
Equipment Note
Tubular shaft unit For spare parts no. see Spare parts - Upper arm
(2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
Guide pins 2 pcs. Dimension: M8.
Cleaning agent Isopropanol
Sealing liquid Loctite 574
Standard toolkit Content is defined in section Standard tools on
page 458.
Equipment Note
Other tools and procedures may be re- These procedures include references to the tools
quired. See references to these proced- required.
ures in the step-by-step instructions be-
low.
Action Note
3 Move the robot to the position shown in the
figure.
xx0800000336
4
DANGER
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws M6x16 qual-
ity 8.8-A2F (2 pcs)
• C: Bracket
6 Place the cable package in a way that it will
not be damaged in the continued removal
procedure.
7 Remove motors axes 4, 5 and 6. How to remove motors is described in
section:
• Removing motors on page 312
8 How to remove the wrist unit is detailed
Tip in section:
• Removal of wrist unit on page 274
If only the tubular shaft unit shall be re-
placed, it is a good idea to remove the wrist
unit at this stage.
Action Note
9
CAUTION
CAUTION
11 Remove the attachment screws that secure See the figure in:
the tubular shaft unit. • Location of tubular shaft unit on
page 265
12 Remove the tubular shaft unit using caution.
The tubular shaft unit is fitted with Loctite. Note
CAUTION
Action Note
2 Remove residues of old Loctite and other
contaminations from the assembly surfaces.
Remove any painting from the assembly
surfaces, with a knife.
3 Apply sealing liquid (Loctite 574) on the A
surface between the tubular shaft unit and
the armhouse. B C
Make sure to apply the sealing liquid in
circles around each of the attachment holes.
xx0800000457
Parts:
A Armhouse
B Surface where Loctite 574 shall be
applied
C Tubular shaft unit
D Cylindrical pin (2 pcs)
4
CAUTION
CAUTION
6 Fit guide pins in the upper arm house. Specified in Required equipment on
page 265.
Action Note
7 Refit the tubular shaft unit, using caution.
Note
CAUTION
There are two parallel pins guiding the
Do not damage the gears when refitting the tubular shaft unit into its place.
tubular shaft unit.
8 Secure the tubular shaft unit with its attach- See the figure in:
ment screws. • Location of tubular shaft unit on
page 265
Tightening torque: 22 Nm
9 Refit motors axes 4, 5 and 6. How to refit motors is described in sec-
tion:
• Refitting motors on page 325
10 Perform a leak-down test. See Performing a leak-down test on
page 194.
11 Refit the bracket securing the cable package
to the tubular shaft unit, with its attachment
screws.
xx0800000335
Parts:
• A: Tubular shaft unit
• B: Attachment screws M6x16 qual-
ity 8.8-A2F (2 pcs)
• C: Bracket
12 If the wrist unit has been removed from the How to refit the wrist unit is detailed in
tubular shaft unit, refit it now. section:
• Refitting of wrist unit on page 275
13 Refill gearbox axis 4 with oil. How to refill oil in gearbox is described in
section:
• Changing the oil, axis-4 gearbox
on page 174
14 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
Action Note
15
DANGER
Introduction
This section describes how to replace the wrist on IRB 2600 Standard.
How to remove and refit the wrist unit on IRB 2600ID is described in section
Replacing motor axis 6 and wrist unit - IRB 2600ID on page 353.
B
C
D
G
E
xx0800000341
xx1800003343
A Upper arm
B Attachment screw M8x40, quality steel 12.9 Gleitmo (5 pcs)
Required equipment
Equipment Note
Wrist unit For spare parts no. see Spare parts - Upper
arm (2.05/2.50/2.55) in Product manual, spare
parts - IRB 2600.
O-ring For spare parts no. see Spare parts - Upper
arm (2.05/2.50/2.55) in Product manual, spare
Sealing parts - IRB 2600.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
xx0800000329
3
DANGER
4
WARNING
5
CAUTION
6 Remove the attachment screws and carefully See the figure in:
remove the wrist unit. • Location of wrist unit on
page 272
CAUTION
WARNING
Action Note
7 Pour out the oil from the wrist unit. See the figure in
• Location of wrist unit on
page 272
xx1600000690
Action Note
3 If there is a hole, fit the parallel pin into the
corresponding hole in the wrist (enclosed with
the new wrist spare part).
Note
xx1600000703
Action Note
5 Check the o-ring or sealing. Replace if dam- See the figure in:
aged. • Location of wrist unit on
page 272
6 Prepare the refitting of the wrist by inserting the
attachment screws and washers in the upper
arm tube.
7
CAUTION
CAUTION
CAUTION
xx1000000223
Parts:
• A: Gears on drive shaft unit,
axes 5-6
• B: Gears on the wrist
10 Secure the wrist unit with its attachment screws See the figure in
and washers. • Location of wrist unit on
page 272
Tightening torque: 35 Nm.
11 Measure the play by moving axes 5 and 6 with How to measure the play is described
the measuring tool. in sections:
• Measuring the play, axis 5 on
page 279
• Measuring the play, axis 6 on
page 281
• Measuring the play, axis 5 (ID
upper arm) on page 283
• Measuring the play, axis 6 (ID
upper arm) on page 286
Action Note
12 Perform a leak-down test. See Performing a leak-down test on
page 194.
13 Refill oil in gearbox axes 5-6. How to fill oil in gearbox axes 5-6 is
described in section:
• Changing oil, axes-5 and -6
gearboxes on page 178
14 Re-calibrate the robot. Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
Axis Calibration is described in Calib-
rating with Axis Calibration method on
page 418.
General calibration information is in-
cluded in section Calibration on
page 403.
15
DANGER
General
This section is only valid for IRB 2600. For IRB 2600ID, see section Measuring the
play, axis 5 (ID upper arm) on page 283.
After reassembly due to repair work or any other reason, the play in axis 5 and 6
must be checked to ensure the repetition accuracy of the robot positioning. The
procedure for axis 5 is detailed below.
Required equipment
Measurement, axis 5
The procedure below details how to measure the play of axis 5.
Action Information
1
DANGER
Action Information
4 Apply load F in one direction, as shown in
the figure to the right.
xx0300000186
xx0300000187
General
This section is only valid for IRB 2600. For IRB 2600ID, see section Measuring the
play, axis 6 (ID upper arm) on page 286.
After reassembly due to repair work or any other reason, the play in axis 5 and 6
must be checked to ensure the repetition accuracy of the robot positioning. The
procedure for axis 6 is detailed below.
Required equipment
Measurement, axis 6
The procedure below details how to measure the play in axis 6.
Action Information
1
DANGER
2 Fit the measuring tool, play to the turning Article number is specified in Required
disc. equipment on page 281.
3 Attach a weight (m) at a distance (B) from
the wrist flange, in order to avoid the ef-
fects of play on axis 5.
xx0300000188
Action Information
4 Apply load F in one direction.
xx0300000189
xx0300000190
General
This section is only valid for IRB 2600ID. For measuring the play of IRB 2600, see
Measuring the play, axis 5 on page 279.
After reassembly due to repair work or any other reason, the play in axis 5 and 6
must be checked to ensure the repetition accuracy of the robot positioning.
Required equipment
Measurement, axis 5
Use this procedure to measure the play of axis 5.
Action Information
1 Move the robot to calibration position. Turn
axis 4 to +90°.
2
DANGER
3 Fit the turning disk adapter to the turning Art. no. is specified in Required equip-
disk. ment on page 283.
4 Fit the measuring tool to the turning disk Art. no. is specified in Required equip-
adapter. ment on page 283.
Action Information
5 Fit the measuring bracket to the wrist. Use Art. no. is specified in Required equip-
the holes that are pointed out in the figure. ment on page 283.
xx1100000688
xx1100000689
A
xx1100000691
A 140 mm
10 Remove the load and set the dial indicator
to zero.
Action Information
11 Apply load F=30N in the opposite direction
(180°), at the distance A from the turning
disk. A
F
xx1100000693
A 140 mm
12 Remove the load and measure the play by The maximum play allowed is:
reading the dial indicator. • IRB 2600ID - 15/1.85: 0.25 mm
• IRB 2600ID - 8/2.00: 0.32 mm
13 Turn axis 5 to +90°.
14 Repeat step 9 to step 12.
15 Turn axis 5 to -90°.
16 Repeat step 9 to step 12.
General
This section is only valid for IRB 2600ID. For measuring the play of IRB 2600, see
Measuring the play, axis 6 on page 281.
After reassembly due to repair work or any other reason, the play in axis 5 and 6
must be checked to ensure the repetition accuracy of the robot positioning.
Required equipment
Measurement, axis 6
Use this procedure to measure the play of axis 6.
Action Information
1 Move the robot to calibration position. Turn
axis 4 to +90°.
