IRC5-IRB6600 Prod Man 3HAC020938-001 References RevC En

March 21, 2018 | Author: martinimartiini | Category: Screw, Technology, Mechanical Engineering, Software, Computing And Information Technology
Share
Report this link


Comments



Description

Product manual (part 2 of 2), reference informationArticulated robot IRB 6600 - 225/2.55 type A IRB 6600 - 175/2.8 type A IRB 6600 - 175/2.55 type A IRB 6650 - 200/2.75 type A IRB 6650 - 125/3.2 type A M2000, M2004, M2000A  Product manual (part 2 of 2), reference information IRB 6600 - 225/2.55 type A IRB 6600 - 175/2.8 type A IRB 6600 - 175/2.55 type A IRB 6650 - 200/2.75 type A IRB 6650 - 125/3.2 type A M2000 M2000A M2004 Document ID: 3HAC 020938-001 Revision: C 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . balancing device. . . . . . . . . . . . . . . . . . . . . . 40 2. . . .3 Part list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 3. . . . . . . . . . . 3HAC 13263-1 . . . . . . . . . . . . . . . . manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Applicable Safety Standards. . . . . . . . 35 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3HAC 13264-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . .10 Material set. . . . . . . . . . . .5 Upper arm . . 25 2. . . . . . . . . . . . . . . . . . .3. . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2. . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Rebuilding parts . . . . . . . . . . . . . . . . . . . . . . 52 2. . . . .4 Frame-Lower arm 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Screw joints . . . . . . . . . . . . . . . . . axis 1-2. . . . 61 3HAC 020938-001 Revision: C 3 . . . . . .6 Wrist complete . 53 3 Exploded views 55 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Frame-Lower arm 1 . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Base incl frame ax 1 . . .2. . . .3 Part list. . . . . . . . . . . . . . . . . . . 11 1. . . . . . . . M2000/M2000A . . . 3HAC 13265-1 . 13 1. . . . . . . . . 250 mm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 Axis 3-4 . . . . . . . .2 Spare part list . . . . . . . . . . . . . .2 Spare part list . . . . . . . . . . 58 3. . . . 5 Product documentation. . . . . . . . . . . . . . . . . . . . . . . 29 2.3. . . . . . 56 3. . . . . . .9 Wrist. . . . . . . . . . . . 39 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 2. . . . . . .8 Document references . . . . . . . . . . . . . . . . . . . . . . . .8 Wrist Foundry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Unit conversion. . . 19 1. .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4 Circuit Diagram 61 4. . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 Weight specifications . . . . . . . . . . . . . . . 49 2. . . . . . . . . . . . . . . . . . . . . . . . . . 46 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M2004 . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . .6 Axis 3-4. . . . . . . . . . . . . . . . . . . . . . . 22 1. . . . . . . . . . . . . . . . . . . . . . . . . 57 3. . . . . 45 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Standard toolkit. . . . . . . . . . . . .1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 2. 18 1. . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . .7 Special tools . . . . . . . . . . . . . . . . . . 12 1. . . . . . . . . . . . . . . . . 14 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 Arm extension set. .12 Material set. . . . 3HAC 12311-4 . . . . . . . . . . . . . . . . . . . . .3. . . Frame . . . . . . . . . . . . . . . . . . . . . . 32 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents Overview . . . . . . . . . . . . . . . . . Foundry. . . . . . . . . . . overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2 Spare part / part list 25 2. . . . . . . . . . . . . . . . . . . . .2 Base incl. . . . . . .1 Introduction . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Product documentation. . . . . . . . . . . . . . . . . . . . . . . . . . .11 Material set. . . . . . . . . . . . . . . . . . . . . . . . . standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2. . . . . . . . . . . . . . . . . . 34 2. . . . .1 Introduction . . . . . . . . . . .1 Introduction . . . . . . . . . . . . . . . . . . . . 8 1 Reference information 11 1. . 