ABB DressPack IRB 6700 Manual de usuario

ROBOTICS

Product manual

DressPack/SpotPack IRB 6700

Trace back information:

Workspace R17-2 version a11

Checked in 2017-09-20

Skribenta version 5.1.011

Product manual

DressPack/SpotPack IRB 6700

IRC5

Document ID: 3HAC044270-001

Revision: F

The information in this manual is subject to change without notice and should not

be construed as a commitment by ABB. ABB assumes no responsibility for any errors

that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to

persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's

written permission.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

ABB AB, Robotics

Robotics and Motion

Se-721 68 Västerås

Sweden

Table of contents
9Overview of this manual ...................................................................................................................
12Product documentation, IRC5 ..........................................................................................................
14How to read the product manual ......................................................................................................
15Product name principles ...................................................................................................................
171 Safety
171.1 Introduction to safety information ......................................................................... 181.2 General safety information .................................................................................. 181.2.1 Introduction to general safety information .................................................... 191.2.2 Safety in the robot system ........................................................................ 211.2.3 Protective stop and emergency stop ........................................................... 221.2.4 Safety risks ............................................................................................ 221.2.4.1 Safety risks during installation and service work on manipulators ......... 251.2.4.2 CAUTION - Hot parts may cause burns! ........................................... 261.2.4.3 Safety risks related to tools/work pieces .......................................... 271.2.4.4 Safety risks related to pneumatic/hydraulic systems .......................... 281.2.4.5 Safety risks during operational disturbances ..................................... 291.2.4.6 Risks associated with live electric parts ........................................... 311.2.5 Safety actions ......................................................................................... 311.2.5.1 Safety fence dimensions ............................................................... 321.2.5.2 Fire extinguishing ........................................................................ 331.2.5.3 Emergency release of the robot arm ............................................... 341.2.5.4 Brake testing .............................................................................. 351.2.5.5 Risk of disabling function "Reduced speed 250 mm/s" ........................ 361.2.5.6 Enabling device and hold-to-run functionality .................................... 371.2.5.7 Work inside the working range of the robot ....................................... 381.2.5.8 Signal lamp (optional) ................................................................... 391.3 Safety signals and symbols ................................................................................. 391.3.1 Safety signals in the manual ...................................................................... 411.3.2 Safety symbols on product labels ............................................................... 471.4 Safety related instructions .................................................................................. 471.4.1 DANGER - Moving robots are potentially lethal! ............................................ 481.4.2 DANGER - First test run may cause injury or damage! ................................... 491.4.3 WARNING - The brake release buttons may be jammed after service work ........ 501.4.4 DANGER - Make sure that the main power has been switched off! .................... 511.4.5 WARNING - The unit is sensitive to ESD! ..................................................... 531.4.6 WARNING - Safety risks during handling of batteries ..................................... 541.4.7 WARNING - Safety risks during work with gearbox lubricants (oil or grease) ......
572 Installation
572.1 Introduction ...................................................................................................... 582.2 Overview ......................................................................................................... 592.3 Fitting DressPack on an IRB 6700Inv .................................................................... 632.4 Fitting the cable package attachments .................................................................. 632.4.1 Fitting attachments of the IRBDP MH3 UE .................................................... 682.4.2 Fitting attachments of the IRBDP MH3 LI ..................................................... 712.4.3 Fitting attachments of the IRBDP SW6 LE (Lean ID) ....................................... 772.4.4 Fitting attachments of the IRBDP MH6 UI and IRBDP SW6 UI (Lean ID) ............. 842.5 Fitting the process turning disc ............................................................................ 892.6 Fitting DressPack cable packages ........................................................................ 892.6.1 Fitting the cable package IRBDP MH3 UE .................................................... 952.6.2 Fitting the cable package IRBDP MH3 LI ...................................................... 1022.6.3 Fitting the cable package IRBDP SW6 LE (Lean ID) ....................................... 1112.6.4 Fitting the cable packages IRBDP MH6 UI and IRBDP SW6 UI (Lean ID) ............ 1202.7 Inspection, DressPack lower arm ......................................................................... 1212.8 Inspection, DressPack upper arm .........................................................................
Product manual - DressPack/SpotPack IRB 6700 5
3HAC044270-001 Revision: F
© Copyright 2014-2017 ABB. All rights reserved.
Table of contents