2
DANGER
3 Fit the turning disk adapter to the turning Art. no. is specified in Required equip-
disk. ment on page 286.
4 Fit the measuring tool to the turning disk Art. no. is specified in Required equip-
adapter. ment on page 286.
Action Information
5 Fit the measuring bracket to the wrist. Use Art. no. is specified in Required equip-
the holes that are pointed out in the figure. ment on page 286.
xx1100000688
xx1100000690
F
A
B
xx1100000692
Action Information
11 Apply load F=40N downwards at a distance
B from the rotation center of axis 6.
A
B
F
xx1100000694
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
B C D E
G
H J
xx0800000360
A Upper arm
B Gearbox axis 3
C Lower arm
D Washer (12 pcs)
E Attachment screws M8x40 quality Steel 12.9 Gleitmo (12 pcs)
F Frame
G Gearbox axis 2
H Washer (17 pcs)
J Attachment screws M8x40 quality Steel 12.9 Gleitmo (17 pcs)
xx1800000933
A Upper arm
B Gearbox axis 3
C Lower arm
D Washer (12 pcs)
E Attachment screws M8x40 quality Steel 12.9 Gleitmo (12 pcs)
F Frame
G Gearbox axis 2
H Washer (3 pcs)
J Attachment screws M10x40 12.9 Gleitmo 603+Geomet 500 (15 pcs)
Required equipment
Equipment Note
Lower arm For spare parts no. see Spare parts - Lower
arm and motors in Product manual, spare
parts - IRB 2600.
Lifting eye M8
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be re- These procedures include references to the
quired. See references to these procedures tools required.
in the step-by-step instructions below.
Action Note
2 Move the robot to the position shown in the
figure.
xx0800000336
3
DANGER
4 Remove the cable package from all axes How to remove the cable package in
except in the base. frame, lower arm and armhouse is de-
scribed in sections:
• Removing cable harness in frame
on page 211
• Removing cable harness in lower
arm and armhouse on page 212
5 Secure the upper arm with a roundsling in
an overhead crane.
6 Remove the complete upper arm and put it How to remove the complete upper arm
on a loading pallet. is described in section:
• Removing the complete upper arm
on page 257
7
CAUTION
Action Note
8 Fit a lifting lug in one of the upper holes in
the lower arm, for the attachment screws.
xx0800000379
Parts:
• A: Lifting lug
9 Remove the attachment screws and wash- Valid for IRB 2600-20/1.65, IRB 2600-
ers that secure the lower arm to the axis-2 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
gearbox. 15/1.85, IRB 2600ID-8/2.0:
xx1800000935
xx1800000934
2
CAUTION
xx0800000379
Parts:
• A: Lifting lug
4 Secure the lower arm with a roundsling in
an overhead crane and lift it to the robot.
Action Note
5 Refit the attachment screws and washers Valid for IRB 2600-20/1.65, IRB 2600-
to secure the lower arm to the axis-2 gear- 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
box. 15/1.85, IRB 2600ID-8/2.0:
Attachment screws: M8x40 quality steel
Gleitmo 12.9 (17 pcs)
Washers: 3HAA1001-172 (17 pcs)
Tightening torque: 35 Nm.
xx1800000935
xx1800000934
Action Note
9 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrat-
ing with Axis Calibration method on
page 418.
General calibration information is included
in section Calibration on page 403.
10
DANGER
xx0800000045
Required equipment
Equipment Note
Stop pin For spare parts number, see Spare parts -
Frame and base in Product manual, spare
parts - IRB 2600.
Standard toolkit Content is defined in section Standard tools on
page 458.
Equipment Note
Other tools and procedures may be re- These procedures include references to the
quired. See references to these procedures tools required.
in the step-by-step instructions below.
2 Fit the two o-rings on the stop pin. See the figure in
• Location of stop pin axis 1 on
Note page 297
Action Note
3 Fit the stop pin on the bracket.
Note
B
xx0800000453
Parts:
• A: Bracket
• B: Stop pin
• C: Small spike
4 Secure the stop pin together with bracket - (Loctite 2400 (or equivalent Loctite 243)).
(D) on the frame with its attachment screws. Tightening torque: 10 Nm
Use Locking liquid
See the figure in
• Location of stop pin axis 1 on
page 297
5
DANGER
xx0900000320
A Base
B Frame
C Lower arm
D Arm house (part of complete upper arm)
E Tubular shaft (part of complete upper arm)
F Wrist unit (part of complete upper arm)
Required equipment
Action Note
4 Drain the axis-1 gearbox. How to drain oil is detailed in section
• Changing the oil, axis 1 gearbox on
Note floor mounted robots on page 153
Draining is time-consuming.
Elapsed time varies depending on the tem-
perature of the oil.
5 Remove the cable harness in the base, the How to remove the cable harness in base
frame and the lower arm of the robot. and frame is detailed in sections:
• Removing cable harness in base
on page 206
Tip
• Removing cable harness in frame
on page 211
Wrap up the cabling against the frame to
keep it undamaged during the remaining • Removing cable harness in lower
work. arm and armhouse on page 212
xx1800001211
A Roundsling 1.5 m
B Roundsling 2 m
7
CAUTION
Action Note
9 Lift the robot and fit three support legs to
the robot base, using bolts, washers and
nuts.
DANGER
xx1800000875
xx1800000879
xx1800000881
Action Note
13 Remove the base attachment screws and Valid for IRB 2600-20/1.65, IRB 2600-
washers. 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
xx1800000882
xx1800000880
14 Fit two guide pins in opposite holes in the Valid for IRB 2600-20/1.65, IRB 2600-
axis-1 gearbox. 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Guide pin, M8x150: 3HAC15520-2
Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Guide pin, M12x150: 3HAC13056-2
Always use guide pins in pairs.
xx1800000883
15
CAUTION
Action Note
16 Lift away the robot arm system.
Remove the guide pins, if the arm system
is about to be laid down on the floor. See
Illustration of robot put down on its side on
page 372.
xx1800000884
17
CAUTION
18 Fit three lifting eyes to the base and secure Valid for IRB 2600-20/1.65, IRB 2600-
with roundslings in an overhead crane or 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
similar. 15/1.85, IRB 2600ID-8/2.0:
Lifting eye: M8
Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Lifting eye: M12
xx1800000931
xx1800000885
2 Fit three lifting eyes to the base and secure Valid for IRB 2600-20/1.65, IRB 2600-
with roundslings in an overhead crane or 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
similar. 15/1.85, IRB 2600ID-8/2.0:
Lifting eye: M8
Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Lifting eye: M12
3 Fit the new base to the support legs and
secure with the attachment screws.
xx1800000885
Action Note
5 Valid for IRB 2600-20/1.65, IRB 2600-
12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Apply Loctite 574 around the screw holes
on the axis-1 gearbox as shown in the fig-
ure.
xx0800000353
Parts
A Loctite 574
B Screw hole in axis-1 gearbox
C Axis-1 gearbox
6 Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Fit three new gaskets to the base. The gas-
kets are included with the gearbox spare
part.
xx1800000797
7
CAUTION
Action Note
9 Fit two guide pins in opposite holes in the Valid for IRB 2600-20/1.65, IRB 2600-
axis-1 gearbox. 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Guide pin, M8x150: 3HAC15520-2
Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Guide pin, M12x150: 3HAC13056-2
Always use guide pins in pairs.
xx1800000932
10 Lower the arm system against the base and Valid for IRB 2600-20/1.65, IRB 2600-
secure with the attachment screws and 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
washers. 15/1.85, IRB 2600ID-8/2.0:
Attachment screws: M8x40 quality Steel
12.9 Gleitmo and washers (24+24 pcs).
Tightening torque: 35 Nm.
xx1800000882
xx1800000880
Action Note
11 Valid for IRB 2600-20/1.65, IRB 2600-
12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Refit the expansion container, if available.
xx1800000881
xx1800000879
DANGER
xx1800000875
xx1800000874
Action Note
16 Lower the robot and secure it to the found- See Orienting and securing the robot on
ation. page 68.
17 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
18
DANGER
4.7 Motors
Introduction
This procedure describes how to remove motors on all axes of the robot.
Note
For IRB 2600ID this section describes motors axes 1, 2, 3 and 4. Motors axes 5
and 6 are described in sections:
• Motor axis 5, section Replacing motor axis 5 - IRB 2600ID on page 341
• Motor axis 6, section Replacing motor axis 6 and wrist unit - IRB 2600ID on
page 353.
xx0900000302
F O-ring
G Hole
H Cable gland cover
xx0900000303
IRB 2600ID
xx1000000990
FB6
MP6
FB3
MP3
MP3-6 FB3-6
xx1400002568
xx0900000367
IRB 2600ID
R2.FB6
R2.FB5
R2.MP6
R2.FB4 R2.MP5
R2.MP4
R2.FB3
R2.MP3
xx1400002578
Required equipment
Equipment Note
Threaded bar 2 pcs. Dimension: M8.
