ABB Product Manual Procedures IRB2400 Part 2
description
Transcript of ABB Product Manual Procedures IRB2400 Part 2
Product manual (part 2 of 2), reference informationArticulated robotIRB 2400 - L
IRB 2400 - 10
IRB 2400 - 16
M2000,M2000A, M2004
���
Product manual (part 2 of 2), reference information
Articulated robot
IRB 2400 - L
IRB 2400 - 10
IRB 2400 - 16 M2000
M2000A
M2004
Document ID: 3HAC 022031-001
Revision: A
The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB Robotics
SE-721 68 Västerås Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Product documentation, M2000/M2000A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Reference information 9
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161.7 Standard toolkit, IRB 2400. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181.8 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Part list 21
3 Foldouts 23
4 Circuit diagram 25
33HAC 022031-001 Revision: A
Overview
Overview
About this manual
This manual contains reference information for all procedures described in the Product
manual, procedures .
Usage
This manual should be used during
• installation
• maintenance work
• repair work.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
The reader should...
• be a trained maintenance/repair craftsman
• have the required knowledge of mechanical and electrical installation/repair/
maintenance work.
Organization of chapters
The manual is organized in the following chapters:
References
Chapter Contents
Reference information Useful information when performing installation, maintenance or repair work (lists of necessary tools, reference documents, safety standards).
Part list Complete list of manipulator parts, shown in the exploded views or foldouts.
Exploded views / Foldouts
Detailed illustrations of the manipulator with reference numbers to the part list.
Circuit Diagram Circuit Diagram of the manipulator.
Reference Document Id
3HAC 022031-001 Revision: A4
Overview
Revisions
Revision Description
- First edition.
Replaces previous manuals:
• Installation and Commssioning Manual
• Maintenance Manual
• Repair Manual, part 1
• Repair Manual, part 2.
Changes made in the material from the previous manuals:
• Model M2004 implemented.
A Section Document references is completed with article numbers for calibration manuals.
53HAC 022031-001 Revision: A
Product documentation, M2000/M2000A
Product documentation, M2000/M2000A
General
The complete product documentation kit for the M2000 robot system, including controller,
robot and any hardware option, consists of the manuals listed below:
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
Software manuals
The software documentation consists of a wide range of manuals, ranging from manuals for
basic understanding of the operating system to manuals for entering parameters during
operation.
A complete listing of all available software manuals is available from ABB.
Controller hardware option manual
Each hardware option for the controller is supplied with its own documentation. Each
document set contains the types of information specified below:
• Installation information
• Repair information
• Maintenance information
In addition, spare part information is supplied for the entire option.
3HAC 022031-001 Revision: A6
Product documentation, M2004
Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. 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.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID reference manual part 1: Description of all RAPID instructions.
• RAPID reference manual part 2: Description of all RAPID functions and data types.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful)
• What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
73HAC 022031-001 Revision: A
Product documentation, M2004
• How to use the application
• Examples of how to use the application
Operator’s manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
• Operator’s manual - IRC5 with FlexPendant
• Operator’s manual - RobotStudioOnline
• Trouble shooting Manual for the controller and robot
Miscellaneous
A number of manuals provide generic descriptions of the robot and robot system. These
include:
• Robot fundamentals (describing the fundamental aspects, functions, concept and
similar, of a robot system to provide a basic understanding of the robot system)
3HAC 022031-001 Revision: A8
1 Reference information
1.1. Introduction
1 Reference information
1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the Product manual (part 1 of 2), procedures.
93HAC 022031-001 Revision: A
1 Reference information
1.2. Applicable Safety Standards
1.2. Applicable Safety Standards
Standards, general
The robot is designed in accordance with the requirements of:
• ISO10218, Jan. 1992, Industrial Robot Safety
• ANSI/RIA 15.06-1999
• ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing
systems - Basic requirements
• DIN 19258 - Interbus-S, International Standard
Standards, safety fence
The following standards are applicable to the safety fence surrounding the robot cell:
• ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing
systems - Basic requirements
• prEN 999:1995
Standards, robot cell
The following standards are applicable when the robot is part of a robot cell:
• IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached
by the upper limbs.
• EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human
body.
