ABB IRB 360/3 Product Manual
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ABB IRB 360/3 Product Manual

Parallel robot
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Product manual
Parallel robot
IRB 360
IRB 360/3
IRB 360/1 - 800
M2004

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Summary of Contents for ABB IRB 360/3

  • Page 1 Product manual Parallel robot IRB 360 IRB 360/3 IRB 360/1 - 800 M2004...
  • Page 3 Product manual IRB360 IRB360/3 IRB360/1-800 M2004 Document ID: 3HAC030005-001 Revision: -...
  • Page 4 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.

  • Page 5: Table Of Contents

    Table of Contents Overview ................7 Product documentation, M2004 .
  • Page 6 Table of Contents 3.2 Maintenance schedule and component life ..........75 3.2.1 Maintenance schedule IRB 360 .
  • Page 7 Table of Contents 5.3 Calibration movement directions for all axes..........173 5.4 Calibration scales and correct axis position .
  • Page 8 Table of Contents 3HAC030005-001 Revision: -...

  • Page 9: Overview

    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. Organization of chapters The manual is organized in the following chapters:...
  • Page 10 Overview Continued Chapter Contents Reference information Useful information when performing installation, maintenance or repair work. Includes lists of necessary tools, additional documents, safety standards etc. Spare part / part list Complete spare part list and complete list of robot components, shown in exploded views.

  • Page 11: Product Documentation, M2004

    This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered. However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems.
  • Page 12 Product documentation, M2004 Continued Operating manuals This group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes: • Emergency safety information •...

  • Page 13: How To Read The Product Manual

    How to read the product manual How to read the product manual Reading the procedures The procedures contain references to figures, tools, material etc. The references are read as described below. References to figures The procedures often include references to components or attachment points located on the robot/controller.
  • Page 14 How to read the product manual 3HAC030005-001 Revision: -...

  • Page 15: Safety

    1 Safety 1.1. Introduction 1 Safety 1.1. Introduction Overview The safety information in this manual is divided in two categories: • general safety aspects, important to attend to before performing any service or installation work on the controller. These are applicable for all service work and are found in section General safety information.

  • Page 16: General 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. Related information...

  • Page 17: Safety Risks

    Nation/region specific regulations To prevent injuries and damage during the installation of the robot system, the regulations applicable in the country concerned and the instructions of ABB Robotics must be complied with. Non-voltage related risks •...
  • Page 18 1 Safety 1.2.2.1. Safety risks during installation and service work on robot Continued Complete robot Safety risk Description Hot components! CAUTION! Motors and gears are HOT after running the robot! Touching motors and gears may result in burns! With higher environment temperature more surfaces on the robot are getting HOT and may result in burns too! Removed parts may result in collapse of robot!

  • Page 19: Safety Risks Related To Tools/Workpieces

    1 Safety 1.2.2.2. Safety risks related to tools/workpieces 1.2.2.2. Safety risks related to tools/workpieces Safe handling It must be possible to safely turn off tools, such as milling cutters, etc. Make sure that guards remain closed until the cutters stop rotating. It should be possible to release parts by manual operation (valves).

  • Page 20: Safety Risks Related To Pneumatic/Hydraulic Systems

    1 Safety 1.2.2.3. Safety risks related to pneumatic/hydraulic systems 1.2.2.3. Safety risks related to pneumatic/hydraulic systems General Special safety regulations apply to pneumatic and hydraulic systems. Residual energy • Residual energy may be present in these systems. After shutdown, particular care must be taken.

  • Page 21: Safety Risks During Operational Disturbances

    1 Safety 1.2.2.4. Safety risks during operational disturbances 1.2.2.4. Safety risks during operational disturbances General • The industrial robot is a flexible tool which can be used in many different industrial applications. • All work must be carried out professionally and in accordance with the applicable safety regulations.

  • Page 22: Risks Associated With Live Electric Parts

    1 Safety 1.2.2.5. Risks associated with live electric parts 1.2.2.5. Risks associated with live electric parts Voltage related risks, general • Although troubleshooting may, on occasion, need to be carried out while the power supply is turned on, the robot must be turned off (by setting the mains switch to OFF) when repairing faults, disconnecting electric leads and disconnecting or connecting units.

  • Page 23: Safety Related Instructions

    1 Safety 1.3.1. Safety signals, general 1.3 Safety related Instructions 1.3.1. Safety signals, general General This section specifies all dangers that may arise from performing the work detailed in the manual. Each danger is detailed in its own section consisting of: •...
  • Page 24 1 Safety 1.3.1. Safety signals, general Continued Symbol Designation Signification ELECTROSTATIC The electrostatic discharge (ESD) symbol indicates DISCHARGE (ESD) electrostatic hazards which could result in severe damage to the product. Electrostatic discharge (ESD) NOTE Note symbols alert you to important facts and conditions.

  • Page 25: Danger - Moving Robots Are Potentially Lethal

    1 Safety 1.3.2. DANGER - Moving robots are potentially lethal! 1.3.2. DANGER - Moving robots are potentially lethal! Description Any moving robot is a potentially lethal machine. When running the robot, it may perform unexpected and sometimes irrational movements. However, all movements are performed with great force and may seriously injure any personnel and/or damage any piece of equipment located within the working range of the robot.

  • Page 26: Danger - First Test Run May Cause Injury Or Damage

    1 Safety 1.3.3. DANGER - First test run may cause injury or damage! 1.3.3. DANGER - First test run may cause injury or damage! Description Since performing a service activity often requires disassembly of the robot there are several safety risks to take into consideration before the first test run. Elimination Follow the procedure below when performing the first test run after a service activity (repair, installation or maintenance):...

  • Page 27: Warning - The Unit Is Sensitive To Esd

    1 Safety 1.3.4. WARNING - The unit is sensitive to ESD! 1.3.4. WARNING - The unit is sensitive to ESD! 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.
  • Page 28 1 Safety 1.3.4. WARNING - The unit is sensitive to ESD! Continued xx0500002171 Wrist strap button 3HAC030005-001 Revision: -...

  • Page 29: Warning - Safety Risks During Work With Gearbox Oil

    1 Safety 1.3.5. WARNING - Safety risks during work with gearbox oil 1.3.5. WARNING - Safety risks during work with gearbox oil Description When handling the gearbox oil, there are several dangers to both personal injuries and product damages! Following safety information must be regarded before performing any work with the oil in the gearboxes! Warnings and elimination Warning...
  • Page 30 1 Safety 1.3.5. WARNING - Safety risks during work with gearbox oil 3HAC030005-001 Revision: -...

  • Page 31: Installation And Commissioning

    2 Installation and Commissioning 2.1. Introduction 2 Installation and Commissioning 2.1. Introduction General This chapter contains information for installing the robot to the working site. More detailed technical data, such as load diagram, permitted extra loads (equipment) and location of extra loads (equipment), may be found in the Product Specification for the robot. 3HAC030005-001 Revision: -...

  • Page 32: Structure Manipulator

    2 Installation and Commissioning 2.2. Structure Manipulator 2.2. Structure Manipulator Manipulator structure The figure shows the manipulator structure and components. xx0700000451 Upper arm axis 1 Upper arm axis 2 Upper arm axis 3 Motor axis 4 SMB Unit Telescopic shaft axis 4 Movable plate with swivel Vacuum Kit (optional) Medium house set (optional)

  • Page 33: Unpacking

    All components exceeding 22 kg (50 lbs) are high-lighted in this way. To avoid injury, ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each manipulator model.

  • Page 34: Transport

    2 Installation and Commissioning 2.3.2. Transport 2.3.2. Transport General This section describes how to transport the manipulator. NOTE! The transport shall be made by qualified personnel and should conform to all national and local codes. Transport position Whenever the manipulator is transported, it must be in mounting position, it’s not allowed to turn the manipulator up side down.

  • Page 35: Pre-Installation Procedure

    2 Installation and Commissioning 2.3.3. Pre-installation procedure 2.3.3. Pre-installation procedure General This instruction is primarily 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. Checking the pre-requisites for installation The check-list below details what must be observed before proceeding with the actual installation of the robot: NOTE!
  • Page 36 2 Installation and Commissioning 2.3.3. Pre-installation procedure Continued Loads on foundation The table below shows the various forces and torques working on the robot during different kinds of operation. xx0700000586 Force N Max. load in operation ±330 ±260 -1500 ±170 Torque Nm Max.
  • Page 37 2 Installation and Commissioning 2.3.3. Pre-installation procedure Continued Requirements, foundation The subsections below show the requirements for the foundation regarding stiffness and forces. Stiffness The stiffness of the frame must be designed to minimize the influence on the dynamic behavior of the robot. It is recommended that a frame with a lowest natural frequency (with the robot mounted in the frame) higher than 17 Hz is used.

  • Page 38: Assemble The Robot Irb360

    2 Installation and Commissioning 2.3.4. Assemble the robot IRB360 2.3.4. Assemble the robot IRB360 Overview Follow these steps to assemble the robot after unpacking. Assemble Action Note 1. Prepare the working site according to Amount of required space on page 43 sections: Orienting and securing the robot cage on page 2.