Used for pressing out the axis-1 and axis-2
motors.
Extended reach hex bit socket head Required for:
• Axis-2 motor replacement: M6, length
minimum 260 mm.
• Axis-3 motor replacement: M6, length
minimum 160 mm.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Weights
The motors for the different axes weighs according to the table:
Motor Weight in kg
Axis-1 motor 13 kg
Axis-2 motor 13 kg
Axis-3 motor 8 kg
Axis-4 motor 6.5 kg
Axis-5 motor 6.5 kg
Axis-6 motor 6.5 kg
CAUTION
Position of robot
Use this procedure to place the robot in the position recommended in order to
facilitate replacement of motors.
Action Information
Axis-1, axis-4, axis-5 and axis-6 motor (IRB
2600 Standard)
Axis-1 and axis-4 motors (IRB 2600ID)
• Move the robot to a position where the
wrist is pointing to the floor, as shown in
the figure. This will make it possible to
remove the motors without draining the
oil from the gearbox.
xx0800000388
Axis-2 motor
• Move the robot to a position where the
lower arm rests firmly on the damper of
axes 2 and 3. Release the brake of axis
2 to be sure that the lower arm rests in
the end position.
xx1100000548
Axis-3 motor
• Move axis-2 to 0° and axis-3 to maximal
+. Release the brake of axis-3 to be sure
that the upper arm is completely vertical
and rests against the damper of axis-2
and axis-3.
Draining gearbox
Use this procedure to drain gearboxes, if needed.
Note
Draining of gearbox is only needed when removing the axes 2 and 3 motors.
Action Note
1 Axis-1 motor: -
• Draining of gearbox is not needed.
2 Axis-2 motor: How to drain the gearbox is described
• The gearbox has to be drained before in section:
removing the motor. • Changing the oil, axis-2 gearbox
on page 166
Action Note
3 Axis-3 motor: How to drain the gearbox is described
• The gearbox has to be drained before in section:
removing the motor. • Changing the oil, axis-3 gearbox
on page 170
4 IRB 2600 - axes 4, 5, 6: -
• Draining of gearbox is not needed if ro-
bot is positioned as recommended.
IRB 2600ID - axis 4:
• Draining of gearbox is not needed if ro-
bot is positioned as recommended.
Removing motors
Use this procedure to remove the axis-1, axis-2, axis-3, axis-4, axis-5 and axis-6
motors.
Note
Note
The procedure contains information how to remove motors on all axes of the
robot. Some steps are only applicable to a certain motor. Follow the steps
carefully in order not to miss vital information!
Action Note
1 Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
2 Move the robot to the recommended position Also see
for the motor that shall be removed. • Position of robot on page 319
3
DANGER
Action Note
5 Only applicable to axis-3, axis-4, axis-5 and
axis-6 motors!
Remove the cover in the back of the arm house.
B
WARNING
A
xx0800000389
Parts:
• A: Cover
• B: Attachment screws (8 pcs) +
washers.
6 Only applicable to motors on axes 1 and 2 How to remove the fan is detailed in
with fan fitted! section:
Remove the fan before starting the removal! • Installation of cooling fan for
motors (option) on page 91
7 Only applicable to axis-1 and axis-2 motors! See the figure in:
Remove the motor cover. • Location of axis-1 and axis-2
motors on page 312
8 Only applicable to axis-1 and axis-2 motors! See the figure in:
Remove the cable gland cover. • Location of axis-1 and axis-2
motors on page 312
9 Only applicable to axis-1 and axis-2 motors! See the figure in:
Remove the connection box. • Location of axis-1 and axis-2
motors on page 312
Note
Action Note
11 Only applicable to motors axes 3, 4, 5 and 6 The figure shows IRB 2600 Standard.
on IRB 2600 Standard and axes 3 and 4 on
IRB 2600ID! G
Remove the bracket to reach the attachment A
screws of the motors.
F
E
B
C
D
xx0900000372
Parts:
• A: Attachment screws, M6x16
quality 8.8-A2F (2 pcs)
• B: Bracket
• C: Clamp
• D: Cable straps
• E: Connection bracket
• F: Connection bracket
• G: Hexagon nut, M5 quality
steel 8-A2F
Action Note
12 In order to release the brakes of the motor to Connectors and pins:
be removed, connect the 24 VDC power supply • Axis-1 motor: R2.MP1
to the motor connector. - + : pin 2
- -: pin 5
Tip • Axis-2 motor: R2.MP2
- + : pin 2
For axis-2 and axis-3 motors: release the mo- - -: pin 5
tor brake until the arm firmly rests on the
• Axis-3 motor: R2.MP3
damper for each axis respectively. See posi-
tions in Position of robot on page 319. - + : pin 2
- -: pin 5
• Axis-4 motor: R2.MP4
- + : pin 4
- - : pin 6
• Axis-5 motor: R2.MP5
- + : pin 4
- - : pin 6
• Axis-6 motor: R2.MP6
IRB 2600:
- + : pin 4
- - : pin 6
IRB 2600ID:
- + : pin 7
- -: pin 8
CAUTION
13
Note
14 Remove the attachment screws securing the See the figure in:
motor. • Location of axis-1 and axis-2
If needed use a 300 mm extension for bits 1/2" motors on page 312
(Motor axis 1).
15 If required, press the motor out of position by
fitting two threaded bars in the threaded holes Note
in the motor flange.
Always use removal tools in pairs diag-
onal to each other.
Action Note
17 Only applicable to motor axis 1! See the figure in:
Cover the hole if replacement of motor axis 1 • Location of axis-1 and axis-2
is not immediate, in order to avoid contamina- motors on page 312
tion.
18 Only applicable to motors axes 4, 5 and 6! See the figure in:
Check that the o-ring also is removed. It might • Location of axis-1 and axis-2
stay in the armhouse when the motor is re- motors on page 312
moved.
Introduction
This procedure describes how to refit motors on all axes of the robot.
WARNING
When a motor is replaced, make sure to use the correct type of new motor. Motors
of different types may not be compatible. See the Spare parts manual on myABB
business portal (www.abb.com/myABB).
Note
For IRB 2600ID this section describes motors axes 1, 2, 3 and 4. Motors axes 5
and 6 are described in sections:
• Motor axis 5, see section Replacing motor axis 5 - IRB 2600ID on page 341
• Motor axis 6, see section Replacing motor axis 6 and wrist unit - IRB 2600ID
on page 353.
xx0900000302
D Connection box
E Axis-1 motor
E Axis-2 motor
F O-ring
G Hole
H Cable gland cover
xx0900000303
IRB 2600ID
xx1000000990
FB6
MP6
FB3
MP3
MP3-6 FB3-6
xx1400002568
Note
On IRB 2600 standard, motor type B the connector FB6 shall be fitted in a 30°
angle.
xx0900000367
IRB 2600ID
R2.FB6
R2.FB5
R2.MP6
R2.FB4 R2.MP5
R2.MP4
R2.FB3
R2.MP3
xx1400002578
Required equipment
Equipment Note
Extended reach hex bit socket head Required for:
• Axis-2 motor replacement: M6, length
minimum 260 mm.
• Axis-3 motor replacement: M6, length
minimum 160 mm.
Standard toolkit Content is defined in section Standard tools
on page 458.
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Lifting tool, axis-2 For art. no. see Reference information.
Lifting tool, axis-3 For art. no. see Reference information.
Motors For spare part no. see Spare part lists on
page 463.
Weights
The motors for the different axes weighs according to the table:
Motor Weight in kg
Axis-1 motor 13 kg
Axis-2 motor 13 kg
Axis-3 motor 8 kg
Axis-4 motor 6.5 kg
Axis-5 motor 6.5 kg
Axis-6 motor 6.5 kg
CAUTION
Position of robot
Use this procedure to place the robot in the position recommended in order to
facilitate replacement of motors.
Action Information
Axis-1, axis-4, axis-5 and axis-6 motors (IRB
2600 Standard)
Axis-1 and axis-4 motors (IRB 2600ID)
• Move the robot to a position where the
wrist is pointing to the floor, as shown in
the figure. This will make it possible to
remove the motors without draining the
oil from the gearbox.
xx0800000388
Axis-2 motor
• Move the robot to a position where the
lower arm rests firmly on the axis-3
damper. Release the axis-2 brake to be
sure that the lower arm rests in the end
position.
xx1100000548
Axis-3 motor
• Move axis-2 to 0° and axis-3 to maximal
+. Release the axis-3 brake to be sure
that the upper arm is completely vertical
and rests against the damper.
Note
Filling oil in the gearbox is only needed when refitting motors axes 2 and 3.