30 2. . . . . . . . . . insulated. . . .7 Wrist. . . . . . . . . . . . . . . . . . . . . . . . . . 59 3. . . . . . Table of Contents 4 3HAC 020938-001 Revision: C . Who should read this manual? This manual is intended for: • installation personnel • maintenance personnel • repair personnel. 3HAC 020938-001 Revision: C 5 . • be a trained maintenance/repair craftsman • have the required knowledge of mechanical and electrical installation/repair/ maintenance work. Prerequisites The reader should..Overview Overview About this manual This manual contains reference information for all procedures described in the Product manual.. Usage This manual should be used during • installation • maintenance work • repair work. procedures . Overview Organization of chapters The manual is organized in the following chapters: Chapter Contents Reference information Useful information when performing installation, maintenance or repair work (lists of necessary tools, reference documents, safety standards). Spare part / Part list Complete list of manipulator parts, shown in the exploded views or foldouts. Exploded views Detailed illustrations of the robot with reference numbers to the part list. Circuit diagram Circuit diagram of the robot. Revisions 6 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: • Various corrections due to technical revisions, changes in the toolkits etc. A • • Model M2004 implemented. Spare part list added to manual. B • Section Document references is comleted with article for calibration manuals. C • New lubricating oil in the gearboxes. Changes made in the section Part list on page 29. 3HAC 020938-001 Revision: C 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 020938-001 Revision: C 7 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: 8 • 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. 3HAC 020938-001 Revision: C Product documentation, M2004 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) • 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 - RobotStudio Online • Trouble shooting manual for the controller and robot Miscellaneous A number of manuals provide generic descriptions of the robot and robot system. These include: • 3HAC 020938-001 Revision: C Robot fundamentals (describing the fundamental aspects, functions, concept and similar, of a robot system to provide a basic understanding of the robot system) 9 Product documentation. M2004 10 3HAC 020938-001 Revision: C . 1.1. procedures. Introduction General This chapter includes general information.1 Reference information 1. 3HAC 020938-001 Revision: C 11 . complementing the more specific information in the Product manual (part 1 of 2). Introduction 1 Reference information 1. Applicable Safety Standards Standards. • EN 60204-1 .Industrial automation systems .1 Reference information 1.Fixed and moveable guards • EN 811 . • EN 563 .Safety distances to prevent danger zones being reached by the lower limbs.Electrical equipment of machines. • EN 294 . • EN 349 .Safety distances to prevent danger zones being reached by the upper limbs. • EN 954-1 . robot cell The following standards are applicable when the robot is part of a robot cell: 12 • EN 953 .Industrial robots. 3HAC 020938-001 Revision: C .06-1999 . general The robot is designed in accordance with the requirements of: • EN 775 . • ISO 11 161 .Temperatures of surfaces. • DIN 19258 .2. safety requirements. • EN 292-1 . • EN 1088 . • ANSI/RIA 15.The positioning of protective equipment in respect of approach speeds of the human body.Basic terminology.Robot safety.Safety of intergrated manufacturing systems. International Standard Standards.2.Principles for risk assessment.Technical principles. • EN 418 .Emergency stop.Interbus-S.Interlocking devices • EN 999 . • EN 292-2 . • EN 1050 .Safety related parts of control systems.Minimum gaps to avoid crushing of parts of the human body. Applicable Safety Standards 1. Unit conversion 1.37 in 14. Unit conversion Converter table Use the table below to convert units used in this manual.28 ft Weight 1 kg 2.738 lbf Moment 1 Nm 0.1 Reference information 1.738 lbf-tn Volume 1L 0.264 US gal 3HAC 020938-001 Revision: C 39.3. Quantity Units Length 1m 3.3.21 lb Pressure 1 bar 100 kPa Force 1N 0.5 psi 13 . UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. 