  • Page 39: Assemble The Robot Irb360

    2 Installation and Commissioning 2.3.4. Assemble the robot IRB360 Continued CAUTION! Before mounting external equipment on the robot, first read the section Fitting equipment on robot on page Assemble options To facilitate cleaning, it is possible to use the spring units without the rubber bellows, if that is preferred due to hygienic or other reasons.

  • Page 40: Working Range And Type Of Motion

    2 Installation and Commissioning 2.3.5. Working range and type of motion 2.3.5. Working range and type of motion Motion Pattern xx0700000448 Continues on next page 3HAC030005-001 Revision: -...
  • Page 41 2 Installation and Commissioning 2.3.5. Working range and type of motion Continued Working range xx0700000473 Model/Dimensions A mm ØB mm ØC mm D mm IRB 360 1132 IRB 360/800 3HAC030005-001 Revision: -...

  • Page 42: On-Site Installation

    2 Installation and Commissioning 2.4.1. Lifting robot with fork lift 2.4 On-site installation 2.4.1. Lifting robot with fork lift WARNING! Never walk under a suspended load! Lifting robot xx0700000434 Robot package top Robot package securing point x3 Delivery note Recommended equipment Equipment Art.no.

  • Page 43: Lifting Robot With Roundslings

    2 Installation and Commissioning 2.4.2. Lifting robot with roundslings 2.4.2. Lifting robot with roundslings WARNING! Never walk under a suspended load! The best way to lift the manipulator is to use lifting straps and a traverse crane. The lifting strap dimensions must comply with the applicable standards for lifting. Lifting position xx0700000433 L= 500 mm (20 inch)
  • Page 44 2 Installation and Commissioning 2.4.2. Lifting robot with roundslings Continued Lifting the robot with roundslings Action Note 1. Attach the roundslings to the robot base box see figure Lifting position on page 41 CAUTION! The IRB 360 weighs 120 kg (Std) and 145 kg (WDS).

  • Page 45: Amount Of Required Space

    2 Installation and Commissioning 2.4.3. Amount of required space 2.4.3. Amount of required space Required space The amount of space required to operate the manipulator is illustrated in Figure xx0700000489 Dimensions Model/Dim. (mm) IRB 360 1115 389,5 28,50 362,5 IRB 360/800 1160 247,5 3HAC030005-001 Revision: -...

  • Page 46: Orienting And Securing The Robot Cage

    2 Installation and Commissioning 2.4.4. Orienting and securing the robot cage 2.4.4. Orienting and securing the robot cage General This section details how to orient and secure the robot cage at a horizontal level at the installation site in order to run the robot safely. WARNING! Make sure that the robot cage is secured before mounting the robot.

  • Page 47: Orienting And Securing The Robot Cage On Page

    2 Installation and Commissioning 2.4.4. Orienting and securing the robot cage Continued Equipment Spare/ Part No. Note Chemical bolts or Mechanical Expanding bolts. Standard Tools Standard toolkit on page 196 References Pre-installation procedure on page 33 Orienting and securing Action Note 1.

  • Page 48: Orienting And Securing The Robot

    2 Installation and Commissioning 2.4.5. Orienting and securing the robot 2.4.5. Orienting and securing the robot General This section details how to orient and secure the robot at a horizontal level at the installation site. Illustration xx0700000444 Screw M12 Bonded seal washer, rubber/metal Bushing Sealing Required equipment...
  • Page 49 2 Installation and Commissioning 2.4.5. Orienting and securing the robot Continued Hole configuration, base xx0700000467 The three support points of the manipulator base box shall be mounted against three flat surfaces with a flatness within the specification. Use shims if necessary. Continues on next page 3HAC030005-001 Revision: -...
  • Page 50 2 Installation and Commissioning 2.4.5. Orienting and securing the robot Continued Attachment bolts, specification xx0700000522 Screw M12 Bonded seal washer, rubber/metal. Spacer, metal Washer, EPDM-rubber compressed 50%. Frame Bracket Continues on next page 3HAC030005-001 Revision: -...
  • Page 51 Lifting robot with roundslings on page 41 NOTE! If use of ABB’s vacuum system is intended, make sure there is a space left for the bracket (F). 5. Fit and tighten the bolts and washers in The screw joint must be able to withstand the the base attachment holes.

  • Page 52: Manually Releasing The Brakes

    2 Installation and Commissioning 2.4.6. Manually releasing the brakes 2.4.6. Manually releasing the brakes DANGER! Releasing the brakes is a hazardous action that may cause injury and damage property. It must be done with great care and only when absolutely necessary. General This section details how to release the holding brakes of each axis motor.
  • Page 53 2 Installation and Commissioning 2.4.6. Manually releasing the brakes Continued Action Note 3. Check the Motors off button, make sure that the button twinkle. en0400000795 4. The internal brake release unit is located at the base of the robot. xx0700000435 A.
  • Page 54 2 Installation and Commissioning 2.4.6. Manually releasing the brakes Continued Using the brake release unit with an external power supply This section details how to release the holding brakes with the internal brake release unit using an external voltage supply. This is done if the robot is not connected to the controller. xx0700000441 NOTE! Be careful not to interchange the 24 V and 0 V pins.

  • Page 55: Fitting Equipment On Robot

    2 Installation and Commissioning 2.4.7. Fitting equipment on robot 2.4.7. Fitting equipment on robot Overview This section details how to fit equipment on the IRB 360. Mechanical interface (STD) xx0700000471 Free space, depth 6 R1/4” Ø14 H8 depth 4 Continues on next page 3HAC030005-001 Revision: -...
  • Page 56 2 Installation and Commissioning 2.4.7. Fitting equipment on robot Continued Key grip = Width 22 mm Height 5.5 mm Ø25 h8 depth 6 Mechanical interface (3D) xx0700000709 Required equipment Equipment Spare part no. Note Standard Tools Standard toolkit on page 196 Continues on next page 3HAC030005-001 Revision: -...
  • Page 57 Mounting Flange Tool (Fitting R1/4”) Open-end spanner 22 mm CAUTION! Never drill a hole in the manipulator without first consulting maintenance staff or the design department at ABB. Action Note 1. Attach the tool to the mounting flange. Fitting R1/4”...
  • Page 58 2 Installation and Commissioning 2.4.7. Fitting equipment on robot Continued Action Note CAUTION! Always use an open-end spanner 22 m or similar on the mounting flange, when tightening. NOTE! If axial tool movement using axis 4 is intended, use a locking liquid or a lock screw to prevent rotation of tool.
  • Page 59 2 Installation and Commissioning 2.4.7. Fitting equipment on robot Continued Action Note CAUTION! Always use an open-end spanner 22 mm or similar on the mounting flange, when tightening. Attachment screws Attachments Note Suitable screws, lightly lubricated: M4 (Length depending on tool) Suitable washer.

  • Page 60: Loads

    2 Installation and Commissioning 2.4.8. Loads 2.4.8. Loads General This section describes loads from external equipment, for information about general loads and diagrams see: Product specification Parallel robot 3HAC029963-00X Revision -. Extra equipment mounted on the manipulator arms xx0700000716 Limitation lines for center of gravity for M1 Limitation lines for center of gravity for M2 The robot is tuned for the Vacuum system or medium sized hose (options).

  • Page 61: Installation Of Options

    2 Installation and Commissioning 2.5.1. Installation of (Optional) Safety Lamp 2.5 Installation of Options 2.5.1. Installation of (Optional) Safety Lamp General This section details installation of safety lamp. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 62 2 Installation and Commissioning 2.5.1. Installation of (Optional) Safety Lamp Continued References Replacement of base cover gasket on page 116 Standard toolkit on page 196 Installation xx0700000577 Safety Lamp Connectors R3.H1and R3.H2 Lead-through in optional customer connection plate. Connection plate gasket 4pcs Screw M6x20 Action Note...

  • Page 63: Installation Of (Optional) Customer Connections Irb 360

    2 Installation and Commissioning 2.5.2. Installation of (optional) customer connections IRB 360 2.5.2. Installation of (optional) customer connections IRB 360 General This section details installation of customer connections. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 64 2 Installation and Commissioning 2.5.2. Installation of (optional) customer connections IRB 360 Continued Connections in customer cable Connection point A Connection point B Des- Des- Wire Spec. igna- Term. Type igna- Term. Type Remark tion. tion. Power R1.CP 1 R1.CP 2 R1.CP 3 R1.CP 4 R1.CP 5...
  • Page 65 2 Installation and Commissioning 2.5.2. Installation of (optional) customer connections IRB 360 Continued Connection point A Connection point B Des- Des- Wire Spec. igna- Term. Type igna- Term. Type Remark tion. tion. 10.2 10 GY R1.CS 20 11.1 11 BK R1.CS 21 11.2 11 BU...