Action Note
1 Axis-1 motor: -
• Filling gearbox oil not needed.
2 Axis-2 motor: How to fill oil in gearbox is described
• Refill oil in gearbox after refitting. in section:
• Changing the oil, axis-2 gear-
box on page 166
3 Axis-3 motor: How to fill oil in gearbox is described
• Refill oil in gearbox after refitting. in section:
• Changing the oil, axis-3 gear-
box on page 170
4 IRB 2600 Standard - axes 4, 5, 6: -
• Filling oil not needed, provided it has not
been drained.
IRB 2600ID - axes 4:
• Filling oil not needed, provided it has not
been drained.
Action Note
2 Grind the paint on the surface carefully to get
a smoth surface.
3 Clean the surface from contamination such as
oil and dirt.
Remove any painting from the assembly sur-
faces, with a knife.
4 Make sure that the motor and the pinion are
not damaged or scratched.
5 Apply Loctite 574 on the o-ring.
6 Make sure the o-ring on the flange of the motor
is seated properly.
xx0900000082
Parts:
• A: Correct position of o-ring
• B: Incorrect position of o-ring !
Replace with a new o-ring if damaged!
7 In order to release the brakes, connect the 24 Connectors:
VDC power supply. • Motor axis 1: R2.MP1
• Motor axis 2: R2.MP2
• Motor axis 3: R2.MP3
• Motor axis 4: R2.MP4
• Motor axis 5: R2.MP5
• Motor axis 6: R2.MP6
Connect to pins:
Axes 1, 2 and 3:
• + : pin 2
• -: pin 5
Axes 4 and 5:
• + : pin 4
• - : pin 6
Axis 6 IRB 2600:
• + : pin 4
• - : pin 6
Axis 6 IRB 2600ID:
• + : pin 7
• -: pin 8
CAUTION
Note
Refitting motors
Use this procedure to refit motors axes 1, 2, 3, 4, 5 and 6.
Note
Note
The procedure contains information how to refit motors on all axes of the robot.
Some steps are only applicable to a certain motor. Follow the steps carefully in
order not to miss vital information!
Action Information
1 Also see
Note • Preparations before the refitting
of motors on page 332
Before starting the refitting of the motor, first
make the necessary preparations!
2
Note
Action Information
5 IRB 2600 standard, motor type B
Applicable to motor axis 3!
Make sure that the wire exit holes of motor axis
3 is in the correct position. See illustration!
xx1400002570
Parts:
• A: Wire exit hole, motor axis 3
6 IRB 2600 standard, motor type A
Applicable to motor axis 3!
Make sure that the wire exit holes of motor axis
3 is in the correct position. See illustration!
xx0900000375
Parts:
• A: Wire exit hole, motor axis 3
Action Information
7 IRB 2600ID, motor type B
Make sure that the wire exit holes of motors D E
axes 3 and 4 are in the correct position. See il-
lustration!
xx1400002573
Parts:
A Wire exit hole, motor axis 3
B Motor axis 3
C Motor axis 4
D Power wire exit hole, motor axis
4
E Signal cable exit hole, motor
axis 4
8 IRB 2600ID, motor type A
Make sure that the wire exit holes of motors
axes 3 and 4 are in the correct position. See il-
lustration!
xx1000000992
Parts:
A Wire exit hole, motor axis 3
B Motor axis 3
C Motor axis 4
D Wire exit hole, motor axis 4
Action Information
9 IRB 2600 standard, motor type B B
A
A
B B
xx1400002571
Parts:
• A: Wire exits of motors axes 4,
5 and 6
10 IRB 2600 standard, motor type A
Applicable to motors axes 4, 5 and 6!
Make sure that the orientation of the motor is
in the correct position! See illustration!
xx0900000376
Parts:
• A: Wire exits of motors axes 4,
5 and 6
11 Only applicable to motors axes 4, 5 and 6! See Adjusting the play on page 364.
Adjust the play of the motor.
12 Secure the motor with its attachment screws Tightening torque and attachment
and washers. screws are specified in the table:
• Tightening torques and attach-
Note ment screws on page 332
Note
Action Information
15 IRB 2600 Standard, motor type A G
Applicable to motors axes 3, 4, 5 and 6!
A
Refit the bracket in the armhouse on top of
motors axes 4, 5 and 6. F
E
B
C
D
xx0900000372
Parts:
A Attachment screws, M6x16
quality 8.8-A2F (2 pcs)
B Bracket
C Clamp
D Cable straps
E Connection bracket
F Connection bracket
G Hexagon nut, M5 quality steel
8-A2F
16 IRB 2600 Standard, motor type B
Note
xx1400002569
Action Information
17 IRB 2600ID IRB 2600ID
Refit the bracket in the armhouse with its attach- R2.FB6
ment screws. R2.FB5
R2.MP6
R2.FB4 R2.MP5
R2.MP4
R2.FB3
R2.MP3
xx1400002578
Note
Action Information
22 Applicable to motors axes 3, 4, 5 and 6! Make sure that the cover is tightly
Refit the cover in the back of the armhouse sealed.
with its attachment screws and washers.
WARNING
B
The cover on the armhouse must be fitted when
the robot is running. It is a vital part for the
stability of the robot.
A
xx0800000389
Parts:
• A: Cover
• B: Attachment screws M6x25,
quality 8.8-A2F (8 pcs)
Tightening torque:
• 14 Nm
23 Recalibrate the robot. Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
Axis Calibration is described in Calib-
rating with Axis Calibration method on
page 418.
General calibration information is in-
cluded in section Calibration on
page 403.
24
DANGER
Introduction
This procedure describes how to replace motor axis 5 on IRB 2600ID.
WARNING
When a motor is replaced, make sure to use the correct type of new motor. Motors
of different types may not be compatible. See the Spare parts manual delivered
as a separate document on myABB business portal (www.abb.com/myABB).
xx1000000877
A Motor axis 6
B Motor axis 5
Required equipment
xx1000000961
Parts:
• A: Inner attachment screws (2 pcs)
• B: Directions of rotation
Action Information
3 Move the upper arm to sync. position.
xx1000001007
4
DANGER
7
Note
Action Information
8 Remove the mechanical stop.
Note
xx1000000879
Parts:
• A: Attachment screws (5 pcs)
• B: Mechanical stop
• C: O-ring
• D: Distance ring
• E: Bracket
• F: Cover
9 Remove the bracket. See figure above!
10 Remove the cover on the upper arm tube. See figure above!
11 Remove the two VK-covers, covering the
attachment screws securing the cable har-
ness to the arm tube.
xx1000000934
Parts:
• A: VK-covers (2 pcs)
Action Information
12 Remove the attachment screws (A) securing
the cover (B) on the armhouse.
xx1000001001
Parts:
A Attachment screws (6 pcs)
B Cover
C Attachment screws (8 pcs) securing
arm tube
13 Remove the attachment screws (8 pcs) se-
curing the tube of the armhouse.
A
xx1000000936
Parts:
• A: Attachment screws (8 pcs)
14 Unscrew the attachment screws securing
the cable harness bracket to the upper arm
tube.
Note
xx1000000939
Parts:
• A: Motor axis 5
• B: Cover
• C: Bracket (inside armhouse)
• D: Attachment screws (2 pcs)
• E: Bracket (upper arm tube)
Action Information
15 Pull carefully out the upper arm tube a little.
Not more than it is possible to reach the
connectors for motor axis 5.
CAUTION
R4.MP5
xx1400002576
xx1000000998
Parts:
A Bracket
B Attachment screws (2 pcs)
C Connectors motor axis 5
D Motor axis 5
18 Pull out the cable harness from motor axis
6 through the upper arm tube and secure
the cable harness with a roundsling or sim-
ilar to the armhouse.
19 Remove the upper arm tube.
20 Secure the upper arm tube with motor axis
5 pointing upwards.
This is done in order to avoid draining the
oil when motor axis 5 is removed.
xx1000000938
Action Information
21 Remove motor axis 5 by unscrewing its at-
tachment screws.
B
xx1000000937
Parts:
• A: Upper arm tube
• B: Motor axis 5
xx1000000937
Parts:
• A: Upper arm tube
• B: Motor axis 5
3 Adjust the play by finding the smallest play.
4 Secure the motor with its attachment Tightening torque: 10 Nm.
screws.
5 Lift the upper arm tube to the robot.
Action Information
6 Push the cables to motor axis 6 into the
upper arm tube.
7 IRB 2600, motor type B R4.FB5
Connect connectors R4.MP5 and R4.FB5
to motor axis 5.