• EN 811 Safety of machinery - Safety distance to prevent danger zones being reached
by the lower limbs.
• Pr EN 999 Safety of machinery - The positioning of protective equipment in respect
of approach speeds of the human body.
• EN 1088 Safety of machinery - Interlocking device associated with guards principles
for design and selection.
3HAC 022031-001 Revision: A10
1 Reference information
1.3. Unit conversion
1.3. Unit conversion
Converter table
Use the table below to convert units used in this manual.
Quantity Units
Length 1 m 3.28 ft 39.37 in
Weight 1 kg 2.21 lb
Pressure 1 bar 100 kPa 14.5 psi
Force 1 N 0.738 lbf
Moment 1 Nm 0.738 lbf-tn
Volume 1 L 0.264 US gal
113HAC 022031-001 Revision: A
1 Reference information
1.4. Screw joints
1.4. Screw joints
General
This section details how to tighten the various types of screw joints on the robot and the
controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It
features special surface treatment (Gleitmo as described below), and is extremely resistant to
fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other type of
replacement screw is allowed! Using other types of screws will void any warranty and may
potentially cause serious damage or injury!
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.
Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After
this the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should
be used.
Screws lubricated in other ways
Screws lubricated with Molycote 1000 should only be used when specified in the repair,
maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1. Apply lubricant to the screw thread.
2. Apply lubricant between the plain washer and screw head.
3. Tighten to the torque specified in section Tightening torque below. Screw dimensions
of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or
smaller may be tightened without a torque wrench if this is done by trained and
qualified personnel.
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
Lubricant Art. no.
Molycote 1000 (molybdenum disulphide grease) 1171 2016-618
3HAC 022031-001 Revision: A12
1 Reference information
1.4. Screw joints
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools.
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,
flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
The table below specifies the recommended standard tightening torque for oil-lubricated
screws with slotted or cross-recess head screws.
The table below specifies the recommended standard tightening torque for oil-lubricated
screws with Allen head screws.
The table below specifies the recommended standard tightening torque for Molycote-
lubricated screws with Allen head screws.
Dimension Tightening torque (Nm) Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0
Dimension
Tightening torque (Nm) Class 8.8, oil-lubricated
Tightening torque (Nm) Class 10.9, oil-lubricated
Tightening torque (Nm) Class 12.9, oil-lubricated
M5 6 - -
M6 10 - -
M8 24 34 40
M10 47 67 80
M12 82 115 140
M16 200 290 340
DimensionTightening torque (Nm)Class 10.9, Molycote-lubricated
Tightening torque (Nm)Class 12.9, Molycote-lubricated
M8 28 34
M10 55 66
M12 96 115
M16 235 280
133HAC 022031-001 Revision: A
1 Reference information
1.4. Screw joints
The table below specifies the recommended standard tightening torque for water and air
connectors when one or both connectors are made of brass.
DimensionTightening torque Nm - Nominal
Tightening torque Nm - Min.
Tightening torque Nm - Max.
1/8 12 8 15
1/4 15 10 20
3/8 20 15 25
1/2 40 30 50
3/4 70 55 90
3HAC 022031-001 Revision: A14
1 Reference information
1.5. Weight specifications
1.5. Weight specifications
Definition
In all repair and maintenance procedures, weights of the components handled are sometimes
specified. 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.
Example
Below is an example of how a weight specification is presented:
CAUTION!
Caution!
The motor weighs 32 kg! All lifting equipment used must be sized accordingly!
153HAC 022031-001 Revision: A
1 Reference information
1.6. Document references
1.6. 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. The specification listed below is
the English version.
Product manuals, controller
The product manuals include information about installation and service activities. The table
below specifies the article numbers of the product manuals for all controller models. The part
number -001 is the English version.
Operators manual
The operators manual contains instructions for daily operation of robot systems. The table
below specifies the article numbers of the operators manuals for different robot systems.
Calibration manuals
Document name Document ID
Product specification 3HAC 9112-1
Document name Document ID
Product manual, S4Cplus M2000 3HAC 021333-001
Product manual, S4Cplus M2000A 3HAC 021128-001
Product manual, IRC5 M2004 3HAC 021313-001
Document name Document ID Note
User’s guide (S4Cplus) 3HAC 7793-1 Contains instructions for daily operation of S4Cplus based robot systems.