  • Page 66: Installation Of Vacuum System (Optional)

    2 Installation and Commissioning 2.5.3. Installation of Vacuum System (Optional) 2.5.3. Installation of Vacuum System (Optional) General This section describes installation of (Optional) vacuum system on a IRB 360. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 67 2 Installation and Commissioning 2.5.3. Installation of Vacuum System (Optional) Continued Mechanical Installation Ejector xx0700000545 Attachment Bracket Hexagon head screw, M8x35 (Steel 8.8-A2F) Ejector Unit Hexagon bolt with flange, M6 x 20 (A2 DIN6921) Action Note 1. Follow the Refitting instructions in section Replacement of Ejector Unit on page 162 Continues on next page 3HAC030005-001 Revision: -...
  • Page 68 2 Installation and Commissioning 2.5.3. Installation of Vacuum System (Optional) Continued Installation of hoses xx0700000710 Action Note 1. Follow the Refitting instructions in section Replacement of Vacuum Hoses on page 158. Electrical Installation Action Note 1. Assemble the Customer cable 3HAC14860-X X = Depending on length, see section Manipulator Cables...

  • Page 69: Electrical Connections

    2 Installation and Commissioning 2.6.1. Connections 2.6 Electrical connections 2.6.1. Connections General This section details connections between manipulator and controller. For information about controller connections see Product Manual IRC 5. 3HAC030005-001 Revision: -...

  • Page 70: Connecting The Controller To The Manipulator

    2 Installation and Commissioning 2.6.2. Connecting the controller to the manipulator 2.6.2. Connecting the controller to the manipulator Overview Two cables are used to connect the controller to the manipulator, one for measuring signals and the other for motor and brakes. The connection on the manipulator is located on the robot base on the right side of axis 1 upper arm.
  • Page 71 2 Installation and Commissioning 2.6.2. Connecting the controller to the manipulator Continued Robot Connections xx0700000565 3HAC030005-001 Revision: -...

  • Page 72: Manipulator Cables Irb360

    2 Installation and Commissioning 2.6.3. Manipulator Cables IRB360 2.6.3. Manipulator Cables IRB360 General 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. Cable categories Cable category Description Robot Power Cables...
  • Page 73 2 Installation and Commissioning 2.6.3. Manipulator Cables IRB360 Continued Customer connections Customer connection (optional) These cables including both power and signals are optional and can not be combined with customer vacuum connections. Cable Art. no. Customer control cable 3 m 3HAC030198-001 Customer control cable 7 m 3HAC030198-002...
  • Page 74 2 Installation and Commissioning 2.6.3. Manipulator Cables IRB360 3HAC030005-001 Revision: -...

  • Page 75: Maintenance

    3 Maintenance 3.1.1. Introduction 3 Maintenance 3.1 Overview 3.1.1. Introduction Structure of this chapter This chapter details all maintenance activities recommended for the robot and any external units of the robot. It is based on the maintenance schedule, located in the beginning of the chapter. The schedule contains information about required maintenance activities including intervals and refers to procedures for the activities.

  • Page 76: Regular Maintenance

    3 Maintenance 3.1.2. Regular Maintenance 3.1.2. Regular Maintenance Recommendation The robot is designed to be able to work under very demanding conditions with a minimum of maintenance. Time between services can vary depending on the influence of the environment the robot is exposed for. We strongly recommend that at every stop in production and after every wash down, the robot is inspected concerning the following parts: Inspect regularly: Note.

  • Page 77: Maintenance Schedule And Component Life

    3 Maintenance 3.2.1. Maintenance schedule IRB 360 3.2 Maintenance schedule and component life 3.2.1. Maintenance schedule IRB 360 Maintenance Schedule Check/ 4,000 h or 12,000 h 30,000 h Prescribed Maintenance Replace 500h 2 years or 3years or 5years /Clean Telescopic shaft, axis 4 Check Vacuum system Check...

  • Page 78: Inspection Activities

    3 Maintenance 3.3.1. Telescopic Shaft, Axis 4, Standard 3.3 Inspection activities 3.3.1. Telescopic Shaft, Axis 4, Standard General This section describes maintenance on the Telescopic Shaft, Axis 4 with interval 500 and 4000 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 79 3 Maintenance 3.3.1. Telescopic Shaft, Axis 4, Standard Continued xx0700000556 Telescopic Shaft (STD) Universal Joint Set screw, dog point Required Equipment and References Required Equipment Note Standard tools Standard toolkit on page 196. References Replacement of Telescopic Shaft on page 133 Spare Parts, Telescopic shafts on page 220.

  • Page 80: Telescopic Shaft, Wash Down, Axis 4

    3 Maintenance 3.3.2. Telescopic Shaft, Wash Down, Axis 4 3.3.2. Telescopic Shaft, Wash Down, Axis 4 General This section describes maintenance on the Telescopic Shaft (Wash Down), Axis 4 interval 500 and 4000 h DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 81 3 Maintenance 3.3.2. Telescopic Shaft, Wash Down, Axis 4 Continued Interval 500 h Action Note 1. Check and retighten set screws. 2. If the linear bushings are worn out or if the backlash Described in section is excessive, change the Telescopic Shaft and the Replacement of Telescopic Shaft Universal Joints.

  • Page 82: Telescopic Shaft, Stainless, Axis 4

    3 Maintenance 3.3.3. Telescopic Shaft, Stainless, Axis 4 3.3.3. Telescopic Shaft, Stainless, Axis 4 General This section describes maintenance on the Telescopic Shaft (Stainless), Axis 4 interval 500 and 4000 h DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 83 3 Maintenance 3.3.3. Telescopic Shaft, Stainless, Axis 4 Continued Required Equipment and References Required Equipment Spare Part No. Note Shot lubricator Grease Oil and Grease specification on page 199. Telescopic Shaft Spare Parts, Telescopic shafts on page 220 Standard tools Standard toolkit on page 196.

  • Page 84: Vacuum System (Optional)

    3 Maintenance 3.3.4. Vacuum System (optional) 3.3.4. Vacuum System (optional) General This section describes maintenance on the vacuum system, with interval 500 and 4000 hour. NOTE! Only use un lubricated air. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 85 3 Maintenance 3.3.4. Vacuum System (optional) Continued Required Equipment and References Required Equipment Spare part no. Note Pneumatic valve unit Spare Parts, Ejector unit on page 225. References Replacement of Ejector Unit on page 162 Draining of water separation filter on page 160 Interval 500 h Action Note...

  • Page 86: Bar System

    3 Maintenance 3.3.5. Bar System 3.3.5. Bar System General This section describes maintenance on the bar system, with interval 500 and 4000 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 87 3 Maintenance 3.3.5. Bar System Continued References Replacement of Bearing Rings on page 127 Interval 500 hrs or 1 year. Action Note 1. Check for wear on bearing rings, listen for If necessary change bearing screeching. rings, described in section Replacement of Bearing Rings on page 127.

  • Page 88: Joint Balls

    3 Maintenance 3.3.6. Joint Balls 3.3.6. Joint Balls General This section describes maintenance on the joint Balls, with interval 4000 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...

  • Page 89: Upper Arms

    3 Maintenance 3.3.7. Upper Arms 3.3.7. Upper Arms General This section describes maintenance on the upper arms, with interval 4000 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 90 3 Maintenance 3.3.7. Upper Arms Continued Interval 4,000 hrs or 2 Years Action Note 1. Check the surface of tube for cracks. If necessary replace the part as described in section Replacement of Upper Arm on page 124 2. Check surface of joint balls for cracks or burrs. If necessary replace the part as described in Replacement of Joint...

  • Page 91: Hoses

    3 Maintenance 3.3.8. Hoses 3.3.8. Hoses General This section describes maintenance on the Hoses with interval 500 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: • Safety risks related to pneumatic/hydraulic systems on page 18 •...
  • Page 92 3 Maintenance 3.3.8. Hoses Continued Required Equipment and References Required Equipment Spare part no. Note Standard tools Standard toolkit on page 196 References Replacement of Vacuum Hoses on page 158 Interval 500 hrs Action Note 1. Check the entire hose so that there are no folds or If necessary exchange the part as surface damage.

  • Page 93: Spring Units

    3 Maintenance 3.3.9. Spring Units 3.3.9. Spring Units General This section describes maintenance on the Spring Units with interval 500 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 94 3 Maintenance 3.3.9. Spring Units Continued References Replacement of Parallel Arms on page 120 Interval 500 hrs Action Note 1. Check the forks for wear. If necessary exchange the part as described in Replacement of Parallel Arms on page 120 2.

  • Page 95: Movable Plate With Swivel

    3 Maintenance 3.3.10. Movable plate with swivel 3.3.10. Movable plate with swivel General This section describes maintenance on the Movable plate, with interval 500 hour. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 96 3 Maintenance 3.3.10. Movable plate with swivel Continued Interval 4000 hrs CAUTION! Never force axial movement to the swivel or tool interface without first releasing the brakes, it will damage the telescopic shaft. Action Note 1. Release the holding brakes on the As described in section Manually releasing the robot axis 4.