R4.MP5
xx1400002576
xx1000000998
Parts:
A Bracket
B Attachment screws (2 pcs)
C Connectors to motor axis 5
D Motor axis 5
9 Apply flange sealing (Loctite 574) on the
surface where the cover shall be fitted. See
figure!
xx1000001006
Part:
A Flange sealing (Loctite 574)
Action Information
10 Secure the cover with its attachment Tightening torque: 10 Nm.
screws.
xx1000001001
Parts:
A Attachment screws (6 pcs) M6x20
quality 8.8-A2F
B Cover
C Attachment screws (8 pcs) M8x25
quality Steel 12.9 Gleitmo
11 Secure the cable harness with its attach-
ment screws to the upper armtube.
xx1000000998
Parts:
A Bracket
B Attachment screws (2 pcs)
C Connectors motor axis 5
D Motor axis 5
12 Check that the spiral of the cable harness See section
is fitted correctly. • Replacing the cable harness in the
upper arm - IRB 2600ID on page 232
13 Secure the upper arm tube with its attach- Tightening torque: 35 Nm.
ment screws.
A
xx1000000936
Parts:
A Attachment screws (8 pcs)
Action Information
14 Apply flange sealing (Loctite 574) on the
surface shown in the figure.
Note
xx1000001003
Parts:
A Surface where Sikaflex 521FC shall
be applied
B Surface where Loctite 574 shall be
applied.
15 Refit the cover with two inner attachment
screws.
xx1000000879
Parts:
A Attachment screws (5 pcs)
B Mechanical stop
C O-ring
D Distance ring
E Bracket
F Cover
16 Refit the bracket with the remaining attach- See figure above.
ment screws.
Action Information
17 Apply Sikaflex 521FC on the surfaces
shown in the figure.
xx1000001002
Parts:
A Sikaflex 521FC
B Cover
C Surface where to apply Sikaflex
521FC
18 Connect the cable to motor axis 6.
19 Refit the mechanical stop.
20 Fit new VK-covers.
xx1000000934
Parts:
A VK cover (2 pcs)
21 Refit the wrist. See section
• Replacing motor axis 6 and wrist
unit - IRB 2600ID on page 353
Action Information
22 Remove the oil plug, and refill the axis-5
gear with lubricating oil.
xx2000002311
CAUTION
24 Refit the oil plug with sealing. Tightening torque: 3.8 Nm.
25 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
26
DANGER
Introduction
This procedure describes how to replace the axis-6 motor on IRB 2600ID.
The replacement of the motor also contains the procedure for how to remove and
refit the wrist unit on IRB 2600ID
xx1000000877
A Motor axis 6
B Motor axis 5
Required equipment
Action Information
1 Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
2 Move the upper arm to synchronization po-
sition.
3
DANGER
Action Information
1 Remove the VK cover.
xx1600001486
xx1000000873
xx1000000874
Parts:
A Coupling
B Attachment screw
Action Information
5 Remove the attachment screws that secure
the wrist.
A
xx1000000875
Part:
A Attachment screws (4 pcs)
6 Separate wrist and upper arm tube at the
marked division point (along the dotted line
in the figure).
Note
xx1000000933
Parts:
A Wrist
B Cover (glued with Loctite to the
wrist)
C Division point
D Upper arm tube
7 Pull the wrist carefully out a little, in order
to be able to disconnect the motor cables
to the axis-6 motor.
Note
Action Information
8 Fit two short screws in the holes for the at-
tachment screws in order to temporarily
secure that the cover is not opened.
xx1000000932
Parts:
A Short screws (2 pcs)
9 Disconnect the cables R4.MP6 and R4.FB6 R4.MP6
to the axis-6 motor.
R4.FB6
xx1400002575
Action Information
1
Note
xx1000000931
Parts:
A Cable protection
B Nuts (2 pcs)
C Connector motor axis 6
Action Information
3 Open the flexible coupling securing motor
axis 6.
B
A C
xx1000000930
Parts:
A Attachment screw, coupling
B Flexible coupling
C Motor, axis 6
4 Remove the attachment screws that secure
the axis-6 motor and remove the motor.
Note
xx1000000929
Parts:
A Attachment screws, bracket
B Flexible coupling
C Attachment screws, motor (3 pcs)
D Cylindrical pins (2 pcs)
E Motor axis 6
Action Information
1 Place the motor axis into the axis-6 flexible
coupling.
xx1000000929
Parts:
A Attachment screws, bracket
B Flexible coupling
C Attachment screws, motor (3 pcs)
D Cylindrical pins (2 pcs)
E Motor axis 6
2 Secure the motor with its attachment Tightening torque: 6 Nm.
screws.
3 Secure the motor axis with the flexible Tightening torque: 15 Nm.
coupling with its attachment screw.
B
A C
xx1000000930
Parts:
A Attachment screw, coupling
B Flexible coupling
C Motor axis 6
Action Information
4 Fit the cable protection with its nuts.
xx1000000931
Parts:
A Cable protection
B Nuts (2 pcs)
C Connector motor axis 6
Action Information
1 Clean all assembly surfaces.
Remove any painting from the assembly
surfaces, with a knife.
2 Place the wrist with the axis-6 motor fitted
a little into the upper arm tube.
3 Reconnect the cables R4.MP6 and R4.FB6 R4.MP6
to the axis-6 motor.
R4.FB6
xx1400002575
xx1000000932
Parts:
A Short screws (2 pcs)
Action Information
5 Apply locking liquid to the assembly surface Specified in Required equipment on
on the upper arm tube. page 353.
xx1200000063
Tip A
Look through the hole for the VK cover
when fitting the axis into the flexible coup-
ling of motor axis 5.
xx1000000874
Parts:
A Flexible coupling axis 5
B Attachment screw
7 Secure the wrist with its attachment screws Tightening torque: 35 Nm.
and washers.
A
xx1000000875
Parts:
A Attachment screws (4 pcs)
Action Information
8 Secure the axis-5 flexible coupling with its Tightening torque: 15 Nm.
attachment screw.
9 Fit a new VK cover. Article number is specified in Required
equipment on page 353.
xx1000000873
xx1600001487
WARNING
xx1600001515
xx1600001486
Concluding procedure
Action Information
1 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
2
DANGER
Required equipment
500
xx1200000066
Note
xx1200000098
3
CAUTION
Action Note
5 Fit the rotation tool on the motor axis with
the M3 attachment screw.
xx1200000099
xx1200000096
Note
xx1200000093
Parts:
• A: Motor pinion
• B: Gear
Action Note
9 Tighten attachment screws number 1 and 1
2 diagonally, alternatingly between the
screws, while at the same time pushing the
motor in the direction of the gear.
2
xx1200000094
xx1200000097
Action Note
14 If no play is detected, continue to rotate the
motor and check the play in steps of five
revolutions until the motor has been rotated
20 revolutions.
(Rotate five revolutions - check play - rotate
five revolutions - check play - and so on)
15 If play is felt in the tool fitted on the motor
axis, unscrew the attachment screws of the
motor and repeat steps 7 to 10. Then check
the play again starting with step 11.
16 Perform a final check of the play by rotating
the motor back and forth with the tool fitted
(in the case of axis-4 motor) on the wrist,
to check that it is running smoothly. There
should be no unnormal noices.
xx1200000100
4.8 Gearboxes
Location of gearbox
The gearbox is located as shown in the figure. The exploded view only shows the
principle of the assembly. The actual replacing is recommended to be done with
the robot resting on its side.
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx0800000400
Spinea gearbox
A Frame
B Radial sealing
C O-ring
D Gearbox axis 1
E Washer (21 pcs)
F Attachment screws M8x80 quality Steel 12.9 Gleitmo (21 pcs)
xx1800000800
Nabtesco gearbox
A Frame
B Radial sealing
C O-ring
D Gearbox axis 1
E Washer (14 pcs)
F Attachment screws M10x80 quality Steel 12.9 Gle 603+Geo500 (14 pcs)
Required equipment
Equipment Note
Gearbox See Spare part lists on page 463.
Guide pins Guide pin, M8x150: 3HAC15520-2
Used to guide the gearbox during removal/refitting.
Always use guide pins in pairs.
Valid for IRB 2600-20/1.65 type C, IRB 3HAC15520-1
2600-12/1.65 type C: Always use guide pins in pairs.
Guide pin, M8x100 Additional pins to guide the gearbox during remov-
al/refitting.
Guide for reduction gear 3HAC068109-001
Used to guide axis-1 gear and frame during refit-
ting.
Standard toolkit Content is defined in section Standard tools on
page 458.