Operator’s manual (IRC5) 3HAC 16590-1
Document name Document ID Note
Calibration Pendulum Instruction
3HAC 16578-1 Enclosed with the Calibration Pendulum Toolkit.
Instructions for Levelmeter calibration (alternative method)
3HAC 022907-001 Enclosed with the Levelmeter 2000.
CalibWare 2.0 Users Guide 3HAC 16090-1 Calibration tool for Absolute Accuracy calibration.
3HAC 022031-001 Revision: A16
1 Reference information
1.6. Document references
Additional documentaion
Document name Document ID Note
External axes 3HAC 9299-1
173HAC 022031-001 Revision: A
1 Reference information
1.7. Standard toolkit, IRB 2400
1.7. Standard toolkit, IRB 2400
General
All service (repair, maintenance and installation) instructions contain lists of tools required
to perform the specified activity. All special tools, i.e. all tools that are not considered
standard as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.
Contents
Qty Tool
1 Ring-open-end spanner 8-19mm
1 Socket head cap 2,5-17mm
1 Torx socket no:20-60
1 Torque wrench 10-100Nm
1 Small screwdriver
1 Ratchet head for torque wrench 1/2
1 Socket head cap no:5, socket 1/2"" bit L 20mm
1 Socket head cap no:6, socket 1/2"" bit L 20mm
1 Socket head cap no:8, socket 1/2"" bit L 20mm
1 Small cutting plier
3HAC 022031-001 Revision: A18
1 Reference information
1.8. Lifting equipment and lifting instructions
1.8. 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.
This implies that the instructions delivered with the lifting equipment should be stored for
later reference.
193HAC 022031-001 Revision: A
1 Reference information
1.8. Lifting equipment and lifting instructions
3HAC 022031-001 Revision: A20
1 Reference information
1.8. Lifting equipment and lifting instructions
2: Part list
2.0.1 Introduction
Definitions This chapter is an appendix to the manual and contains part lists for the manipulator. The item
numbers refers to chapter Foldouts on page 35.
The part list for the manipulator sometimes differ between robot versions.
213HAC 022031-001 Revision: A
1 Reference information
1.8. Lifting equipment and lifting instructions
2.0.2 Foot
Foot Item number refers to item number on the foldouts.Customer cable
Axis 4Lower arm
2400L/10, /16Upper Arm IRB 2400/10/16
Itm Qty Name Art. No. Remarks
1 1 Foot 3HAC 5945-1
2 1 Gear box axes 1-3 3HAC 4795-1
3 12 Hex socket head cap screw 3HAB 3402-69 M12x50 8.8 Gleitmo 610
Gleitmo 610
4 12 Plain washer 9ADA 312-9 13x24x2.5
5 2 Motor axes 1 and 3 3HAC 4789-1
2 Motor axes 1 and 3 3HAC 021346-001 5/10/16/kg, Yaskawa
1 Motor axes 1 3HAC 021961-001 Wall ,Yaskawa
6 3 O-ring 2152 2012-434 109.5x3
7 12 Spring washer 2154 2033-9 8.4x18x2
8 4 Hex socket head cap screw 3HAB 3409-45 M8x65 12.9 Gleitmo 610
9 8 Hex socket head cap screw 3HAB 3409-37 M8x25 12.9 Gleitmo 610
Itm Qty Name Art. No. Remarks
1 Customer cable extension, axis 4 3HAC 8869-1 Option 043