  • Page 97: Replacement/Changing Activities

    3 Maintenance 3.4.1. Changing the Battery in the Measuring System 3.4 Replacement/changing activities 3.4.1. Changing the Battery in the Measuring System General The robot is delivered with a 3-cell lithium battery. The lithium battery of primary type, needs no charging. For this reason there is a blocking diode, which prevents charging from the serial measurement board.
  • Page 98 3 Maintenance 3.4.1. Changing the Battery in the Measuring System Continued Required Equipment and References Tools and wear parts Spare part no. Note Battery Pack Spare Parts, SMB Unit on Lithium battery page 213 Standard tools Standard toolkit on page 196 Battery retainer (strap) References Updating revolution counters on page 182...
  • Page 99 3 Maintenance 3.4.1. Changing the Battery in the Measuring System Continued Action Note 5. Connect (A) the new battery to the serial measurement board. Connection (X3). xx0700000520 6. Refit the battery to the SMB, using a strap. 7. Check the base cover Replace if damaged.

  • Page 100: Lubrication Activities

    3 Maintenance 3.5.1. Gearboxes, axes 1- 4 3.5 Lubrication activities 3.5.1. Gearboxes, axes 1- 4 General This section describes maintenance on gearboxes 1-4, regarding oil change (3D version only 1-3). WARNING! Gearbox oil can be very hot, take necessary measures to collect the oil. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections:...
  • Page 101 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Required Equipment and References Required Equipment Spare Part No. Note Standard Tools Standard toolkit on page 196 Gaskets base Spare parts in the base on page Gaskets cover Spare parts, transmission cover on page 207 Spare parts, gear units axis 1- 3 Spare parts, gear units axis 1- 3...
  • Page 102 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Action Note 3. Remove the oil plug, and drain the oil from gearbox 4. xx0700000728 4. Fill new oil through the Specified volume see Oil and Grease specification on page plug holes, with 199.
  • Page 103 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Action Note 4. Remove the 3 pcs VK- Use a screwdriver covers. 5. Remove the 3x6 pcs Described in section Replacement of Upper Arm on page 124. M6x40 holding the upper arms. 6.
  • Page 104 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Action Note 8. Remove the 6 pcs M6x20 Flange Screws (B) holding the trans- mission cover (A). CAUTION! On the WD. or WDS. robots the transmission cover and sealing is glued on to the robot using Sikaflex.
  • Page 105 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Action Note 12. Refit the Magnetic Plug Tightening Torque 10-12 Nm. (A), change the sealing washers if necessary. 13. The oil is filled through Specified volume see Oil and Grease specification on page the plug holes (A) with 199.
  • Page 106 3 Maintenance 3.5.1. Gearboxes, axes 1- 4 Continued Action Note 16. Refit the 3 pcs upper arm sealing rings. Apply Locking liquid (Loctite 243). (Change the sealings if necessary.) 17. Refit the 3 upper arms Described in section Replacement of Upper Arm on page 124.

  • Page 107: Cleaning Activities

    3 Maintenance 3.6.1. Cleaning of Robot Standard and Wash Down 3.6 Cleaning activities 3.6.1. Cleaning of Robot Standard and Wash Down General The manipulator is tested to fulfill, IP69K according to IEC 529. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 108 3 Maintenance 3.6.1. Cleaning of Robot Standard and Wash Down Continued Wash Down Cleaning Sensitive spots for direct flushing. xx0800000005 Base cover gasket Brake release button Transmission cover gasket Axis 4 sealing ring Movable plate Upper arm sealing rings NOTE! This applies for IRB 360 WD, and IRB 360 WDS, versions.
  • Page 109 3 Maintenance 3.6.1. Cleaning of Robot Standard and Wash Down Continued Action Note 2. Foam with “P3-Topax 12” with a concentration of approximately 3% depending on the type of dirt. The water temperature should be 40-60°C. The solvent should be applied to the whole external surface.
  • Page 110 3 Maintenance 3.6.1. Cleaning of Robot Standard and Wash Down Continued Optional assemble To facilitate cleaning , it is possible to use the spring units without the rubber bellows. xx0700000707 To remove the rubber bellows, see section Replacement of Parallel Arms on page 120.

  • Page 111: Repair

    4 Repair 4.1. Introduction 4 Repair 4.1. Introduction Structure of this chapter This chapter details all repair activities recommended for the robot and any external units of the robot. It is made up of separate procedures, each detailing a specific repair activity. Each procedure contains all information required to perform the activity, for example spare parts numbers, required special tools and materials.

  • Page 112: General Procedures

    4 Repair 4.2.1. Mounting instructions for bearings 4.2 General procedures 4.2.1. Mounting instructions for bearings General This section details how to mount and grease different types of bearings on the robot. Equipment Equipment, etc. Art. no. Note Grease Oil and Grease spec- ification on page 199.
  • Page 113 4 Repair 4.2.1. Mounting instructions for bearings Continued Greasing of bearings The bearings must be greased after assembly, according to instructions below: • The bearings must not be completely filled with grease. However, if space is available beside the bearing fitting, the bearing may be totally filled with grease when mounted, as excessive grease will be pressed out from the bearing when the robot is started.

  • Page 114: Mounting Instructions For Seals

    4 Repair 4.2.2. Mounting instructions for seals 4.2.2. Mounting instructions for seals General This sections details how to mount different types of seals to the robot. Equipment Equipment, etc. Art. no. Note Grease Oil and Grease specification on page 199. Rotating seals The procedure below details how to fit rotating seals.
  • Page 115 If the flange surfaces are defective, the parts may not be used because leakage could occur. 2. Clean the surfaces properly and in accordance with ABB recommendations. 3. Distribute the sealing compound evenly over the surface, preferably with a brush.

  • Page 116: Screw Joints

    4 Repair 4.2.3. Screw joints 4.2.3. Screw joints General This section details how to tighten the various types of screw joints on the robot. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials. Gleitmo treated screws Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.
  • Page 117 4 Repair 4.2.3. Screw joints Continued The table below specifies the recommended standard tightening torque for Molycote- lubricated screws with Allen head screws. Tightening torque (Nm) Tightening torque (Nm) Dimension Class 10.9, Molycote-lubricated Class 12.9, Molycote-lubricated The table below specifies the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass.

  • Page 118: Complete Robot

    4 Repair 4.3.1. Replacement of base cover gasket 4.3 Complete robot 4.3.1. Replacement of base cover gasket General This section describes how to replace the base cover gasket. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 119 4 Repair 4.3.1. Replacement of base cover gasket Continued 12 pcs Plastic Washer Required Equipment and References Equipment Spare Part No. Note Base cover gasket Spare parts in the base on page 214 Standard tools Standard toolkit on page 196 Plastic washer Spare parts in the base on page 214.

  • Page 120: Replacement Of Serial Measurement Board Unit

    4 Repair 4.3.2. Replacement of Serial Measurement Board Unit 4.3.2. Replacement of Serial Measurement Board Unit General This section details how to replace the SMB Unit , (Serial Measurement Board Unit). DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 121 4 Repair 4.3.2. Replacement of Serial Measurement Board Unit Continued Required equipment and Refereces Equipment Spare part no. Note Standard Tools Standard toolkit on page 196 Serial Measurement Unit Spare Parts, SMB Unit on page 213. Base Cover Gasket Spare parts in the base (If damaged) on page 214.

  • Page 122: Replacement Of Parallel Arms

    4 Repair 4.3.3. Replacement of Parallel Arms 4.3.3. Replacement of Parallel Arms General This section describes how to change the parallel arms. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 123 4 Repair 4.3.3. Replacement of Parallel Arms Continued Required equipment and References Equipment Spare part no. Note Standard tools Standard toolkit on page 196 Pliers for Parallel Arms 3HAC6194-1 Parallel Arms Spare parts - Parallell arm system, IRB 360 on page 222.
  • Page 124 4 Repair 4.3.3. Replacement of Parallel Arms Continued Action Note 1. Remove the parallel arms by hand or using tool, left By hand or tool according to or right side not both. figures. 2. Remove the springs. By hand. Refitting xx0700000629 Axis 4 calibration mark CAUTION!
  • Page 125 4 Repair 4.3.3. Replacement of Parallel Arms Continued Action Note 3. Refit the parallel arm to the movable plate by hand By hand or tool according to or using tool, left or right side not both. figures NOTE! Always mount the movable plate with the axis 4 calibration mark in direction axis 1.

  • Page 126: Replacement Of Upper Arm

    4 Repair 4.3.4. Replacement of Upper Arm 4.3.4. Replacement of Upper Arm General This section details replacement of upper arm. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: • Safety risks related to pneumatic/hydraulic systems on page 18 •...
  • Page 127 4 Repair 4.3.4. Replacement of Upper Arm Continued Required equipment and References Equipment Spare part No. Note Standard Tools Standard toolkit on page 196 Upper arm Spare parts - upper arm, IRB 360 on page 218. Sealing ring Spare parts, transmission cover on page 207 Flange Gasket ax.1-3 Spare parts, transmission...
  • Page 128 4 Repair 4.3.4. Replacement of Upper Arm Continued Action Note 6. Remove the two Flange- screws (B) holding the Flange (C). If necessary, change the Sealing ring (A) and the Flange Gasket (D). xx0700000601 Refitting Action Note 1. Refit the Flange with the new mounted sealing ring, Tightening Torque 4 Nm.