Other tools and procedures may be re- These procedures include references to the tools
quired. See references to these proced- required.
ures in the step-by-step instructions
below.
xx1800000593
xx1800000593
Action Note
7 Fit a lifting lug in the uppermost hole for the
base attachment screws.
xx0800000440
A Roundsling
B Lifting lug
C Uppermost base attachment hole
D Axis-1 gearbox
8
CAUTION
xx1800000788
Action Note
12 Remove two gearbox attachment screws
opposite to each other and fit two guide pins
into the holes.
xx1800000789
xx1800000790
14
Note
15
Note
Action Note
16 Slide the gearbox out onto the guide pins
and lift it away. Note
If necessary use removal tools to remove
the gearbox. Always use removal tools in pairs diagon-
al to each other.
xx1800000791
Action Note
1
DANGER
xx1800000794
Action Note
3 Fit a lifting lug in the uppermost hole for the
base attachment screws.
xx0800000440
A Roundsling
B Lifting lug
C Uppermost base attachment hole
D Axis-1 gearbox
4
Note
xx0800000441
Action Note
7 Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Fit two guide pins to the gearbox.
xx1800000792
xx1800000793
xx1800000795
10
CAUTION
Action Note
11 Lift the gearbox onto the guide pins and
slide it into position, using caution.
Check that the radial sealing in the frame
tube does not get damaged.
Valid for IRB 2600-20/1.65, IRB 2600-
12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Double check that the oil plugs are in the
correct position.
xx1800000791
xx0800000441
xx1800000790
Action Note
14 Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Remove the two guide pins from the gear-
box.
xx1800000788
xx1800000796
Action Note
1 Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
1 Remove the three gaskets on the
base.
2 Wipe out the oil from the holes in the
base and wipe the sealing surfaces
dry.
3 Fit three new gaskets to the base.
The gaskets are included with the
gearbox spare part.
xx1800000797
2 Refit the complete arm system to the base. See Refitting the base on page 307.
3 Refit the axis-1 motor. See Refitting motors on page 325.
4 Refit the cable harness in the base, the Also see
frame and the lower arm. • Refitting the cable harness in the
base on page 222
• Refitting the cable harness in the
frame on page 219
• Refitting the cable harness in the
lower arm and armhouse on
page 228
.
Action Note
5 Refill oil in the gearbox. See Changing the oil, axis 1 gearbox on
floor mounted robots on page 153.
6 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
7
DANGER
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx0900000380
xx1800000940
Required equipment
WARNING
The procedure details how to replace the gearbox without removing the cable
harness, only by loosening it. This means that the upper and lower arm will be
separated from the frame but still be connected to the frame through the cabling.
Be careful not to damage the cables!
Action Note
1 Decide which calibration routine to
use, and take actions accordingly prior
to beginning the repair procedure.
Action Note
2 Move the robot to the position shown
in the figure.
Upper arm should rest on the axis-3
damper.
xx1200000068
3
DANGER
Action Note
5 Loosen the cabling from the lower arm
by removing two cable brackets and a
cable strap.
B
C
xx1100000946
A Cable bracket
B Cable bracket
C Cable strap
6
CAUTION
Action Note
10 Remove the attachment screws and Valid for IRB 2600-20/1.65, IRB 2600-12/1.65,
washers that secure the lower arm to IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
the axis-2 gearbox. 2600ID-8/2.0:
xx1800000935
xx1800000934
WARNING
12
CAUTION
Action Note
13 Fit a lifting lug in the uppermost hole
for the attachment screws that secure A
the lower arm to the gearbox.
xx0800000445
Parts:
• A: Gearbox axis 2
• B: Lifting lug
• C: Holes for attachment screws that se-
cure the lower arm to the axis-2 gearbox
14 Secure the gearbox with a roundsling
in an overhead crane or similar.
Action Note
15 Remove the attachment screws and Valid for IRB 2600-20/1.65, IRB 2600-12/1.65,
washers that secure the gearbox to the IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
frame. 2600ID-8/2.0:
CAUTION
xx1200000086
xx1800000939
16 Fit guide pins to help guiding the Valid for IRB 2600-20/1.65, IRB 2600-12/1.65,
gearbox out from the frame. IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
2600ID-8/2.0:
Guide pin, M8x150: 3HAC15520-2
Valid for IRB 2600-20/1.65 type C, IRB 2600-
12/1.65 type C:
Guide pin, M10x150: 3HAC15521-2
Always use guide pins in pairs.
17 If necessary, use removal tools to re-
move the gearbox. Note
Action Note
18 Remove the gearbox.
CAUTION
2
CAUTION
xx0800000445
Parts:
• A: Gearbox axis 2
• B: Lifting lug
• C: Holes for attachment screws
securing the lower arm to gearbox
axis 2.
Action Note
4 Clean all assembly surfaces.
Remove any painting from the assembly
surfaces, with a knife.
5 Apply some grease on the o-ring before fit- Valid for IRB 2600-20/1.65 type C, IRB
ting. 2600-12/1.65 type C:
Valid for IRB 2600-20/1.65 type C, IRB O-ring: 3HAB3772-106.
2600-12/1.65 type C: See the figure in:
Replace if damaged. • Location of gearbox axis 2 on
page 382
6 Fit two guide pins in opposite holes in the Valid for IRB 2600-20/1.65, IRB 2600-
frame. 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Guide pin, M8x150: 3HAC15520-2
Valid for IRB 2600-20/1.65 type C, IRB
2600-12/1.65 type C:
Guide pin, M10x150: 3HAC15521-2
Always use guide pins in pairs.
7 Secure the gearbox with a roundsling in an
overhead crane or similar.
8 Release the brakes of the axis 2 motor.
9 Lift the gearbox onto the guide pins and Article number is specified in Required
slide it into position while rotating the motor equipment on page 383.
pinion to find the mating position. Use a ro-
tation tool.
Action Note
10 Secure the gearbox with its attachment Valid for IRB 2600-20/1.65, IRB 2600-
screws and washers. 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0:
Attachment screws: M8x80 quality steel
12.9 Gleitmo (17 pcs)
Tightening torque: 35 Nm.
xx1200000086
xx1800000939
Action Note
14 Lift the upper and lower arms into mounting
position and guide them in place with the
guide pins.
It might be necessary to rotate the motor
pinion with the rotating tool to find the mat-
ing position.
15 Refit the attachment screws and washers Valid for IRB 2600-20/1.65, IRB 2600-
to secure the lower arm to the axis-2 gear- 12/1.65, IRB 2600-12/1.85, IRB 2600ID-
box. 15/1.85, IRB 2600ID-8/2.0:
Attachment screws: M8x40 quality steel
Gleitmo 12.9 (17 pcs)
Washers: 3HAA1001-172 (17 pcs)
Tightening torque: 35 Nm.
xx1800000935
xx1800000934
Action Note
16 Refit the cable brackets and cable strap to
the lower arm.
B
C
xx1100000946
A Cable bracket
B Cable bracket
C Cable strap
17 Refill the gearbox with lubrication oil. How to fill the gearbox with oil is de-
scribed in section:
• Changing the oil, axis-2 gearbox
on page 166
18 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
19
DANGER
D
xx0900000381
A Upper arm
B O-ring
C Gearbox, axis 3
D Attachment screws M6x40 quality Steel 12.9 Gleitmo (16 pcs)
Required equipment
WARNING
The procedure details how to replace the gearbox without removing the cable
harness. This means that the upper and lower arm will be separated but still be
connected to eachother through the cabling. Be careful not to damage the cables!
Action Note
1 Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
2 Drain the gearbox. How to drain the gearbox is described in
section:
• Changing the oil, axis-3 gearbox
on page 170
Action Note
3 Move the robot to the position shown in the
figure.
xx0800000336
4
DANGER
xx1100000946
A Cable bracket
B Cable bracket
C Cable strap
6 Loosen the cabling from the lower arm by
unhooking the two cable brackets.
CAUTION
7 Attach the lifting accessories to the upper See Attaching the lifting accessories to
arm. the upper arm on page 260
8 Connect the 24 VDC power supply to the
axis-3 motor and release the brakes.
Action Note
9 Releasing the brakes of the axis-3 motor
unloads the weight of the upper arm by
stretching the roundslings.
10 Remove the attachment screws that secure See the figure in:
the upper arm to the lower arm. • Location of the complete upper arm
on page 255
Note
11
CAUTION
13
CAUTION
14 Remove two attachment screws diagonally Always use guide pins in pairs!
located and insert guide pins.
15 Remove the remaining attachment screws See the figure in:
that secures the gearbox. • Location of gearbox axis 3 on
page 395
16
Note
2
CAUTION
11 Slide the gearbox into position while rotating Article number for the rotation tool is
the motor pinion to find the mating position. specified in Required equipment on
Use a rotation tool. page 395.
Tip
Action Note
13 Secure the gearbox with its attachment See the figure in:
screws. • Location of gearbox axis 3 on
page 395
Tightening torque: 17 Nm.
14 Remove the guide pins and replace them
with the remaining attachment screws.
15 Perform a leak-down test. See Performing a leak-down test on
page 194.