14 Lubricant Art. In such cases. Screw dimensions of M8 or larger must be tightened with a torque wrench. Apply lubricant between the plain washer and screw head. Whenever used. Screw dimensions of M6 or smaller may be tightened without a torque wrench if this is done by trained and qualified personnel.4. It features special surface treatment (Gleitmo as described below). proceed as follows: 1.4. 2. and is extremely resistant to fatigue. and in such cases. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials. 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. no. After this the screw must be discarded and replaced with a new one. Screw joints General This section details how to tighten the various types of screw joints on the robot and the controller. Apply lubricant to the screw thread. 3.1 Reference information 1. Molycote 1000 (molybdenum disulphide grease) 1171 2016-618 3HAC 020938-001 Revision: C . maintenance or installation procedure descriptions. this is specified in the instructions. Tighten to the torque specified in section Tightening torque below. 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. When handling screws treated with Gleitmo. Screw joints 1. oillubricated Tightening torque (Nm) Class 10. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10. oillubricated M5 6 - - M6 10 - - M8 24 34 40 M10 47 67 80 M12 82 115 140 M16 200 290 340 The table below specifies the recommended standard tightening torque for Molycotelubricated screws with Allen head screws. The standard torques are specified in the tables below. oil-lubricated M2.5 M4 1.8. i. do not jerk. Maintenance or Installation procedure description.9. flowing motion.8. Dimension Tightening torque (Nm) Class 8.9.0 The table below specifies the recommended standard tightening torque for oil-lubricated screws with Allen head screws. • Only use correctly calibrated torque keys. Screw joints Tightening torque Before tightening any screw. • Use the correct tightening torque for each type of screw joint. • Use the correct tightening technique.9. Any special torque specified overrides the standard value. Any special torques are specified in the Repair.5 M6 5. and never use pneumatical tools. Molycote-lubricated Class 12.9.4. Tighten the screw in a slow.1 Reference information 1.5 0. • 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. oillubricated Tightening torque (Nm) Class 12. Dimension Tightening torque (Nm) Class 4.25 M3 0.e. • Always tighten the joint by hand. Molycote-lubricated M8 28 3HAC 020938-001 Revision: C 34 15 .2 M5 2. note the following: • Determine whether a standard tightening torque or special torque is to be applied. 9.1 Reference information 1. 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 020938-001 Revision: C .Max. 16 Dimension Tightening torque Nm .Min.4.9. Molycote-lubricated M10 55 66 M12 96 115 M16 235 280 The table below specifies the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass. Screw joints Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.Nominal Tightening torque Nm . Tightening torque Nm . Molycote-lubricated Class 12. 5. Weight specifications 1. A wide range of lifting tools and devices are available for each manipulator model. weights of the components handled are sometimes specified. To avoid injury. All components exceeding 22 kg (50 lbs) are high-lighted in this way. 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! 3HAC 020938-001 Revision: C 17 . ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg.5.1 Reference information 1. Weight specifications Definition In all repair and maintenance procedures. socket 40mm bit L 20mm To be shorted to 12mm 1 - Socket head cap no:6. standard toolkit.1 Reference information 1. In this way. Standard toolkit General All service (repairs.6. Contents. the tools required are the sum of the Standard Toolkit and any tools listed in the instruction. socket 40mm bit L 220mm 3HAC 020938-001 Revision: C . socket 40mm bit L 100mm 1 - Socket head cap no:14. Standard toolkit 1. maintenance and installation) instructions contain lists of tools required to perform the specified activity. no. 1 - Ring-open-end spanner 8-19mm 1 - Socket head cap 5-17mm 1 - Torx socket no:20-60 1 - Box spanner set 1 - Torque wrench 10-100Nm 1 - Torque wrench 75-400Nm 1 - Ratchet head for torque wrench 1/2 2 - Hexagon-headed screw M10x100 1 - Socket head cap no:14.6. socket 40mm bit L 145mm 1 - Socket head cap no:6. All special tools required are listed directly in the instructions while all the tools that are considered standard are gathered in the Standard toolkit and defined in the table below. 