ABB IRT 710 Manual de usuario

ROBOTICS

Product manual

IRT 710

Trace back information:

Workspace Systems version a40

Checked in 2023-10-18

Skribenta version 5.5.019

Product manual

IRT 710

IRC5

Document ID: 3HKA00000186299-001

Revision: B

Specifications subject to change without notice.

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, damage to persons

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

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

use of this manual and products described herein.

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

written permission.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

Specifications subject to change without notice.

Table of contents
9Overview of this manual ...................................................................................................................
11Product documentation ....................................................................................................................
13How to read the product manual ......................................................................................................
151 Safety
151.1 Safety information ............................................................................................. 151.1.1 Limitation of liability ................................................................................. 171.1.2 Requirements on personnel ...................................................................... 181.1.3 Safeguarded space .................................................................................. 221.2 Safety actions ................................................................................................... 221.2.1 Personal protective equipment .................................................................. 231.2.2 Fire extinguishing .................................................................................... 241.2.3 Emergency release .................................................................................. 251.2.4 Make sure that the main power has been switched off .................................... 261.3 Safety risks ...................................................................................................... 261.3.1 Safety risks during installation and service work ........................................... 281.3.2 Moving equipment is potentially lethal ......................................................... 291.3.3 First test run may cause injury or damage .................................................... 301.3.4 Work inside the working range of the Product ............................................... 311.3.5 Enabling device and hold-to-run functionality ............................................... 321.3.6 Risks associated with live electric parts ....................................................... 341.3.7 Hot parts may cause burns ....................................................................... 351.3.8 Brake testing .......................................................................................... 361.3.9 Safety risks during handling of batteries ...................................................... 371.3.10 Safety risks during work with gearbox lubricants (oil or grease) ....................... 391.4 Safety signals and symbols ................................................................................. 391.4.1 Safety signals in the manual ...................................................................... 401.4.2 Safety symbols on product labels ............................................................... 461.5 Product stopping functions ................................................................................. 481.6 Safety during installation and commissioning ......................................................... 501.7 Safety during operation ...................................................................................... 521.8 Safety during maintenance and repair ................................................................... 521.8.1 Safety during maintenance and repair ......................................................... 551.8.2 Emergency release of the Product axes ....................................................... 561.9 Safety during troubleshooting .............................................................................. 571.10 Safety during decommissioning ...........................................................................
592 Technical data
592.1 Technical data .................................................................................................. 662.2 Working range ................................................................................................. 822.3 Information labels .............................................................................................. 832.4 IRT 710 terms ...................................................................................................
853 Installation and commissioning
853.1 Introduction to installation and commissioning ....................................................... 863.2 Overview of installation and commissioning procedure ............................................ 873.3 Unpacking ....................................................................................................... 873.3.1 Pre-installation procedure ......................................................................... 893.3.2 Acceptance inspection ............................................................................. 903.3.3 Storage ................................................................................................. 903.3.3.1 Storing the cable chain ................................................................. 923.4 On-site installation ............................................................................................ 923.4.1 Track motion IRT 710 overview .................................................................. 973.4.2 Track motion IRT 710 layout ...................................................................... 993.4.3 Lifting with lifting accessories .................................................................... 993.4.3.1 Lifting and moving track motion IRT 710 ..........................................
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Table of contents