16 Fit guide pins in the upper arm. Specified in Required equipment on
page 395.
17 Move the upper arm to its mounting posi-
tion.
(With the brakes of the axis 3 motor still re-
leased.)
18 Refit the upper arm to the lower arm with See the figure in:
its attachment screws. • Location of the complete upper arm
on page 255
Tightening torque:
• 35 Nm
19 Remove the guide pins and replace with the
remaining attachment screws.
20 Remove the 24 VDC power supply.
21 Refit the upper armhouse cover with its at- Tightening torque: 14 Nm.
tachment screws and washers. Make sure that the cover is tightly sealed.
WARNING
A
xx0800000389
Parts:
• A: Cover
• B: Attachment screws M6x25,
quality 8.8-A2F (8 pcs)
Action Note
22 Refit the two cable brackets and a cable
strap to the lower arm.
B
C
xx1100000946
A Cable bracket
B Cable bracket
C Cable strap
23 Refill the gearbox with lubrication oil. How to fill the gearbox with oil is de-
scribed in section:
• Changing the oil, axis-3 gearbox
on page 170
24 Recalibrate the robot. Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in Calibrating
with Axis Calibration method on page 418.
General calibration information is included
in section Calibration on page 403.
25
DANGER
5 Calibration
5.1 Introduction to calibration
Calibration information
This chapter includes general information about the recommended calibration
methods and also the detailed procedures for updating the revolution counters,
checking the calibration position etc.
Detailed instructions of how to perform Axis Calibration are given on the
FlexPendant during the calibration procedure. To prepare calibration with Axis
Calibration method, see Calibrating with Axis Calibration method on page 418.
Detailed instructions of how to perform Pendulum Calibration are given in the
documentation enclosed with the calibration tools.
Calibration terminology
Term Definition
Calibration method A collective term for several methods that might be
available for calibrating the ABB robot. Each method
contains calibration routines.
Synchronization position Known position of the complete robot where the
angle of each axis can be checked against visual
synchronization marks.
Calibration position Known position of the complete robot that is used
for calibration of the robot.
Standard calibration A generic term for all calibration methods that aim
to move the robot to calibration position.
Fine calibration A calibration routine that generates a new zero posi-
tion of the robot.
Reference calibration A calibration routine that in the first step generates
a reference to current zero position of the robot. The
same calibration routine can later on be used to re-
calibrate the robot back to the same position as when
the reference was stored.
This routine is more flexible compared to fine calib-
ration and is used when tools and process equipment
are installed.
Requires that a reference is created before being
used for recalibrating the robot.
Requires that the robot is dressed with the same
tools and process equipment during calibration as
during creation of the reference values.
Update revolution counter A calibration routine to make a rough calibration of
each manipulator axis.
Synchronization mark Visual marks on the robot axes. When marks are
aligned, the robot is in synchronization position.
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
xx0400001197
Note
i The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, contact the local ABB Service.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 459.
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum, which describes
the method and the different routines further.
When to calibrate
The system must be calibrated if any of the following situations occur.
Introduction
This section shows the position of the synchronization marks and the
synchronization position for each axis.
xx0800000312
xx0800000320
A B
xx1000000445
xx0800000321
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
xx0200000089
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 5 and 6.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
Coupled axes
IRB 910 SC
IRB 1600ID
IRB 1660ID
IRB 2600ID
IRB 4450S
IRB 1410
IRB 1510
IRB 1520
IRB 1600
IRB 2400
IRB 2600
IRB 4400
IRB 4600
IRB 140
Axis 4, 5, 6 x x x x x x x
Axis 5, 6 x x x x x x
Axis 4, 3 x
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
xx1500000942
Action
2 All mechanical units connected to the system are shown with their calibration status.
Tap the mechanical unit in question.
xx1500000943
xx1500000944
Action
4 A screen is displayed, tap Rev. Counters.
en0400000771
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Action
3 In the Selection column select the axes for which revolution counters need to be up-
dated.
4 Tap Update.
A dialog box is displayed warning that the updating operation cannot be undone.
5 Tap OK to update the revolution counter.
6
CAUTION
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
2 During the calibration procedure, RobotWare moves the robot axis chosen
for calibration so that the calibration tools get into contact. RobotWare records
values of the axis position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
3 The axis position is stored in RobotWare with an active choice from the
operator.
Note
When calibrating the robot with the reference calibration routine, the robot must
be dressed with the same tools, process cabling and any other equipment as
when the reference values were created.
Note
When using reference calibration with some tools, typically large or flexible tools,
oscillations in the robot can cause issues leading to failure of the calibration.
If calibrating the robot with reference calibration there must be reference values
created before repair is made to the robot, if values are not already available.
Creating new values requires possibility to move the robot. The reference values
contain positions of all axes, torque of axes and technical data about the tool
installed. A benefit with reference calibration is that the current state of the robot
is stored and not the state when the robot left the ABB factory. The reference value
will be named according to tool name, date etc.
Follow the instructions given in the reference calibration routine on the FlexPendant
to create reference values.
When reference calibration is performed, the robot is restored to the status given
by the reference values.
Validation
In the mentioned routines, it is also possible to validate the calibration data.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Axis to calibrate
Required Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
position of
axis
Axis 1 - * * * * *
Axis 2 0 - 0 * * *
Axis 3 0 0 - * * *
Axis 4 * * * - 0 i / * ii 0 i / * ii
Axis 5 * * * * - 0
Axis 6 * * * * * -
i Valid for IRB 2600.
ii Valid for IRB 2600ID.
- Axis to be calibrated
* Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
0 Axis must be put in position 0 degrees.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration bushings may cause severe damage to
the robot and/or personnel.
WARNING
xx1500001914
A Tube insert
B Plastic protection
C Steel spring ring
xx1500000951
A Outer diameter
IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB 2600ID-8/2.0
xx1800000963
xx1800000964
xx1600000521
IRB 2600
xx1600000522
IRB 2600ID
xx1600000523
Spare parts
When calibration is not being performed, a protective cover and an o-ring should
always be installed on the fixed calibration pin as well as a protective plug, included
a sealing, in the bushing. Replace damaged parts with new.
Spare part Article number Note
Protection cover and plug set 3HAC059487-001 Contains replacement calibration
pin covers and protective plugs
for the bushing.
Protective plug on turning disc 3HAC057676-001 Replace if damaged or missing.
(IRB 2600ID)
3HAC057511-001
(IRB 2600)
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Required consumables
Consumable Article number Note
Clean cloth -
Spare parts
xx1700000407 xx1700000408
IRB 2600ID
xx1700000410 xx1700000411
When calibrating axis 6, push in the calibration tool into the turning disc until
the snap ring engages, no further.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
Refit the protection plug(s) to the turning disc, push until the steel spring ring
snaps into place.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Continues on next page
428 Product manual - IRB 2600
3HAC035504-001 Revision: AE
© Copyright 2009-2023 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Note
3 Check if the standard calibration data for axes 4, If the data is optimized, the calibra-
5 or 6 are updated with wrist optimization. tion routine Wrist Optimization
This is shown in the calibration overview/summary must be re-run after standard calib-
window on the FlexPendant. ration.
See Calibrating with Wrist Optimiza-
tion method on page 436.
Note
3 The calibration method used at ABB factory for The FlexPendant will give all inform-
each axis is shown, as well as calibration method ation needed to proceed with Axis
used for the robot during last field calibration. Calibration.
4 Valid for RobotWare 6
Tap Call Calibration Method. The software will
automatically call for the procedure for the valid
calibration method. If not, tap Call Routine and
then tap Axis calibration.
5 Valid for RobotWare 7
Tap Calibration Methods on the right pane and
then tap Calibration. The software will automatic-
ally call for the procedure for the valid calibration
method.
Action Note
6 Follow the instructions given on the FlexPendant. A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 427.
CAUTION
After calibration
Action Note
1 Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
2 Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
xx1600002102
xx1500000952
Action Note
4 Refit the special protection plug to the turning IRB 2600
disc using the tool included in the calibration tool
box.
xx1700000408
IRB 2600ID
xx1700000411
xx1700000901
IRB 2600ID
xx1700000902
6 If the standard calibration data for axes 4, 5 or 6 See Calibrating with Wrist Optimiz-
should be updated with wrist optimization, run the ation method on page 436.
calibration routine Wrist Optimization.
Tip
Select positions with large reorientations around the TCP. For best results,
make sure that axis 4 and 5 have large movements.
a Jog the robot to an appropriate position,
A, for the first approach point.
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
b Tap Modify Position to define the point.
c Repeat for each approach point to be
defined, positions B, C, and D.
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
en0400000906
5 The robot moves to the optimized positions for the wrist axes and
automatically overwrites previous calibration data.
WARNING
Introduction
Always verify the results after calibrating any robot axis to verify that all calibration
positions are correct.