3HAC 15571-1 Qty Art. Tool 18 Rem. wrist unit 1 3HAC 13605-1 Lifting tool. The tools are also listed directly in the instructions. defined in section Standard toolkit on page 18. 5 and 6. motor ax 1. Special tools General All service instructions contain lists of tools required to perform the specified activity. listed directly in the instructions and also gathered in this section. Special tools 1. 4 1 3HAC 15534-1 Mech stop ax 3 2 3HAC 12708-1 Removal tool. Removal tool. no. Bolts (M16 x 60) for Mech stop ax 3 2 3HAB 3409-86 Guide pins M8 x 100 2 3HAC 15520-1 Guide pins M8 x 150 2 3HAC 15520-2 Guide pins M10 x 100 2 3HAC 15521-1 Guide pins M10 x 150 2 3HAC 15521-2 Lifting tool. 5 1 3HAC 14459-1 Lifting tool. 3. Fixture lower arm 1 3HAC 020584-001 Gearbox crank 1 3HAC 16488-1 Guide pins M12 x 130 2 3HAC 022637-001 Guide pins M12 x 150 2 3HAC 13056-2 Guide pins M12 x 200 2 3HAC 13056-3 Guide pins M12 x 250 1 3HAC 13056-4 Guide pins M16 x 300 2 3HAC 13120-5 3HAC 020938-001 Revision: C 19 . Description Qty Art. motor M10x 2 3HAC 14972-1 Fits motors. The required tools are a sum of standard tools. 2 and 3. procedures. Description Qty Art. axes 4. Basic tools The table below specifies the tools in the basic toolkit (3HAC 15571-3) that are used for the current robot model. Rotation tool 1 3HAC 17105-1 Standard toolkit (content described in section Standard toolkit on page 18) 1 3HAC 15571-1 Washers for mech stop axis 3 2 3HAA 1001-186 Special tools The table below specifies the special tools required during several of the service procedures. no. motor M12x 2 3HAC 14631-1 Fits motors axes 1.7. motor ax 2. The tools may be ordered separately and are also specified directly in concerned instructions in the Product manual. 4.1 Reference information 1. and of special tools. This toolkit is necessary primarly when removing and refitting the motors.7. base 1 3HAC 15535-1 Tool set balancing device 1 3HAC 021984-001 Tools that may be rented The table below specifies the tools that may be rented from ABB in order to perform certain service procedures as described in the Product manual. balancing device 1 3HAC 020997-1 Support. 80mm 1 3HAC 14628-1 Hydraulic cylinder 1 3HAC 11731-1 Hydraulic pump. 80 MPa 1 3HAC 13086-1 Hydraulic pump. sealing ax 2/3. balancing device shaft 1 3HAC 17129-1 Puller tool. sealing ax 2/3. 3HAC 14446-1 3HAC 020938-001 Revision: C . Guide pins. 100mm 1 3HAC 14628-2 Guide pins. no. Special tools Description Qty Art. no. balancing device shaft 1 3HAC 12475-1 Shackle. base 1 3HAC 15560-1 Lifting device.7. manipulator 1 3HAC 15607-1 Lifting device. 20 Description Art. The special tools are also listed directly in the instructions. axis 2 bearing 1 3HAC 13527-1 Puller device. lower arm 3HAC 14691-1 Includes • guidings.1 Reference information 1. axis 2 shaft 1 3HAC 021563-001 Press device. axis 2 shaft 1 3HAC 021600-001 Press tool. balancing device 1 3HAC 020902-001 Press tool. Note Lifting tool. 150 MPa (Glycerin) 1 3HAC 021563-012 Lifting device. gearbox axis 2 1 3HAC 13698-1 Measuring tool 1 6896 134-GN Motor press pinion 1 3HAC 021883-001 Oil injector / max 500 MPa 1 3HAC 021590-001 Press tool. upper arm 1 3HAC 15994-1 Lifting eye VLBG M12 1 3HAC 16131-1 Lifting eye M12 2 3HAC 14457-3 Lifting eye M16 2 3HAC 14457-4 Lifting tool (chain) 1 3HAC 15556-1 Lifting tool. no. Oil exchange equipment The table below specifies the recommended equipment for oil exhange. Wyler The table below specifies the calibration equipment required when calibrating the robot with the Wyler method. Special tools Calibration equipment. using the Levelmeter 2000.1 Reference information 1. Description Art. Note CalPen (Calibration Pendulum) 3HAC 15716-1 Complete kit that also includes user instructions. Pendulum The table below specifies the calibration equipment needed when calibrating the robot with the Pendulum method. Description