  • Page 129: Replacement Of Bearing Rings

    4 Repair 4.3.5. Replacement of Bearing Rings 4.3.5. Replacement of Bearing Rings General This section describes how to change bearing rings in the parallel arms. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 130 4 Repair 4.3.5. Replacement of Bearing Rings Continued Action Note 2. Remove the bearing ring using a screwdriver. xx0700000486 Refitting xx0700000524 Parallel bar Bearing ring Drifter Dolly Continues on next page 3HAC030005-001 Revision: -...
  • Page 131 4 Repair 4.3.5. Replacement of Bearing Rings Continued CAUTION! Never use unnecessary force when refitting the springs. Only work on one side or the spring will be overstressed. Action Note 1. Place a new bearing ring into the joint socket. 2.

  • Page 132: Replacement Of Movable Plate

    4 Repair 4.3.6. Replacement of Movable Plate 4.3.6. Replacement of Movable Plate General This section describes how to change the Movable Plate Std, WDS or 3D. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 133 4 Repair 4.3.6. Replacement of Movable Plate Continued Equipment Spare part no. Note Spare Parts, Movable Plate Spare Parts, Movable Plate on page 223 References Replacement of Parallel Arms on page 120 Replacement of Vacuum Hoses on page 158 Removal CAUTION! The spring units must be removed according to description in section Replacement of Parallel...
  • Page 134 4 Repair 4.3.6. Replacement of Movable Plate Continued CAUTION! Never use unnecessary force when refitting the springs. Only work on one side or the spring will be overstressed. Action Note 1. Refit the Set screw (B) locking the Universal joint. Use standard tools and Loctite 2.

  • Page 135: Replacement Of Telescopic Shaft

    4 Repair 4.3.7. Replacement of Telescopic Shaft 4.3.7. Replacement of Telescopic Shaft DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: • Safety risks related to pneumatic/hydraulic systems on page 18 •...
  • Page 136 4 Repair 4.3.7. Replacement of Telescopic Shaft Continued References Replacement of Movable Plate on page 130 Removal Action Note 1. Remove the Parallel Described in section Replacement of Parallel Arms on page Arms 2. Remove the Movable Described in section Replacement of Movable Plate on page Plate 3.
  • Page 137 4 Repair 4.3.7. Replacement of Telescopic Shaft Continued Action Note 2. Refit the upper Set screw use locking liquid (Loctite 243). xx0700000613 TIP! Use a 90° angled bit holder. Tightening Torque 7 Nm 3. Refit the Movable Plate Described in section Replacement of Movable Plate on page use locking liquid (Loctite 243).

  • Page 138: Replacement Of Universal Joint

    4 Repair 4.3.8. Replacement of Universal Joint 4.3.8. Replacement of Universal Joint General This section describes how to change the Universal Joint. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 139 4 Repair 4.3.8. Replacement of Universal Joint Continued Action Note 2. Remove the set screw locking Use standard tools. the universal joint on the telescopic shaft. 3. Remove the universal joint. Refitting Action Note 1. Refit the universal joint. Use locking liquid Loctite 243. 2.

  • Page 140: Replacement Of Joint Balls

    4 Repair 4.3.9. Replacement of Joint Balls 4.3.9. Replacement of Joint Balls General This section describes how to change the Joint Balls. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 141 4 Repair 4.3.9. Replacement of Joint Balls Continued Required equipment and References Equipment Spare part no. Note Standard tools Standard toolkit on page 196 Joint Ball Spare Parts, Movable Plate on page 223. Pliers for Parallel Arms 3HAC6194-1 Locking liquid Loctite 243 Activator Loctite 7649...
  • Page 142 4 Repair 4.3.9. Replacement of Joint Balls Continued Refitting CAUTION! Never use unnecessary force when refitting the springs. Only work on one side or the spring will be overstressed. Action Note 1. Refit the Joint Balls using Loctite 243. For the best Tightening Torque 11 Nm.

  • Page 143: Replacement Of Gearbox Unit 1- 3

    4 Repair 4.3.10. Replacement of Gearbox Unit 1- 3 4.3.10. Replacement of Gearbox Unit 1- 3 NOTE! This action demands standard calibration of the robot. Described in section Calibration methods on page 172. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 144 4 Repair 4.3.10. Replacement of Gearbox Unit 1- 3 Continued Gearbox ax 2 Motor ax 2 Gearbox ax 3 Motor ax 3 Required equipment and References Equipment Spare part no. Note Standard Tools Standard toolkit on page 196. Gear unit ax 1-3 Spare parts, gear units axis 1- 3 on page 203.
  • Page 145 4 Repair 4.3.10. Replacement of Gearbox Unit 1- 3 Continued Refitting Action Note 1. Refitting the gearbox unit, using the four Hex socket Tightening Torque 33 Nm . head cap screw M10 x 30 with washer 16.5x20x2 steel A3F. NOTE! Gearbox unit weight 16 Kg.

  • Page 146: Replacement Of Gearbox Unit 4

    4 Repair 4.3.11. Replacement of Gearbox Unit 4 4.3.11. Replacement of Gearbox Unit 4 General This section describes Replacing Gearbox 4 with Motor (Gearbox Unit) NOTE! This action demands standard calibration of the robot. Described in section Calibration methods on page 172.
  • Page 147 4 Repair 4.3.11. Replacement of Gearbox Unit 4 Continued Required equipment and References Equipment Spare Part No. Note Gearbox Unit axis 4 Spare parts, Gear Unit axis 4 on page 205 Standard tools Standard toolkit on page 196. Sealing rings Spare parts in the base on page 214.

  • Page 148: Replacement Of Motor Axis 1-3

    4 Repair 4.3.12. Replacement of motor axis 1-3 4.3.12. Replacement of motor axis 1-3 General This section details replacement of motor axis 1-3. NOTE! This action demands standard calibration of the robot. Described in section Calibration methods on page 172. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections:...
  • Page 149 4 Repair 4.3.12. Replacement of motor axis 1-3 Continued Hex socket head cap screw M6x20 8.8 Gleitmo605 Washer 6,4x12x1,6 Steel A2F Nitrile rubber O-ring 67,5x3,0 Oil plug Oil plug (upper oil level hole) Oil plug Gear Z1/1-3, 16 cog Required equipment and References Equipment Spare part no.
  • Page 150 4 Repair 4.3.12. Replacement of motor axis 1-3 Continued Refitting xx0700000616 Motor pinion Gear Z2/1-3, 90 cog Action Note 1. Mount new O-ring (E) onto Shown in figure Location on page 146. the motor flange, lubricate the o-ring with grease FM222.
  • Page 151 4 Repair 4.3.12. Replacement of motor axis 1-3 Continued Action Note 4. Push on the motor flange gently in direction (A), at the same time as you feel for the backlash by moving the upper arm back and forward. xx0700000620 5.

  • Page 152: Replacement Of Motor Axis 4

    4 Repair 4.3.13. Replacement of motor axis 4 4.3.13. Replacement of motor axis 4 General This section details replacement of motor axis 4. NOTE! This action demands standard calibration of the robot. Described in section Calibration methods on page 172. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections:...
  • Page 153 4 Repair 4.3.13. Replacement of motor axis 4 Continued Rotational ac motor O-ring, Nitrile rubber Hex socket head cap screw M6x25 8.8 Washer 6,4x12x1,6 A2F Oil plug Required equipment and References Equipment Spare part no. Note Standard Tools Standard toolkit on page 196 O-ring, Nitrile rubber Spare parts, Gear Unit axis 4 on page...
  • Page 154 4 Repair 4.3.13. Replacement of motor axis 4 Continued Action Note 2. Insert the new motor, do not tighten the screws. CAUTION! Fit the motor, making sure the motor pinion is properly mated to the gear wheel, do not use force or the motor pinion may get damaged.

  • Page 155: Replacement Of Labels

    4 Repair 4.3.14. Replacement of labels 4.3.14. Replacement of labels General This section details replacement and positioning of labels on the IRB 360. Label positioning xx0700000691 Continues on next page 3HAC030005-001 Revision: -...
  • Page 156 4 Repair 4.3.14. Replacement of labels Continued xx0700000692 Label, Flex Picker-red 190x23 ABB-Logotype 69x157 Calibration values Instruction plate (brake release) Warning sign 24x21 (electric warning) Rating label UL-label 70x35 UL-label 70x35 Continues on next page 3HAC030005-001 Revision: -...
  • Page 157 4 Repair 4.3.14. Replacement of labels Continued Required equipment and References Equipment Spare part no. Note Label-set Spare parts, transmission cover on page 207 Assemble Action Note 1. Make sure the surface is clean. 2. Assemble the labels according to the illustrations. 3HAC030005-001 Revision: -...

  • Page 158: Replacing Of Calibration Marks

    4 Repair 4.3.15. Replacing of calibration marks 4.3.15. Replacing of calibration marks Overview This section describes replacement of calibration marks on a IRB 360. Replace a calibration mark if it is damaged. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 159 4 Repair 4.3.15. Replacing of calibration marks Continued Required Equipment and References Equipment Spare Part No. Note Standard tools Standard toolkit on page 196. Calibration mark Spare parts in the base on page 214 Remove Action Note 1. Remove the two M5 nuts. Use standard tools.