1103.4.4 Foundation ............................................................................................ 1163.4.5 Screw joints ........................................................................................... 1173.4.6 Moving the carriage manually .................................................................... 1203.4.7 Assembling the track motion IRT 710 .......................................................... 1203.4.7.1 Assembling the sections ............................................................... 1283.4.7.2 Recommendations for floor mounting .............................................. 1333.4.7.3 Geometric alignment of track motion IRT 710 .................................... 1393.4.8 Assembling the pedestal (option) ............................................................... 1413.4.9 Assembly of the manipulator ..................................................................... 1433.5 Electrical installation .......................................................................................... 1433.5.1 Cabling of the IRT 710 .............................................................................. 1453.5.2 Specifications of the movement cables ........................................................ 1463.5.3 Installation of the cable chain .................................................................... 1503.5.4 SMB box ................................................................................................ 1543.5.5 Connectors on IRC5 controller ................................................................... 1563.5.6 Connectors on Drive Module ..................................................................... 1573.5.7 Assembly the cable of the additional axes SMB ............................................ 1583.5.8 Grounding point ...................................................................................... 1603.5.9 Cables connections ................................................................................. 1643.5.10 Harness outlet ........................................................................................ 1713.5.11 Inspection points of cable chain prior to start-up ........................................... 1723.6 Software installation .......................................................................................... 1723.6.1 Creating and downloading a system ........................................................... 1743.6.2 Updating the revolution counter on the track motion ...................................... 1753.7 Lubrication ....................................................................................................... 1753.7.1 Activating the automatic lubrication system .................................................. 1773.7.2 Lubrication feedback (optional) .................................................................. 1783.8 Zone division ....................................................................................................
1794 Maintenance
1794.1 Introduction ...................................................................................................... 1804.2 Maintenance schedule and expected component life ............................................... 1804.2.1 Specification of maintenance intervals ........................................................ 1814.2.2 Maintenance schedule ............................................................................. 1834.2.3 Expected component life ......................................................................... 1844.3 Inspection activities ........................................................................................... 1844.3.1 Inspecting the information labels ............................................................... 1864.3.2 Inspecting the lubrication system ............................................................... 1884.3.3 Inspecting the cable chain ........................................................................ 1904.3.4 Inspecting the levelling screw .................................................................... 1924.3.5 Inspecting the rectangular rails .................................................................. 1944.3.6 Inspecting the cam roller units ................................................................... 1964.3.7 Inspecting the felt wiper ........................................................................... 1984.3.8 Inspecting the cables and connectors ......................................................... 1994.3.9 Inspecting the mechanical stops ................................................................ 2004.3.10 Inspecting the gearbox, back lash .............................................................. 2024.4 Cleaning activities ............................................................................................. 2024.4.1 Cleaning the IRT 710 ............................................................................... 2044.4.2 Cleaning and lubricating the gear racks ....................................................... 2054.4.3 Cleaning and lubricating the rectangular rails ............................................... 2074.5 Lubrication activities .......................................................................................... 2074.5.1 Adjusting the leveling ............................................................................... 2084.5.2 Automatic lubrication system ..................................................................... 2144.6 Replacement/changing activities .......................................................................... 2144.6.1 Replacing the SMB battery pack ................................................................ 2164.6.2 Replacing the grease package and battery ................................................... 2174.6.3 Replenishing oil, cam roller unit .................................................................
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Table of contents

