ABB IRB 6620LX Manual de usuario

ROBOTICS

Product manual

DressPack/SpotPack IRB 6620LX

Trace back information:

Workspace R17-2 version a11

Checked in 2017-09-20

Skribenta version 5.1.011

Product manual

DressPack/SpotPack IRB 6620LX

IRC5

Document ID: 3HAC055327-001

Revision: A

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
7Overview of this manual ...................................................................................................................
9Product documentation, IRC5 ..........................................................................................................
11Product name principles ...................................................................................................................
131 Safety
131.1 Introduction to safety information ......................................................................... 141.2 General safety information .................................................................................. 141.2.1 Introduction to general safety information .................................................... 151.2.2 Safety in the robot system ........................................................................ 171.2.3 Protective stop and emergency stop ........................................................... 181.2.4 Safety risks ............................................................................................ 181.2.4.1 Safety risks during installation and service work on manipulators ......... 211.2.4.2 CAUTION - Hot parts may cause burns! ........................................... 221.2.4.3 Safety risks related to tools/work pieces .......................................... 231.2.4.4 Safety risks related to pneumatic/hydraulic systems .......................... 241.2.4.5 Safety risks during operational disturbances ..................................... 251.2.4.6 Risks associated with live electric parts ........................................... 271.2.5 Safety actions ......................................................................................... 271.2.5.1 Safety fence dimensions ............................................................... 281.2.5.2 Fire extinguishing ........................................................................ 291.2.5.3 Emergency release of the robot arm ............................................... 301.2.5.4 Brake testing .............................................................................. 311.2.5.5 Risk of disabling function "Reduced speed 250 mm/s" ........................ 321.2.5.6 Enabling device and hold-to-run functionality .................................... 331.2.5.7 Work inside the working range of the robot ....................................... 341.2.5.8 Signal lamp (optional) ................................................................... 351.3 Safety signals and symbols ................................................................................. 351.3.1 Safety signals in the manual ...................................................................... 371.3.2 Safety symbols on product labels ............................................................... 431.4 Safety related instructions .................................................................................. 431.4.1 DANGER - Moving robots are potentially lethal! ............................................ 441.4.2 DANGER - First test run may cause injury or damage! ................................... 451.4.3 WARNING - The brake release buttons may be jammed after service work ........ 461.4.4 DANGER - Make sure that the main power has been switched off! .................... 481.4.5 WARNING - The unit is sensitive to ESD! ..................................................... 501.4.6 WARNING - Safety risks during handling of batteries ..................................... 511.4.7 WARNING - Safety risks during work with gearbox lubricants (oil or grease) ......
532 Installation
532.1 Introduction ...................................................................................................... 542.2 DressPack cable package ................................................................................... 542.2.1 Overview ............................................................................................... 562.2.2 Fitting the lower arm cable package - IRBDP MH 3 LE .................................... 622.2.3 Fitting the attachments of the upper arm cable package - IRBDP MH 3 UE ......... 662.2.4 Fitting the upper arm cable package - IRBDP MH 3 UE ................................... 712.2.5 Inspection, DressPack lower arm ............................................................... 722.2.6 Inspection, DressPack upper arm ............................................................... 742.3 DressPack adjustments ...................................................................................... 742.3.1 Adjustments of the cable package - IRBDP MH3 UE ...................................... 762.3.2 Inspection during programming and test-running .......................................... 772.4 DressPack Armload parameters ........................................................................... 792.5 DressPack floor ................................................................................................ 792.5.1 Installation of DressPack floor ................................................................... 822.5.2 Inspection, DressPack floor .......................................................................
Product manual - DressPack/SpotPack IRB 6620LX 5
3HAC055327-001 Revision: A
© Copyright 2016-2017 ABB. All rights reserved.
Table of contents