  • Page 160: Vacuum System

    4 Repair 4.4.1. Replacement of Vacuum Hoses 4.4 Vacuum System 4.4.1. Replacement of Vacuum Hoses General This section details replacement of hoses in the vacuum system. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 161 4 Repair 4.4.1. Replacement of Vacuum Hoses Continued Required equipment Equipment Spare part no. Note Standard tools Spare hose set Removal Action Note 1. Open all straps. 2. Pull the hose out from the swivel. 3. Pull the hose out from the air filter. Refitting Action Note...

  • Page 162: Draining Of Water Separation Filter

    4 Repair 4.4.2. Draining of water separation filter 4.4.2. Draining of water separation filter General This section describes: • air filter chage in the vacuum system • emptying water separation filter DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 163 4 Repair 4.4.2. Draining of water separation filter Continued Removal water Action Note 1. Drain the water separation filter opening the bottom nipple (C). 3HAC030005-001 Revision: -...

  • Page 164: Replacement Of Ejector Unit

    4 Repair 4.4.3. Replacement of Ejector Unit 4.4.3. Replacement of Ejector Unit General This section describes replacement of Ejector Unit. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: • Safety risks related to pneumatic/hydraulic systems on page 18 •...
  • Page 165 4 Repair 4.4.3. Replacement of Ejector Unit Continued Equipment Spare Part No. Note Spare parts Spare Parts, Ejector unit on page 225. References Spare Parts, Ejector unit on page 225 Replacement of base cover gasket on page 116. Removal xx0700000704 Hexagon bolt with flange M6x20 (A2 DIN6921) Nuts for the air nozzles Ejector Unit...
  • Page 166 4 Repair 4.4.3. Replacement of Ejector Unit Continued Action Note 1. Disconnect the air supply, vacuum hoses and signal cable from the Ejector Unit. 2. Remove the Base Cover. Described in section Replacement of base cover gasket on page 116. 3.

  • Page 167: Cable Harness

    4 Repair 4.5.1. Replacement of Cable Harness 4.5 Cable Harness 4.5.1. Replacement of Cable Harness General This section details replacement of complete Cable harness. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 168 4 Repair 4.5.1. Replacement of Cable Harness Continued R3.MP3 R3.MP1 R3.FB1 R3.FB2 R3.FB3 R3.FB4 X1(SMB) X2(SMB) - R3.FB1-4 Required Equipment and References Equipment Spare part no. Note Standard Tools Standard toolkit on page 196. Cable Harness Spare parts - cable harness on page 209.

  • Page 169: Replacement Of Brake Release Button

    4 Repair 4.5.2. Replacement of Brake Release Button 4.5.2. Replacement of Brake Release Button General This section describes replacement of brake release button on the IRB 360. DANGER! Turn off all electrical power, hydraulic and pneumatic pressure supplies to the robot! Also read the safety sections: •...
  • Page 170 4 Repair 4.5.2. Replacement of Brake Release Button Continued Required equipment and references Equipment Spare Part No. Note Standard tools Standard toolkit on page 196. References Spare Parts, Brake Release Button on page 216 Removal xx0700000644 Brake Release Contact Cable locking screw Locking device Continues on next page 3HAC030005-001 Revision: -...
  • Page 171 4 Repair 4.5.2. Replacement of Brake Release Button Continued Action Note 1. Remove the base cover. Replacement of base cover gasket on page 116. CAUTION! The base cover has sharp edges, use protective gloves. 2. Remove the contact (A) from the push button, pushing in the locking device (C) in figure.
  • Page 172 4 Repair 4.5.2. Replacement of Brake Release Button Continued Action Note 2. Press to refit the contact. xx0800000011 TIP! Refit the cables to the contact before this step. 3. Refit the base cover. Replacement of base cover gasket on page 116 CAUTION! The base cover has sharp edges, use protective gloves.

  • Page 173: Calibration Information

    The resolver values are changed If resolver values are changed, the robot must be recalibrated using the calibration methods supplied from ABB. Calibrate the robot carefully with standard calibration. The different methods are briefly described in section Calibration methods on page 172, and further detailed in separate Calibration manuals.

  • Page 174: Calibration Methods

    5 Calibration information 5.2. Calibration methods 5.2. Calibration methods Overview This section specifies the different types of calibration and the calibration methods that are supplied from ABB. Types of calibration Type of calibra- Description Calibration method tion Standard The robot is positioned at calibration position,...

  • Page 175: Calibration Movement Directions For All Axes

    5 Calibration information 5.3. Calibration movement directions for all axes 5.3. Calibration movement directions for all axes 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 etc. Positive directions are shown in the figure below.

  • Page 176: Calibration Scales And Correct Axis Position

    5 Calibration information 5.4. Calibration scales and correct axis position 5.4. Calibration scales and correct axis position Introduction This section specifies the calibration scale positions and/or correct axis position for all robot models. Calibration scales and positions IRB360 The figure below shows the calibration marks of the axes 1-4. xx0700000569 Calibration mark Axis 4 Calibration marks Axis 1-3...

  • Page 177: Calibration Irb 360 Axis 1-3

    5 Calibration information 5.5. Calibration IRB 360 axis 1-3 5.5. Calibration IRB 360 axis 1-3 General This section is valid for IRB 360 all models. It details how to perform the actual fine calibration of axis 1-3. NOTE! Calibration should be performed by specially trained personell. Axis moving directions xx0700000448 Required equipment and references...
  • Page 178 5 Calibration information 5.5. Calibration IRB 360 axis 1-3 Continued Calibration steps xx0700000624 Action Note 1. On the flex pendant tap Program Stop (A) in figure. 2. On the controller, set the key switch into Manual position. xx0700000625 3. Check the Motors off button, make sure that the button flashes.
  • Page 179 5 Calibration information 5.5. Calibration IRB 360 axis 1-3 Continued Action Note 4. Release the brakes, using the brake release button (A). xx0700000435 5. Push the upper arm very gently against the calibration device (A). NOTE! Always calibrate one axis a time, starting with axis 1.
  • Page 180 5 Calibration information 5.5. Calibration IRB 360 axis 1-3 Continued Action Note NOTE! Release the brakes and gently draw the calibrated upper arm in to a horizontal position. 9. Return to step 4, and proceed with axis 2 and 3. 3HAC030005-001 Revision: -...

  • Page 181: Calibration Irb 360 Axis 4

    Equipment Note FlexPendant References Fine calibration procedure on FlexPendant on page 181 Checking the calibration position on page 187 Calibration steps Action Note 1. In manual mode, Tap Jogging in the ABB menu. Continues on next page 3HAC030005-001 Revision: -...
  • Page 182 5 Calibration information 5.6. Calibration IRB 360 axis 4 Continued Action Note 2. Tap Motion mode to choose group of axes to jog. 3. Tap axis 4-6 to jog axis 4, 5, or 6. 4. Jog axis 4 with the Flex Pendant joystick See figure in Location on page 179.

  • Page 183: Fine Calibration Procedure On Flexpendant

    The procedure below details how to perform the fine calibration procedure on the FlexPendant. Action 1. On the ABB menu, tap Calibration. All mechanical units connected to the system are shown along with their calibration status. 2. Tap to select the mechanical unit.

  • Page 184: Updating Revolution Counters

    This procedure details the second step when updating the revolution counter; storing the revolution counter setting with the FlexPendant (RobotWare 5.0). Action 1. On the ABB menu, tap Calibration. All mechanical units connected to the system are shown along with their calibration status.
  • Page 185 5 Calibration information 5.8. Updating revolution counters Continued Action 2. Tap the mechanical unit in question. A screen is displayed: tap Rev. Counters. en0400000771 3. Tap Update Revolution Counters..A dialog box is displayed, warning that updating the revolution counters may change programmed robot positions: •...

  • Page 186: Serial Measurement Board Memory

    5 Calibration information 5.9. Serial Measurement Board memory 5.9. Serial Measurement Board memory Serial Measurement Board, SMB The Serial Measurement Board, SMB, primarily gathers resolver data from the robot’s (or additional axes) motors. This data is used to measure the speed and position of each axis. Each SMB is capable of measuring up to 7 axes.
  • Page 187 This section describes how to view the data status in the Serial Measurement Board and the controller. Action 1. On the ABB menu, tap Calibration and select a mechanical unit. 2. Tap SMB memory and then tap Show status. The data is displayed with status on the SMB and on the controller.
  • Page 188 This section describes how to delete the data stored on the SMB memory or the controller memory, when creating spare parts. Action 1. On the ABB menu, tap Calibration and tap to select a mechanical unit. 2. Tap SMB memory and then tap Advanced. The following functions are available: •...

  • Page 189: Checking The Calibration Position

    Check or calibrate one axis a time, then set the calibrated axis horizontal. Action Note 1. In manual mode, Tap Manual mode described in section Calibration IRB 360 axis Jogging in the ABB menu. 1-3 on page 175. 2. Tap Motion mode to choose group of axes to jog.
  • Page 190 5 Calibration information 5.10. Checking the calibration position Continued Action Note 4. Release the brakes, using the break release button (A). xx070000043 5. Push the upper arm axis 1-3 very gently against the calibration device (A). NOTE! Always check one axis a time, starting with axis 1.