9 Expected lifetime of the integrated DressPack cable package .................................... 1242.10 DressPack adjustments ...................................................................................... 1242.10.1 Adjustments of the cable package - IRBDP MH3 UE ...................................... 1252.10.2 Inspection during programming and test-running .......................................... 1272.11 DressPack arm load parameters .......................................................................... 1272.11.1 DressPack - arm load parameters and LoadId ............................................... 1322.12 DressPack floor ................................................................................................ 1322.12.1 Installation of DressPack floor ................................................................... 1352.12.2 Inspection, DressPack floor ....................................................................... 1362.13 Water & Air unit ................................................................................................ 1362.13.1 Installation of Water and air unit ................................................................. 1432.13.2 Return water flow control .......................................................................... 1442.13.3 Return water flow switch setting ................................................................. 1462.13.4 Setting of air pressure switch (only applicable to type S) ................................ 1482.13.5 Setting of electrical proportional valve (option) .............................................
Maintenance
1 Introduction ...................................................................................................... 1523.2 Maintenance schedule and component life ............................................................. 1523.2.1 Maintenance schedule ............................................................................. 1543.3 Inspection activities SpotPack ............................................................................. 1543.3.1 Preventive inspection of all cables, DressPack ............................................. 1563.3.2 Preventive inspection, DressPack upper arm ................................................ 1603.3.3 Preventive inspection of Water and air unit .................................................. 1623.4 Cleaning activities ............................................................................................. 1623.4.1 Cleaning, DressPack upper arm ................................................................. 1633.4.2 Cleaning, Water and air unit ......................................................................
Repair
1 Introduction ...................................................................................................... 1664.2 DressPack cable package ................................................................................... 1664.2.1 Replacing the cable package IRBDP MH3 UE ............................................... 1704.2.2 Replacing the cable package IRBDP MH3 LI ................................................. 1764.2.3 Replacing the cable package IRBDP SW6 LE (Lean ID) .................................. 1824.2.4 Replacing the cable packages IRBDP MH6 UI and IRBDP SW6 UI (Lean ID) ....... 1884.2.5 Replacing the protection hose IRBDP SW6 UI and IRBDP MH6 UI .................... 1984.3 Water & Air unit ................................................................................................ 1984.3.1 Replacement of Air supply circuit ............................................................... 2014.3.2 Replacement of Water-in circuit ................................................................. 2034.3.3 Replacement of Water-return circuit ............................................................ 2064.3.4 Replacement of Air filter element ...............................................................
Decommissioning
1 Environmental information ..................................................................................
Reference information
1 Introduction ...................................................................................................... 2126.2 Unit conversion ................................................................................................. 2136.3 Screw joints .................................................................................................... 2166.4 Weight specifications ......................................................................................... 2176.5 Toolkits, DressPack/SpotPack ............................................................................. 2196.6 Lifting accessories and lifting instructions ..............................................................
Spare parts
1 Introduction ...................................................................................................... 2227.2 DressPack cable package IRBDP SW6 LE ............................................................. 2237.3 DressPack cable package IRBDP SW6 UI .............................................................. 2247.4 DressPack cable package IRBDP MH3 UI ..............................................................
Product manual - DressPack/SpotPack IRB 6700
3HAC044270-001 Revision: F
© Copyright 2014-2017 ABB. All rights reserved.
Table of contents

2257.5 DressPack cable package IRBDP MH6 LI ............................................................... 2267.6 DressPack cable package IRBDP MH6 UI .............................................................. 2277.7 Sub cables ....................................................................................................... 2287.8 Wear parts ....................................................................................................... 2307.9 Connection kits ................................................................................................. 2317.10 7th axis to base ................................................................................................. 2327.11 DressPack floor ................................................................................................ 2337.12 Customer signal/power ....................................................................................... 2347.13 Water and air unit ..............................................................................................