2195 Repair
2195.1 Introduction ...................................................................................................... 2205.2 Replacing the carriage parts ................................................................................ 2205.2.1 Replacing the motor and gearbox ............................................................... 2345.2.2 Replacing the cam roller units ................................................................... 2445.2.3 Replacing the scraper parts ...................................................................... 2495.2.4 Replacing the lubrication parts ................................................................... 2585.3 Replacing the track parts .................................................................................... 2595.3.1 Replacing the covers ............................................................................... 2615.3.1.1 Replacing the track covers ............................................................ 2635.3.1.2 Replacing the terminal covers ........................................................ 2655.3.1.3 Replacing the rack covers ............................................................. 2675.3.2 Replacing the rectangular rails ................................................................... 2715.3.3 Replacing the racks ................................................................................. 2755.3.4 Replacing the mechanical stops ................................................................. 2795.4 Replacing the cable chain parts ........................................................................... 2795.4.1 Replacing the cable chain covers ............................................................... 2815.4.1.1 Replacing the external cable chain covers ........................................ 2835.4.1.2 Replacing the cable chain terminal covers ........................................ 2855.4.2 Replacing the cable chain parts ................................................................. 2885.4.2.1 Replacing the outer cable chain link ................................................ 2955.4.2.2 Replacing the inner cable chain link ................................................ 3025.4.2.3 Replacing the vertical separators .................................................... 3075.4.2.4 Replacing the movable chain end ................................................... 3145.4.2.5 Replacing the fixed chain end ........................................................ 3185.4.2.6 Replacing the cables in cable chain ................................................
3356 Calibration
3356.1 Introduction to calibration ................................................................................... 3356.1.1 Introduction and calibration terminology ...................................................... 3366.1.2 Calibration methods ................................................................................. 3376.1.3 When to calibrate .................................................................................... 3386.2 Synchronization marks and track motion movement directions .................................. 3386.2.1 Synchronization marks and synchronization position for track motions ............. 3426.3 Updating revolution counters ............................................................................... 3426.3.1 Updating revolution counters for axis calibration ........................................... 3446.3.2 Updating revolution counters for pin calibration ............................................ 3456.4 Calibrating with Axis Calibration method ............................................................... 3466.4.1 Description of Axis Calibration .................................................................. 3486.4.2 Calibration tools for Axis Calibration ........................................................... 3506.4.3 Installation locations for the calibration tools ............................................... 3516.4.4 Axis Calibration - Running the calibration procedure ...................................... 3556.4.5 Reference calibration ............................................................................... 3576.5 Pin calibration .................................................................................................. 3596.6 Checking the synchronization position ..................................................................
3617 Decommissioning
3617.1 Environmental information .................................................................................. 3637.2 Scrapping of robot .............................................................................................
3658 Reference information
3658.1 Introduction ...................................................................................................... 3668.2 Applicable standards ......................................................................................... 3678.3 Unit conversion ................................................................................................. 3688.4 Screw joints .................................................................................................... 3718.5 Weight specifications ......................................................................................... 3728.6 Standard toolkit ................................................................................................ 3738.7 Special tools ....................................................................................................
Product manual - IRT 710 7
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Table of contents

3768.8 Lifting accessories and lifting instructions ..............................................................

3779 Spare parts

3779.1 Spare part lists and illustrations ...........................................................................

37910 Circuit diagrams

381Index

8 Product manual - IRT 710

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Table of contents

Overview of this manual

About this manual

This manual contains instructions for:

• mechanical and electrical installation of the IRT 710

• maintenance of the IRT 710

• mechanical and electrical repair of the IRT 710

The robot described in this manual has the following protection types:

•Standard

Product manual scope

The manual covers all variants and designs of the IRT 710. Some variants and

designs may have been removed from the business offer and are no longer available

for purchase.

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

It is the responsibility of the integrator to conduct a risk assessment of the final

application.

It is the responsibility of the integrator to provide safety and user guides for the

robot system.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites

A maintenance/repair/installation craftsman working with an ABB robot must:

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

electrical installation/repair/maintenance work.

• be trained to respond to emergencies or abnormal situations.

Continues on next page

Product manual - IRT 710 9

3HKA00000186299-001 Revision: B

Overview of this manual

References

Documentation referred to in the manual, is listed in the table below.

Document IDDocument name

3HKA00000191844Product specification - IRT 710

3HAC021313-001Product manual - IRC5

3HAC16590-1Operating manual - IRC5 with FlexPendant

3HAC025709-001Service Information System - IRC5

3HAC021395-001Application manual - Additional axes and stand alone controller

3HAC050948-001Technical reference manual - System parameters

3HAC056372-001IRB 7600 product manual

3HAC055424-001IRB 6650 product manual

3HAC044270-001IRB 6700 product manual

3HAC039838-001IRB 760 product manual

3HAC025755-001IRB 660 product manual

3HAC033453-001IRB 4600 product manual

3HAC022032-001IRB 4400 product manual

3HAC039842-001IRB 460 product manual

Revisions

DescriptionRevision

First edition.A

The following updates are done in this revision:

• Minor corrections.

• Updated content with new drive unit bracket and backlash tool.

• Updated creating and downloading a system procedures.

• Added harness outlet chapter.

• Updated IRB 6660 with 500 mm riser.

• Updated illustrations throughout the manual accordingly.

10 Product manual - IRT 710

3HKA00000186299-001 Revision: B

Overview of this manual

Continued

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