  • Page 191: Decommissioning

    6 Decommissioning 6.1. Introduction 6 Decommissioning 6.1. Introduction 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 manterials. General All used grease/oils and dead batteries must be disposed of in accordance with the current legislation of the country in which the robot and the control unit is installed.

  • Page 192: Environmental Information

    6 Decommissioning 6.2. Environmental information 6.2. Environmental information Hazardous material This product contains certain materials considered hazarous to anyone handling them. The table specifies these materials are their respective use throughout the product. Material Example application Quantity/unit Lead Batteries, cables Cadmium Batteries, switches, additive in lead...

  • Page 193: Reference Information

    7 Reference information 7.1. Document references 7 Reference information 7.1. Document references General The contents of this manual may include references to additional documentation necessary to perform certain procedures. This section specifies the article numbers for the referenced documentation. Product specification, robot The product specification includes generic technical data.

  • Page 194: Introduction

    7 Reference information 7.2. Introduction 7.2. Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. 3HAC030005-001 Revision: -...

  • Page 195: Applicable Safety Standards

    7 Reference information 7.3. Applicable safety standards 7.3. Applicable safety standards Standards, general The robot is designed in accordance with the requirements of: • EN ISO 10218-1: 2006 Robots for industrial environments of machines - Safety requirements - Part 1 Robot •...

  • Page 196: Unit Conversion

    7 Reference information 7.4. Unit conversion 7.4. Unit conversion Converter table Use the table below to convert units used in this manual. Quantity Units Length 3.28 ft 39.37 in Weight 1 kg 2.21 lb Pressure 1 bar 100 kPa 14.5 psi Force 0.738 lbf Moment...

  • Page 197: Weight Specifications

    All components exceeding 22 kg (50 lbs) are high-lighted in this way. To avoid injury, ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each manipulator model.

  • Page 198: Standard Toolkit

    7 Reference information 7.6. Standard toolkit 7.6. Standard toolkit General All service (repairs, maintenance and installation) procedures contain 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 table below.

  • Page 199: Special Tools

    7 Reference information 7.7. Special tools 7.7. Special tools 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 section Standard toolkit on page 196, and of special tools, listed directly in the instructions and also gathered in this section.

  • Page 200: Lifting Equipment And Lifting Instructions

    7 Reference information 7.8. Lifting equipment and lifting instructions 7.8. Lifting equipment and lifting instructions General Many repair and maintenance activities require different pieces of lifting equipment, which are specified in each procedure. The use of each piece of lifting equipment is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting equipment.

  • Page 201: Oil And Grease Specification

    7 Reference information 7.9. Oil and Grease specification 7.9. Oil and Grease specification Oil in gearboxes xx0700000721 Pos. For: Type Spare part no. Amount Liter/Gallons Gearbox 1 Mobil DTE FM 220 3HAC031493-001 0.9l/ 0.237 Gallons Gearbox 2 Mobil DTE FM 220 3HAC031493-001 0.9l/ 0.237 Gallons Gearbox 3 Mobil DTE FM 220 3HAC031493-001 0.9l/ 0.237 Gallons...
  • Page 202 7 Reference information 7.9. Oil and Grease specification Continued Grease in robot xx0700000725 Pos. For: Type Spare part no. Amount Telescopic shaft Food accepted FM 222 3HAC029132-001 Spring Units Food accepted FM 222 3HAC029132-001 Continues on next page 3HAC030005-001 Revision: -...
  • Page 203 7 Reference information 7.9. Oil and Grease specification Continued Grease on sealings xx0700000706 Pos. For: Type Spare part no. Amount O-rings in gear units Food accepted FM 222 3HAC029132-001 Continues on next page 3HAC030005-001 Revision: -...
  • Page 204 7 Reference information 7.9. Oil and Grease specification Continued xx0800000003 Pos. For: Type Spare part no. Amount Grease in svivel Food accepted FM 222 3HAC029132-001 xx0800000004 Pos. For: Type Spare part no. Amount Grease in ax 4 Food accepted FM 222 3HAC029132-001 3HAC030005-001 Revision: -...

  • Page 205: Spare Parts And Exploded Views

    8 Spare parts and exploded views 8.1.1. Spare parts, gear units axis 1- 3 8 Spare parts and exploded views 8.1 Spare Parts in Robot Base 8.1.1. Spare parts, gear units axis 1- 3 Illustration xx0700000667 Continues on next page 3HAC030005-001 Revision: -...
  • Page 206 8 Spare parts and exploded views 8.1.1. Spare parts, gear units axis 1- 3 Continued Spare part list Part Description Spare part no. Note/Qty Motor and Gear unit ax 1-3 3HAC028017-001 3 pcs Motor with pinion ax1-3 3HAC023938-001 3 pcs O-ring O-ring 67,5x3,0 3HAB3772-22 3 pcs...

  • Page 207: Spare Parts, Gear Unit Axis 4

    8 Spare parts and exploded views 8.1.2. Spare parts, Gear Unit axis 4 8.1.2. Spare parts, Gear Unit axis 4 Illustration xx0700000668 Continues on next page 3HAC030005-001 Revision: -...
  • Page 208 8 Spare parts and exploded views 8.1.2. Spare parts, Gear Unit axis 4 Continued Spare part list Part Description Spare part no. Note/Qty Motor and gearbox unit ax 4 3HAC028018-001 1 pcs Motor with pinion ax 4 3HAC021799-001 1 pcs O-ring 3HAB3772-81 1 pcs...

  • Page 209: Spare Parts, Transmission Cover

    8 Spare parts and exploded views 8.1.3. Spare parts, transmission cover 8.1.3. Spare parts, transmission cover Illustration xx0700000670 Continues on next page 3HAC030005-001 Revision: -...
  • Page 210 Sealing ring 3HAC3934-1 3 pcs Flange Gasket ax.1-3 3HAC4309-1 3 pcs Lable-set 3HAC029746-001 18 pcs Label, FlexPicker-red 3 pcs ABB-Logotype 3 pcs Instruction plate 2 pcs Warning sign 2 pcs Rating label 1 pcs UL-label 1 pcs UR-label 1 pcs...

  • Page 211: Spare Parts - Cable Harness

    8 Spare parts and exploded views 8.1.4. Spare parts - cable harness 8.1.4. Spare parts - cable harness Illustration Power Cable xx0700000672 Continues on next page 3HAC030005-001 Revision: -...
  • Page 212 8 Spare parts and exploded views 8.1.4. Spare parts - cable harness Continued Spare part list Power Cable Part Description Spare part no. Note Cable harness power IRB 360 3HAC029695-001 R1.MP1-3 Motor Power R1.MP4-6 Motor Power R1.H1 Signal lamp (Option) Brake release R3.MP1 Motor Power...
  • Page 213 8 Spare parts and exploded views 8.1.4. Spare parts - cable harness Continued Illustration Signal Cable xx0700000673 Continues on next page 3HAC030005-001 Revision: -...
  • Page 214 8 Spare parts and exploded views 8.1.4. Spare parts - cable harness Continued Spare part list Signal Cable Part Description Spare part no. Note Cable harness Signal IRB 360 3HAC1762-1 R2.FB1-4 R3.FB2 R3.FB4 R3.FB3 R3.FB1 3HAC030005-001 Revision: -...

  • Page 215: Spare Parts, Smb Unit

    8 Spare parts and exploded views 8.1.5. Spare Parts, SMB Unit 8.1.5. Spare Parts, SMB Unit Illustration xx0700000666 Sparepart list Part Description Spare part no. Note/Qty Serial measurement unit 3HAC17396-1 1 pcs Battery pack 3HAC16831-1 1 pcs 3HAC030005-001 Revision: -...

  • Page 216: Spare Parts In The Base

    8 Spare parts and exploded views 8.1.6. Spare parts in the base 8.1.6. Spare parts in the base Illustration xx0700000685 Continues on next page 3HAC030005-001 Revision: -...
  • Page 217 8 Spare parts and exploded views 8.1.6. Spare parts in the base Continued Spare part list Part Description Spare part no. Note/Qty Gasket (top cover) 3HAC029556-001 1 pcs Screw 3HAC029879-001 M6x20, 12 pcs Washer 3HAC029877-001 Nylon, 12 pcs Gasket 3HAC028972-001 3 pcs Flange gasket 3HAC028959-001...

  • Page 218: Spare Parts, Brake Release Button

    8 Spare parts and exploded views 8.1.7. Spare Parts, Brake Release Button 8.1.7. Spare Parts, Brake Release Button Illustration xx0700000718 Continues on next page 3HAC030005-001 Revision: -...
  • Page 219 8 Spare parts and exploded views 8.1.7. Spare Parts, Brake Release Button Continued Spare Part List, Brake Release Button Part Description Spare Part No. Note/Qty Membrane SK615503-2 1 pcs Push button 1SFA611100R1006 1 pcs Holder 1SFA611605R1100 1 pcs 3HAC030005-001 Revision: -...