See below
Itm Qty Name Art. no. Remark
1 Lower arm 3HAC 4796-1 2400/10, /16
1 Lower arm 3HAC 4797-1 2400L
11 8 Spring washer 2154 2033-10 10.5x23x2.5
12 12 Hex socket head cap screw 3HAB 3409-50 M10x40 12.9
13 1 Spring tension plate 3HAC 2205-1 66x116x3
14 1 Damper, standard axis 2 3HAC 2180-1
15 1 Damper axis 3 3HAB 5512-1
16 4 Torx pan head roll. screw 9ADA 629-56 M6x16
17 8 Hex socket head cap screw 3HAB 3409-57 M10x60 12.9
3HAC 022031-001 Revision: A22
1 Reference information
1.8. Lifting equipment and lifting instructions
18 1 Parallel arm 3HAB 9394-1
19 2 Sealing ring 3HAB 3732-13 V-110-L 99x10.5
20 1 Groove ball bearing 3HAB 3643-12 61822-2RS1
21 2 Sealing ring 3HAB 5515-1 Acetal
26 2 Hex socket head cap screw 9ADA 183-34 M8x12
32 1 Sealing 3HAC 10089-2
33 1 Locking washer 3HAB 5523-1 SS 1914-04
34 1 Hex socket counters, head 2121 2852-449 M8x16 8.8
35 1 Sealing 3HAC 10088-4 Acetal (POM)
36 1 Motor axis 2 3HAC 4790-1
1 Motor axis 2 3HAC 021350-001 5/10/16/kg, Yaskawa
41 Lubricating oil 1171 2016-604 14 700 ml
42 Bearing grease 3HAB 3537-1 1 g
43 Locking liquid 3HAB 7116-1 1 ml Loctite 243
46 1 Stop axis 1 3HAB 6687-1
48 6 Washer 2151 2082-150 6.1x20x2
49 1 Friction washer 3HAC 0447-1
50 1 Sync. mark. axis 2 3HAB 5522-1
51 1 Upper arm axes 4-6
54 2 Lock nut 2126 2851-107 M35x1.5
55 2 Shaft end 3HAB 5527-1 SS 1672-08
56 2 Hex socket head cap screw 3HAB 7700-71 M12x60 12.9
57 2 VK-cover 3HAA 2166-15 VK 62x8
60 1 Sync. market axis 3 3HAB 8385-1
62 2 Washer 3HAA 1001-134
63 9 Torx pan head roll screw 9ADA 629-43
100 1 Cable unit axes 1-3 3HAC 4791-1
102 1 Bottom plate 3HAC 2828-1
103 1 Gasket 3HAC 4554-1
104 1 Cover 3HAC 9368-1 Standard
104 1 Cover 3HAC 9362-1 Foundry
104 1 Cover 3HAC 7242-1 Wire feeder
105 1 Gasket 3HAC 3200-1
106 1 Sealing 3HAC 4113-1
107 1 Bracket 3HAB 5923-1
108 2 Holder for cable guide 3HAB 3299-1
109 1 Cable guide 3HAB 5924-1
110 1 Spring 3HAB 3662-1
111 1 Cable guide upper arm 3HAB 5928-1 IRB 2400/10/16
112 3 Cover 3HAC 4337-1
114 1 Instruction plate 3HAC 2589-1
115 1 Serial meas. board 3HAB 3700-1
116 2 Torx pan head roll. screw 9ADA 629-45 M5x16
Itm Qty Name Art. no. Remark
233HAC 022031-001 Revision: A
1 Reference information
1.8. Lifting equipment and lifting instructions
Axes 4-6Upper Arm IRB 2400L
117 1 Battery unit 4944 026-4
118 14 Hexagon nut with flange 9ADA 290-1 M5 fzb
119 12 Cable straps, outdoor 2166 2055-3 L=208 mm
121 1 Push button unit 3HAC 0017-1
122 4 Distance bolt 2125 2052-198 M5x15
123 1 Push button cover 3HAC 2744-1
125 1 Cable straps, outdoors 2166 2055-7 8.9x780
129 1 Signal cable SMB 3HAC 7819-1
132 2 Dust cap 3HAC 7561-3
133 1 Dust cap 3HAC 7561-4
134 15 Torx pan head screw 9ADA 618-56 M6x16 8.8
135 3 Hex socket head pan screw 9ADA 183-34 M8x12 8.8
136 8 Torx pan head roll. screw 9ADA 629-34 M4x12 Ext. conn.