2358 Circuit diagrams

2358.1 Circuit diagrams ................................................................................................

237Index

Product manual - DressPack/SpotPack IRB 6700 7

3HAC044270-001 Revision: F

Table of contents

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Overview of this manual

About this manual

This manual contains instructions for:

• mechanical and electrical work for DressPack/SpotPack systems

• maintenance of the DressPack/SpotPack systems

• mechanical and electrical repair of the DressPack/SpotPack systems.

The manual also contains reference information for all procedures detailed in the

manual.

Usage

This manual should be used during:

• installation of the DressPack/SpotPack system

• maintenance of the DressPack/SpotPack system

• repair work of the DressPack/SpotPack system.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites

Maintenance/repair/installation personnel working with an ABB Robot must:

• be trained by ABB and have the required knowledge of mechanical and

electrical installation/repair/maintenance work.

Organization of chapters

The manual is organized in the following chapters:

ContentsChapter

Safety information that must be read through before performing

any installation or service work on the robot. Contains general

safety aspects as well as more specific information on how to

avoid personal injuries and damage to the product.

Safety

Descriptions of mechanical installation and electrical connections.Installation

Descriptions of all required preventive maintenance procedures

including intervals.

Maintenance

Descriptions of all recommended repair procedures.Repair

Useful information when performing installation, maintenance or

repair work. Includes lists of necessary tools, additional docu-

ments, safety standards etc.

Reference information

Complete spare part list and list of robot components, shown in

exploded views.

Spare parts

References to the circuit diagrams.Circuit diagram

Continues on next page

Product manual - DressPack/SpotPack IRB 6700 9

3HAC044270-001 Revision: F

Overview of this manual

References

Document IDReference

3HAC031045-001Operating manual - General safety information i

3HAC044266-001Product manual - IRB 6700

3HAC058254-001Product manual - IRB 6700Inv

3HAC044268-001Product manual, spare parts - IRB 6700

3HAC021313-001Product manual - IRC5

IRC5 with main computer DSQC 639.

3HAC047136-001Product manual - IRC5

IRC5 with main computer DSQC1000.

3HAC044246-002Circuit diagram - DressPack 6700

3HAC026208-001Circuit diagram - SpotPack 6700

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC050948-001Technical reference manual - System parameters

iThis manual contains all safety instructions from the product manuals for the manipulators and the

controllers.

Note

The document numbers that are listed for software documents are valid for

RobotWare 6. Equivalent documents are available for RobotWare 5.

Revisions

DescriptionRevision

First edition.-

The following updates are done in this revision:

• The variants IRB 6700-300/2.70 and IRB 6700-240/3.00 are added.

• Added information about limitations of robot movement due to

DressPack, see Overview on page 58.

• Added the section Fitting the process turning disc on page 84.

• Updated information on how to apply cable grease through the tube,

see Fitting the cable package IRBDP MH3 UE on page 89, and Fitting

the cable packages IRBDP MH6 UI and IRBDP SW6 UI (Lean ID) on

page 111.

• Updated information on how to fit customer plate, process plate, and

adapter complete in the base, see Fitting the cable package IRBDP MH3

LI on page 95,Fitting the cable package IRBDP SW6 LE (Lean ID) on

page 102, and Replacing the cable package IRBDP MH3 LI on page 170.

• How to fit the weld connector bracket updated. Section Fitting the cable

package IRBDP SW6 LE (Lean ID) on page 102.

•Corrected spare part number on Paracom cable (SW6 LE), see DressPack

cable package IRBDP SW6 LE on page 222.

• Corrected spare part number on Paramulti cable package, long (SW6

UI), see DressPack cable package IRBDP SW6 UI on page 223.

•Added spare parts to water and air unit, see Water & Air unit on page 136.

• Information about option 782-13 Bosch MFDC PROFINET added to In-

stallation of DressPack floor on page 132. The section is also clarified,

information about connections etc. is referred to the circuit diagram

Continues on next page

10 Product manual - DressPack/SpotPack IRB 6700

3HAC044270-001 Revision: F

Overview of this manual

Continued

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