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the FlexPendant.Using the Jog window on
the FlexPendant.
6 Decommissioning
6.1 Introduction to decommissioning
Introduction
This section contains information to consider when taking a product, robot or
controller, out of operation.
It deals with how to handle potentially dangerous components and potentially
hazardous materials.
Note
Transportation
Prepare the robot or parts before transport, this to avoid hazards.
Introduction
ABB robots contain components in different materials. During decommissioning,
all materials should be dismantled, recycled, or reused responsibly, according to
the relevant laws and industrial standards. Robots or parts that can be reused or
upcycled helps to reduce the usage of natural resources.
Symbol
The following symbol indicates that the product must not be disposed of as common
garbage. Handle each product according to local regulations for the respective
content (see table below).
xx1800000058
Note
DANGER
7 Robot description
7.1 Robot types
Robot types
There are different versions of the IRB 2600, the initial version, Type A, and Type
B. The following table explains the differences.
There is also a Type C of IRB 2600, but it only affects two variants of the robot,
see the table and see Non-compatible versions of axis-1 and axis-2 gearboxes on
page 446.
xx1800002211
xx1800001133
xx1800000551
xx1800001134
xx1800000554
A The fixed calibration pin for Axis Calibra- The fixed calibration pin for Axis Calibra-
tion is located straight below the motor tion is located on a casted arm on the
flange. motor flange.
The bushing for the calibration tool is The bushing for the calibration tool is loc-
centered on the base. ated to the right on the base.
B The oil plug for drainage is located on the The oil plug for drainage is located in front
left side of the gearbox and visible through of the gearbox (when robot is standing in
an opening in the frame (when robot is synchronization position).
standing in synchronization position).
C The cable cover shape is triangular. The cable cover shape is rectangular.
D Hole pattern for 17 screws that fasten the Hole pattern for 16 screws that fasten the
lower arm to the gearbox. lower arm to the gearbox.
8 Reference information
8.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.
General
The product is compliant with ISO 10218-1:2011, Robots for industrial environments
- Safety requirements - Part 1 Robots, and applicable parts in the normative
references, as referred to from ISO 10218-1:2011. In case of deviation from ISO
10218-1:2011, these are listed in the declaration of incorporation. The declaration
of incorporation is part of the delivery.
Robot standards
Standard Description
ISO 9283 Manipulating industrial robots – Performance criteria and re-
lated test methods
ISO 9787 Robots and robotic devices – Coordinate systems and motion
nomenclatures
ISO 9946 Manipulating industrial robots – Presentation of characteristics
Standard Description
IEC 60204-1 Safety of machinery - Electrical equipment of machines - Part
1: General requirements, normative reference from ISO 10218-
1
IEC 61000-6-2 Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-4 Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
ISO 13849-1:2006 Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design, normative reference
from ISO 10218-1
Standard Description
ANSI/RIA R15.06 Safety requirements for industrial robots and robot systems
ANSI/UL 1740 Safety standard for robots and robotic equipment
CAN/CSA Z 434-03 Industrial robots and robot Systems - General safety require-
ments
EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus-
trial robots — Part 1: Robots
Converter table
Use the following table to convert units used in this manual.
Quantity Units
Length 1m 3.28 ft. 39.37 in
Weight 1 kg 2.21 lb.
Weight 1g 0.035 ounces
Pressure 1 bar 100 kPa 14.5 psi
Force 1N 0.225 lbf
Moment 1 Nm 0.738 lbf-ft
Volume 1L 0.264 US gal
General
This section describes how to tighten the various types of screw joints on ABB
robots.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints.
It features special surface treatment (Gleitmo as described below) and is extremely
resistant to fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other
type of replacement screw is allowed. Using other types of screws will void any
warranty and may potentially cause serious damage or injury.
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the following tables. Any
special torques are specified in the repair, maintenance or installation
procedure descriptions. Any special torque specified overrides the standard
torque!
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatic tools.
• Use the correct tightening technique, that is do not jerk. Tighten the screw
in a slow, flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
Tightening torque for oil-lubricated screws with slotted or cross-recess head screws
The following table specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess head screws.
Note
Note
Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm)
Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric-
ated ated
M5 6 - -
M6 10 - -
M8 24 34 40
M10 47 67 80
M12 82 115 140
M16 200 290 340
M20 400 560 670
Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm)
Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric-
ated ated
M24 680 960 1150
Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws
The following table specifies the recommended standard tightening torque for
screws lubricated with Molycote 1000, Gleitmo 603 or equivalent with allen head
screws.
Note
Definition
In installation, repair, and maintenance procedures, weights of the components
handled are sometimes specified. All components exceeding 22 kg (50 lbs) are
highlighted in this way.
To avoid injury, ABB recommends the use of a lifting accessory 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:
Action Note
CAUTION
General
All service (repairs, maintenance, and installation) procedures contains lists of
tools required to perform the specified activity.
All special tools required are listed directly in the procedures while all the tools
that are considered standard are gathered in the standard toolkit and defined in
the following table.
This way, the tools required are the sum of the standard toolkit and any tools listed
in the instruction.
Qty Tool
1 Ring-open-end spanner 8-19 mm
1 Socket head cap 2.5-17 mm
1 Torx socket no: 20-60
1 Small screwdriver
1 Plastic mallet
1 Ratchet head for torque wrench 1/2"
1 Socket head cap no: 5, socket 1/2" bit L 20 mm
1 Socket head cap no: 6, socket 1/2" bit L 20 mm
1 Socket head cap no: 8, socket 1/2" bit L 20 mm
1 Small cutting plier
1 T-handle with ball head
General
All service instructions contain lists of tools required to perform the specified
activity. The required tools are a sum of standard tools, defined in the section
Standard tools on page 458, and of special tools, listed directly in the instructions
and also gathered in this section.
Special tools
This table specifies the special tools required during several of the service
procedures. The tools are specified directly in concerned instructions.
Description Qty Article no.
Guide for reduction gear 1 3HAC068109-001
Used to guide axis-1 gear and frame
during refitting.
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
The instructions delivered with the lifting accessories should be stored for later
reference.
Location
Spare parts and exploded views are not included in the manual but delivered as
a separate document for registered users on myABB Business Portal,
www.abb.com/myABB.
Tip
10 Circuit diagram
10.1 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but are available for registered
users on myABB Business Portal, www.abb.com/myABB.
See the article numbers in the tables below.
Controllers
Manipulators
Index D
direction of axes, 411
A E
Absolute Accuracy, calibration, 406 environmental information, 442
allergenic material, 32 ESD
aluminum damage elimination, 56
disposal, 442 sensitive equipment, 56
ambient humidity expansion container
operation, 48 installing, 95
storage, 48 expected life, 120
ambient temperature
operation, 48 F
storage, 48 fire extinguishing, 33
assembly instructions, 43 FlexPendant
assessment of hazards and risks, 32 jogging to calibration position, 439–440
Axis Calibration, 418 MoveAbsJ instruction, 439–440
calibration tool updating revolution counters, 413, 416
article number, 421, 427 foundation
examining, 421 requirements, 47
installation position, 423
overview of method, 418 G
procedure on FlexPendant, 427, 436 gearboxes
protective cover and protection plug, 423, 427 location of, 151
Gravity Alpha, 62
B Gravity Beta, 61
batteries grease, 36
disposal, 442 disposal, 442
battery pack
replacing, interval, 118 H
brakes hanging
testing function, 40 installed hanging, 32
hazard levels, 23
C hazardous material, 442
cabinet lock, 33 height
cabling, robot, 105 installed at a height, 32
cabling between robot and controller, 104 hot surfaces, 36
calibrating HRA, 32
robot, 418 humidity
roughly, 412, 416 operation, 48
calibrating robot, 418, 435–436 storage, 48
calibration
Absolute Accuracy type, 404 I
rough, 412, 416 instructions for assembly, 43
standard type, 404 integrator responsibility, 32
verification, 438 intervals for maintenance, 117
when to calibrate, 407
calibration, Absolute Accuracy, 406 L
calibration manuals, 406 labels
calibration marks, 408 robot, 25
Calibration Pendulum leak-down test, 194
overview of method, 435 lifting
calibration position accessory, 60
jogging to, 439–440 lifting accessory, 457
scales, 408 limitation of liability, 21
calibration scales, 408 Lithium
CalibWare, 404 disposal, 442
carbon dioxide extinguisher, 33 loads on foundation, 46
cast iron lock and tag, 33
disposal, 442 lubricants, 36
cleaning, 188 lubrication
climbing on robot, 36 amount in gearboxes, 151
Cold environments, 103 type of lubrication, 151
connecting the robot and controller, cabling, 104
copper M
disposal, 442 magnesium
disposal, 442
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC035504-001, Rev AE, en