137 63 Torx pan head roll. screw 9ADA 629-44 M5x12
138 6 Cable straps, outdoors 2166 2055-1 L=101 mm
139 1 Coupling 3HAB 3333-20
140 Locking liquid 1269 0014-412 Loctite 542
141 2 Protective hood 2522 2101-8 D=11.4 - 13
147 3 Gasket 3HAC 4419-1
149 1 Gasket 3HAB 7160-1
150 Flange sealing 1234 0011-116 Loctite 574
151 Adhesive tape 1169 9198-301 19x0.18
152 1 Bracket 3HAB 5921-1
156 1 Parallel pin 3HAC 3785-1
157 1 Adaptor, customer cabling 3HAB 7328-1
157 1 Cover protection 3HAC 6823-1
158 1 Adaptor, power cabling 3HAB 2809-1
159 2 Protection cover 3HAC 7816-1 Foundry
160 1 Sealing 3HAC 5479-3
161 1 Sealing 3HAC 5479-4
168 1 Protective hood 3HAC 3189-1 Suspended
169 2 Gasket 3HAB 9040-1 Standard
170 1 Cover 3HAC 0048-1
171 Profile 1866 1903-1 120 mm
Itm Qty Name Art. no. Remark
45 2 Sealing 3HAC 10089-2
46 1 Damper axis 3 3HAB 5511-1
47 1 Bracket 3HAC 0001-1
48 1 Sealing 3HAC 10088-4
49 1 Hex socket counters, head 2121 2852-449 M8x16 8.8
Itm Qty Name Art. no. Remark
3HAC 022031-001 Revision: A24
1 Reference information
1.8. Lifting equipment and lifting instructions
50 1 Locking washer 3HAB 5523-1 SS 1914-04
51 Locking liquid 3HAB 7116-1 6 ml, Loctite 243
52 3 Gasket 3HAC 4429-1
53 1 Cable unit axes 4-6 3HAC 9328-1
54 9 Torx pan head screw 9ADA 618-46 M5x20 8.8
55 9 Cable straps, outdoors 2166 2055-1 2.5x101
56 Adhesive tape 1169 9198-301 500 mm, 19x0.18
57 1 Cover 3HAB 6491-1
57 1 Cover with lamp unit 3HAC 2774-1
58 10 Torx pan head roll. screw 9ADA 629-44 M5x12
59 2 Hex socket head cap screw 9ADA 183-22 M6x10
60 1 Motor unit axis 6 3HAC 10602-2
1 Motor unit axis 6 3HAC 021731-001 10/16 kg, Yaskawa
1 Motor unit axis 6 3HAC 021741-001 5 kg, Yaskawa
1 1 Upper arm without wrist and motors
3HAC 1581-1
13 4 Disc spring 3HAB 3731-14 67.5x50.5x0.7
18 1 Wrist 3HAB 9439-1 Standard
18 1 Wrist 3HAB 9398-1 Foundry
19 1 O-ring 3HAB 3772-12 Nitrile rubber 126x4
20 6 Hex socket head cap screw 3HAB 3402-38 M8x30 8.8
Gleitmo 610
21 15 Plain washer 9ADA 312-7 8.4x16x1.6
25 1 Motor unit axis 5 3HAC 10600-1 10 kg
1 Motor unit axis 5 3HAC 10601-1 16 kg
1 Motor unit axis 5 3HAC 021741-001 5 kg, Yaskawa
Motor unit axis 5 3HAC 021722-001 10/16 kg, Yaskawa
26 2 Motor unit axis 4 3HAC 10602-1
2 Motor unit axis 4 3HAC 021740-001 5 kg, Yaskawa
2 Motor unit axis 4 3HAC 021353-001 10/16 kg, Yaskawa
27 3 O-ring 3HAB 3772-1 Nitrile rubber 34.2x3
28 12 Plain washer 9ADA 312-6 6.4x12x1.6
29 12 Hex socket head cap screw 3HAB 3409-26 M6x25 12.9
Gleitmo 610
30 1 Damper axis 4 3HAB 5544-1
32 4 Hex socket head cap screw 3HAB 3402-36 M8x20 8.8
Gleitmo 610
33 Lubricating oil 3HAC 0860-1 2300 ml
34 2 Magnetic plug 2522 122-1 R1/4”
35 2 Sealing ring 2152 2031-6
39 Bearing grease 3HAB 3537-1 50 g
40 Flange sealing 1234 0011-116 30 ml, Loctite 574
Itm Qty Name Art. no. Remark