Maintenance
1 Introduction ...................................................................................................... 843.2 Maintenance schedule and component lives .......................................................... 843.2.1 Maintenance schedule ............................................................................. 863.3 Inspection activities ........................................................................................... 863.3.1 Preventive inspection of all cables, DressPack ............................................. 883.3.2 Preventive inspection, DressPack upper end ................................................
Repair
1 Introduction ...................................................................................................... 924.2 DressPack cable package ................................................................................... 924.2.1 Replacement of the lower arm cable package - IRBDP MH 3 LE ....................... 984.2.2 Replacement of upper arm cable package - IRBDP MH 3 UE ...........................
Decommissioning
1 Environmental information ..................................................................................
Reference information
1 Introduction ...................................................................................................... 1046.2 Applicable standards ......................................................................................... 1066.3 Unit conversion ................................................................................................. 1076.4 Screw joints .................................................................................................... 1106.5 Weight specifications ......................................................................................... 1116.6 Toolkits, DressPack/SpotPack ............................................................................. 1126.7 Lifting accessories and lifting instructions ..............................................................
Spare parts
1 Introduction ...................................................................................................... 1147.2 DressPack IRB 6620LX ...................................................................................... 1147.2.1 DressPack cable package lower arm - IRBDP MH 3 LE ................................... 1157.2.2 DressPack cable package upper arm - IRBDP MH 3 UE .................................. 1167.2.3 Connection kits ....................................................................................... 1177.2.4 7:th axis to base ...................................................................................... 1187.2.5 Customer signal/power .............................................................................
119Index
Product manual - DressPack/SpotPack IRB 6620LX
3HAC055327-001 Revision: A
© Copyright 2016-2017 ABB. All rights reserved.
Table of contents

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 this

manual.

Usage

This manual shall be used during:

• installation on the DressPack/SpotPack system

• maintenance on the DressPack/SpotPack system

• repair work on the DressPack/SpotPack system.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites

A 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

Environmental information about the components.Decommissioning

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 incuding wear parts shown in exploded

views.

Spare parts

References to article numbers for circuit diagrams.Circuit diagrams

Continues on next page

Product manual - DressPack/SpotPack IRB 6620LX 7

3HAC055327-001 Revision: A

Overview of this manual

References

Document IDReference

3HAC031045-001Operating manual - General safety information i

3HAC025861-001Product specification - IRB 6620

3HAC035737-001Product manual - IRB 6620LX

3HAC021313-001Product manual - IRC5

3HAC026136-001Circuit diagram - DressPack 6620

3HAC026208-001Circuit diagram - SpotPack 6620

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.-

Published in release R17.2. The following updates are done in this revision:

• Updated list of applicable standards.

8 Product manual - DressPack/SpotPack IRB 6620LX

3HAC055327-001 Revision: A

Overview of this manual

Continued

Product documentation, IRC5

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.

All documents listed can be ordered from ABB on a DVD. The documents listed

are valid for IRC5 robot systems.

Product manuals

Manipulators, controllers, DressPack/SpotPack, 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.

• Decommissioning.

•Reference information (safety standards, unit conversions, screw joints, lists

of tools).

• Spare parts list with exploded views (or references to separate spare parts

lists).

• Circuit diagrams (or references to circuit diagrams).

Technical reference manuals

The technical reference manuals describe reference information for robotics

products.

•Technical reference manual - Lubrication in gearboxes: Description of types

and volumes of lubrication for the manipulator gearboxes.

•Technical reference manual - RAPID overview: An overview of the RAPID

programming language.

•Technical reference manual - RAPID Instructions, Functions and Data types:

Description and syntax for all RAPID instructions, functions, and data types.

•Technical reference manual - RAPID kernel: A formal description of the

RAPID programming language.

•Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Continues on next page

Product manual - DressPack/SpotPack IRB 6620LX 9

3HAC055327-001 Revision: A

Product documentation, IRC5

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, DVD with PC software).

• How to install included or required hardware.

• How to use the application.

• Examples of 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.

The group of manuals includes (among others):

•Operating manual - Emergency safety information

•Operating manual - General safety information

•Operating manual - Getting started, IRC5 and RobotStudio

•Operating manual - IRC5 Integrator's guide

•Operating manual - IRC5 with FlexPendant

•Operating manual - RobotStudio

•Operating manual - Troubleshooting IRC5

10 Product manual - DressPack/SpotPack IRB 6620LX

3HAC055327-001 Revision: A

Product documentation, IRC5

Continued

Otros manuales para IRB 6620LX

Este manual sirve para los siguientes modelos

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