  • Page 220: Spare Parts Arm System

    8 Spare parts and exploded views 8.2.1. Spare parts - upper arm, IRB 360 8.2 Spare Parts Arm System 8.2.1. Spare parts - upper arm, IRB 360 Illustration xx0700000663 Continues on next page 3HAC030005-001 Revision: -...
  • Page 221 8 Spare parts and exploded views 8.2.1. Spare parts - upper arm, IRB 360 Continued Spare part list Part Description Spare part no. Note/Qty Upper arm 3HAC029743-001 (800) 3pcs Joint ball 3HAC5176-1 12pcs Upper arm 3HAC021121-001 (Standard) 3pcs Joint ball 3HAC5176-1 12pcs Upper arm...

  • Page 222: Spare Parts, Telescopic Shafts

    8 Spare parts and exploded views 8.2.2. Spare Parts, Telescopic shafts 8.2.2. Spare Parts, Telescopic shafts Illustration xx0700000677 Continues on next page 3HAC030005-001 Revision: -...
  • Page 223 8 Spare parts and exploded views 8.2.2. Spare Parts, Telescopic shafts Continued Spare Part List Part Description Spare part no. Note Telescopic shaft 3HAC029293-001 1pcs, Std., (Without joints) Telescopic shaft 3HAC029425-001 1 pcs, WDS, (Without joints) Telescopic shaft 3HAC030013-001 1 pcs, WD, (Without joints) Universal joint 3HAC028132-001 2 pcs.

  • Page 224: Spare Parts - Parallell Arm System, Irb 360

    8 Spare parts and exploded views 8.2.3. Spare parts - Parallell arm system, IRB 360 8.2.3. Spare parts - Parallell arm system, IRB 360 Illustration xx0700000665 Spare part list Part Description Spare part no. Note/Qty 3HAC029024-001 6 pcs (Std) 3HAC029893-001 6 pcs (WDS) Bearing ring 3HAC028087-001...

  • Page 225: Spare Parts, Movable Plate

    8 Spare parts and exploded views 8.2.4. Spare Parts, Movable Plate 8.2.4. Spare Parts, Movable Plate Illustration xx0700000662 Continues on next page 3HAC030005-001 Revision: -...
  • Page 226 8 Spare parts and exploded views 8.2.4. Spare Parts, Movable Plate Continued Spare part list Part Description Spare part no. Note/Qty Movable plate with swivel 3HAC028021-001 (Std), 1pcs Joint ball 3HAC5176-1 6 pcs Movable plate with swivel WDS 3HAC029423-001 (WDS), 1 pcs Joint ball 3HAC5176-1 6 pcs...

  • Page 227: Spare Parts, Customer Options

    8 Spare parts and exploded views 8.3.1. Spare Parts, Ejector unit 8.3 Spare Parts, Customer options 8.3.1. Spare Parts, Ejector unit Illustration xx0700000684 Spare part list Part Description Spare part no. Note/Qty 3HAC029648-001 Ejector unit 1 pcs 3HAC028972-001 Gasket 1 pcs 3HAC030005-001 Revision: -...

  • Page 228: Spare Parts - Customer Options Signal Lamp Irb 360

    8 Spare parts and exploded views 8.3.2. Spare parts - customer options Signal lamp IRB 360 8.3.2. Spare parts - customer options Signal lamp IRB 360 Illustration xx0700000719 Continues on next page 3HAC030005-001 Revision: -...
  • Page 229 8 Spare parts and exploded views 8.3.2. Spare parts - customer options Signal lamp IRB 360 Continued Spare Part List Part Description Spare Part No. Note/Qty Lamp unit (Compl) 3HAC022235-005 1 pcs Indicator lamp 3HAC9249-1 1 pcs O-ring 3HAB3772-21 1 pcs 3HAC030005-001 Revision: -...
  • Page 230 8 Spare parts and exploded views 8.3.2. Spare parts - customer options Signal lamp IRB 360 3HAC030005-001 Revision: -...

  • Page 231: Circuit Diagram

    9 Circuit diagram 8.3.2. Spare parts - customer options Signal lamp IRB 360 9 Circuit diagram 3HAC030005-001 Revision: -...

  • Page 232: Copyright Page

    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 document. This document and parts thereof must not be reproduced or copied without ABB's written permission, and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.
  • Page 233 IRB 360 Customer Control cabinet Drawing number Manipulator 3HAC028647-009 Drawing version Manufacture Type Type of installation Control cabinet Mains voltage Supply Control voltage Year of construction Project start Project manager Last revision Designed by sejesun Designed date 2008-04-04 Number of pages Lab/Office: Latest revision: Status:...
  • Page 234 Table of contents ABB Contents1 Page Page description Comment COPYRIGHT page TITLE PAGE Table of contents: (1 - 109) Revision note Legend Connection point location Serial measuring board Motor axis 1-3 Motor axis 4 OPTION: LED-lamp Feed-back axis 1-2 Feed-back axis 3-4...

  • Page 235: Revision Note Legend

    REVISION NOTE: Rev 00: New Lab/Office: Latest revision: Status: Plant: 2008-04-04 Location: Manipulator APPROVED Sublocation: Document no. Revision note Rev. Ind Page Next 3HAC028647-009 Text view Prepared by, date: Approved by, date: Total...
  • Page 236 Motor Brake Temp sensor (PTC- resistor) Resolver Protective Earth Twisted wires Screened wires Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED Legend Sublocation: Document no. Rev. Ind Page 5 Next 3HAC028647-009 Prepared by, date: Approved by, date: Total...

  • Page 237: Connection Point Location

    XP.2 R2.FB XP.1 R2.FB R1.MP Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED Connection point location Sublocation: Document no. Rev. Ind Page 6 Next 3HAC028647-009 Prepared by, date: Approved by, date: Total...

  • Page 238: Serial Measuring Board

    -SMB /106.1 /107.2 -R2.G +7.2V 0V EXC1 EXC1 -R2.SMB -R1.SMB SDI-N SDO-N CONVERTER +24V +BATSUP 0V EXC2 0VBATLD EXC2 SERIAL COMMUNICA- KEY PIN/ STIFT TION Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED Serial measuring board Sublocation: Document no. Rev.

  • Page 239: Motor Axis

    -MU1 -R3.MP1 /109.6 / -M1R /109.6 / -M1S /109.6 / -M1T /105.2 / -PTC34 -MU2 -R3.MP2 /109.6 / -M2R /109.6 / -M2S /109.6 / -M2T -MU3 -R3.MP3 /109.6 / -M3R /109.6 / -M3S /109.6 / -M3T /109.6 / -0V PTC /105.2 / -BRAKE REL /105.2 / -0V BRAKE Lab/Office:...
  • Page 240 -MU4 -R3.MP4 /109.6 / -M4R /109.6 / -M4S /109.6 / -M4T /104.2 / -PTC34 /109.7 / -PTC4 /104.2 / -BRAKE REL /104.2 / -0V BRAKE /109.6 / -BRAKE REL /109.6 / -BRAKE REL /109.6 / -0V BRAKE -R3.H2 /109.6 / -0V BRAKE OPTION: LED-LAMP /109.7 / -BRAKE PB -R3.H1...

  • Page 241: Feed-Back Axis

    -SMB /103.3 -FB1 -R2.FB1-4 -R3.FB1 0V X1 Resolver 0V Y1 0V EXC1 EXC1 -FB2 -R3.FB2 0V X2 Resolver 0V Y2 0V EXC1 EXC1 Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED Feed-back axis 1-2 Sublocation: Document no. Rev. Ind Page 106 Next 3HAC028647-009...
  • Page 242 -SMB -FB3 /103.3 -R2.FB1-4 -R3.FB3 0V X3 Resolver 0V Y3 0V EXC1 EXC1 -FB4 -R3.FB4 0V X4 Resolver 0V Y4 0V EXC2 EXC2 Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED Feed-back axis 3-4 Sublocation: Document no. Rev. Ind Page 107 Next 3HAC028647-009...

  • Page 243: Option: Ejector Unit

    VACCUM -R1.CS BLOW RELEASE PRESSURE SWITCH Lab/Office: Latest revision: Status: 2008-04-04 Plant: IRB360 Location: Manipulator APPROVED OPTION: Ejector unit Sublocation: Document no. Rev. Ind Page 108 Next 3HAC028647-009 Prepared by, date: Approved by, date: Total...
  • Page 244 -R1.MP -R1.MP 1-3 -M1T / /104.2 -M2T / /104.2 -M2S / /104.2 -M2R / /104.2 -M4T / /105.2 -M4S / /105.2 -M4R / /105.2 LIM 2A LIM 1A LIM 2B -0V PTC / /104.2 LIM 1B -R1.MP 4-6 -M1S / /104.2 -M1R / /104.2 -M3T / /104.2 -M3S / /104.2...
  • Page 245 Index Burndy connector 68 negative directions, axes 173 calibrating oil change roughly 182 safety risks 27 SMB memory 184 operators manual, article number 191 calibration fine calibration 181 position, robot 174 marks/scales 174 positive directions, axes 173 rough 182 product manual, controller, article number 191 standard type 172 product specification, article number 191 when to calibrate 171...
  • Page 246 Index 3HAC030005-001 Revision: -...
  • Page 248 ABB AB Robotics Products S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592...

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