253HAC 022031-001 Revision: A
PartsDrive unit IRB 2400/10/16
Drive unit axis 5-6Drive unit IRB 2400L
41 2 Sealing ring without dust lip 3HAC 7877-2
42 2 Taper roller bearing 3HAA 2103-15 32007 X
43 1 Parallel bar 3HAC 1564-1
44 2 Spherical roller bearing 3HAA 2167-12 22206 CC
Itm Qty Name Art. no. Remark
1 1 Tubular shaft 3HAC 0235-1
2 1 Back-up ring 3HAB 6354-1
3 1 Sealing ring 3HAB 3732-13 99x10.5
V-110-L
4 2 Ball bearing 2213 253-12 105x130x13
61821-2RSI
5 2 Cover plug 2216 264-14 IRB 2000
6 1 Housing, axis 4 3HAC 0236-1
7 2 Spacer 2159 167-61 D=115/105, T=0.05
8 4 Spacer 2159 167-62 D=115/105, T=0.1
9 1 Spacer 2159 167-63 D=115/105, T=0.5
10 1 Gear, axis 4, step 2 3HAB 3210-1
11 1 Damper, axis 4 3HAB 6356-1
12 6 Hex socket head cap screw 3HAB 3402-24 M6x16 8.8
Gleitmo 610
13 10 Plain washer 9ADA 312-6 6.4x12x1.6
A2F
14 4 Hex socket head cap screw 3HAB 3402-30 M6x45 8.8, Gleitmo 610
Itm Qty Name Art. no. Remark
45 10 Cable straps, outdoors 2166 2055-1 2.5x101 Polyamide 6.6 black
46 1 Clamp 2166 2018-8 D=6
5562-00-04
47 1 Clamp 2166 2018-2 D=11
5562-00-07
48 1 Bracket, axes 5-6 3HAB 3230-1
49 2 Torx pan head roll screw 9ADA 629-47 M5x25 8 A2F
50 1 Parallel bar 3HAC 1563-1
51 1 Damper, axis 3 3HAB 5511-1
Itm Qty Name Art. no. Remark
1 Reference information
1.8. Lifting equipment and lifting instructions
52 2 Hex socket head cap screw 9ADA 183-22 M6x10 8.8
A2F
53 2 Spherical roller bearing 3HAA 2167-12 D=30/62 W=20 22206 CC Standard
54 2 Sealing 3HAC 10088-4
55 1 Sealing 3HAC 10089-2
56 1 Locking washer 3HAA 2356-11 9x35x3
57 1 Hex socket head cap screw 3HAB 3402-36 M8x20 8.8 Gleitmo 610
58 1 Cable bracket upper arm 3HAB 5927-1
59 1 Cable unit axes 4-6 3HAC 9330-1
59 1 Cable unit axes 4-6 3HAC 13052-1 Wire feeder
60 3 Gasket 3HAB 4429-1
61 1 Cable straps, outdoors 2166 2055-3
15 1 Drive unit axis 5-6
16 1 Motor unit, axis 4 3HAC 11864-1
17 4 Hex socket head cap screw 9ADA 183-14 M5x16 8.8, A2F
18 1 O-ring 2152 2011-414 44.2x3, Nitrile rubber
23 1 Gear unit, axis 4 3HAB 3380-1
24 2 Plain washer 9ADA 312-7 8.4x16x1.6, A2F
25 2 Hex socket head cap screw 9ADA 183-38 M8x30 8.8, A2F
28 1 Cover 3HAB 6355-1
30 Lubricating oil 1171 2016-604 30 ml
31 Locking liquid 3HAB 7116-1 Loctite 243
32 Locking liquid 1269 0014-413 Loctite 638
34 Flange sealing 1234 0011-116 Loctite 574
35 Bearing grease 3HAB 3537-1 Shell Retinax MS
36 1 Wrist, 5 kg 3HAC 10814-1 Standard and Foundry
37 6 Hex socket head cap screw 3HAB 3402-25 M6x20 8.8, Gleitmo 610
38 1 Cover 3HAB 4350-1
1 Cover with lamp unit 3HAC 2743-1 Option
39 39 Torx pan head roll screw 9ADA 629-44 M5x12 8
40 1 Cover 3HAB 4405-1
43 2 Sealing ring (without dust lip) 3HAB 7877-2 D=42/55 W=8 Nitrile rubber
44 2 Taper roller bearing 3HAA 2103-15 D=35/62 W=18
32007 X
Itm Qty Name Art. no. Remark
273HAC 022031-001 Revision: A
1 Reference information
1.8. Lifting equipment and lifting instructions
Axes 5-6Limit Switch
Axis 1
Itm Qty Name Art. no. Remark
1 1 Drive shaft unit, axes 5-6 3HAC 11804-1
2 2 Motor unit axes 5-6 3HAC 11865-1
3 1 Motor plate 3HAA 2504-1
4 8 Hexagon nut 9ADA 267-5 M5 8. A2F
5 10 Hex socket head cap screw 3HAB 3402-14 M5x16 8.8 Gleitmo 610
6 10 Plain washer 9ADA 312-5 5.3x10x1. A2F
7 2 Gear belt 3HAA 2393-1
Itm Qty Name Art. no. Remark
3 Switches
1 2 Holder ring 3HAC 0305-1
2 6 Hexagon screw, button head 3HAC 0596-31 M8x12
3 7 Cam, blank 3HAB 8086-1
4 24 Torx pan head screw 9ADA 618-55 M6x12
5 1 Attachment plate 3HAC 0982-1
6 2 Torx pan head screw 9ADA 618-56 M6x16
7 0 Position switch 1 3HAC 6447-1
7 1 Position switch 1-3 3HAC 6448-1
8 6 Hex socket head cap screw 9ADA 183-5 M4x16
9 9 Shims-sheet 3HAB 7478-1
10 4 Torx pan head roll. screw 9ADA 629-42 M5x8
11 6 Clamp 2166 2018-9 D=8
12 1 Cable straps, outdoors 2166 2055-3 4.8x208
13 1 Assembly instruction 3HAB 8372-1 Incl. in the delivery.
14 2 Torx pan head screw 9ADA 618-59 M6x30.
3HAC 022031-001 Revision: A28
3 Foldouts
1.8. Lifting equipment and lifting instructions
3 Foldouts
293HAC 022031-001 Revision: A
3 Foldouts
1.8. Lifting equipment and lifting instructions
3HAC 022031-001 Revision: A30
4 Circuit diagram
1.8. Lifting equipment and lifting instructions
4 Circuit diagram
313HAC 022031-001 Revision: A
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
1
LIS
T O
F C
ON
TE
NT
S
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
2
CO
NN
EC
TIO
N P
OIN
T L
OC
AT
ION
S
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
3
BR
EA
K U
NIT
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
4
MO
TO
R A
XIS
1 -
3
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
5
SE
RIA
L M
EA
SU
RE
ME
NT
BO
AR
D
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
6
MO
TO
R A
XIS
4 -
6, 1
.5 -
10
/ 16
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
7
FE
ED
- B
AC
K A
XIS
4 -
6, 1
.5 1
0 / 1
6
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
8
MO
TO
R A
XIS
4 -
6, 1
.8 -
5
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
10
9
FE
ED
- B
AC
K A
XIS
4 -
6, 1
.8 -
5
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
11
0
CU
ST
OM
ER
CO
NN
EC
TIO
NS
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
11
1
INT
EG
RA
TE
D W
IRE
FE
ED
CA
BLI
NG
(O
PT
ION
)
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
11
2
PO
S. I
ND
ICA
TO
R A
XIS
1 (
OP
TIO
N)
Man
ipul
ator
Circ
uit D
iagr
am
3HA
C 6
670-
3 R
ev.0
1
Pro
duct
Man
ual I
RB
240
0 N
o. o
f She
ets
13S
heet
no.
11
3
EX
TE
RN
AL
CO
NN
EC
TIO
NS
(O
PT
ION
S)
���ABB Automation Technologies ABRoboticsS-721 68 VÄSTERÅSSWEDENTelephone: +46 (0) 21 344000Telefax: +46 (0) 21 132592
3HA
C 0
2203
1-00
1, R
evis
ion
A, e
n