Art. 3HAC 020938-001 Revision: C 21 . adapter 3HAC 13908-1 Turn disk fixture 3HAC 68080011-GU Note Includes one sensor. no. Calibration equipment. no.7. Description Art. Angel bracket 68080011-LP Calibration bracket 3HAC 13908-9 Calibration tool ax1 3HAC 13908-4 Levelmeter 2000 kit 6369901-347 Measuring pin 3HAC 13908-5 Sensor fixture 68080011-GM Sensor plate 3HAC 0392-1 Sync. Note Oil exchange equipment 3HAC 021745-001 Includes • vacuum pump with regulator. hose and coupling • couplings and adapters • pump (manual) with hose and coupling • graduated measuring glass • oil gun • user instructions. Document references 1.0 Users Guide 3HAC 16090-1 Manual for Absolute Accuracy calibration.8. The part number -001 is the English version.8. Operator’s manual (IRC5) 3HAC 16590-1 Calibration manuals 22 Document name Document ID Note Calibration Pendulum Instruction 3HAC 16578-1 Enclosed with the Calibration Pendulum Toolkit. This section specifies the article numbers for the referenced documentation. robot The product specification includes generic technical data. The table below specifies the article numbers of the product manuals for all controller models. S4Cplus M2000 3HAC 021333-001 Product manual. Document name Document ID Note User’s guide (S4Cplus) 3HAC 7793-1 Contains instructions for daily operation of S4Cplus based robot systems. controller The product manuals include information about installation and service activities. Document references General The contents of this manual may include references to additional documentation necessary to perform certain procedures. S4Cplus M2000A 3HAC 021128-001 Product manual. The table below specifies the article numbers of the operators manuals for different robot systems.1 Reference information 1. Instructions for Levelmeter calibration (alternative method) 3HAC 022907-001 Enclosed with the Levelmeter 2000. Document name Document ID Product manual. Product specification. 3HAC 020938-001 Revision: C . The specification listed below is the English version. Document name Document ID Product specification 3HAC 14064-1 Product manuals. CalibWare 2. IRC5 M2004 3HAC 021313-001 Operators manual The operators manual contains instructions for daily operation of robot systems. 1 Reference information 1.8. Document references Additional documentation Document name Document ID External axes 3HAC 9299-1 3HAC 020938-001 Revision: C Note 23 . 24 3HAC 020938-001 Revision: C . but in the instruction delivered with each piece of lifting equipment.9.9. The use of each piece of lifting equipment is not detailed in the activity procedure. Lifting equipment and lifting instructions General Many repair and maintenance activities require different pieces of lifting equipment. Lifting equipment and lifting instructions 1. This implies that the instructions delivered with the lifting equipment should be stored for later reference.1 Reference information 1. which are specified in each procedure. Introduction 2 Spare part / part list 2.1. Introduction Definitions This chapter specifies all spare parts and replacement articles of the robot.1.2 Spare part / part list 2. 3HAC 020938-001 Revision: C 25 . Introduction 2.2.2 Spare part list 2.1. Introduction Overview This section specifies all articles considered spare parts of the robot. 26 3HAC 020938-001 Revision: C . The spare parts are also specified as required equipment directly in the repair instruction of the current spare part.2 Spare part / part list 2.2.1. 2. In addition to the spare part list in this section.2. Robot overview The figure below shows the location of all spare parts on the robot.55) 3HAC 15882-2 C 27 . Spare part list 2. there is also a part list with other replacement articles for the robot in section Part list on page 29. xx0400001022 Parts 3HAC 020938-001 Revision: C Description Spare part no. procedures. Item in figure Motor axis 1 3HAC 15879-2 A Gearbox axis 1 3HAC 10828-8 B Motor axis 2 (175/2.2 Spare part / part list 2.2. Spare part list Repair instructions Each spare part is replaced as described in corresponding repair instruction in the Product manual.2. 75) 3HAC 15889-2 G SMB unit 3HAC 16014-1 H Battery pack 3HAC 16831-1 I Cable harness axis 1-4 (IRB 6600) 3HAC 14940-1 - Cable harness axis 1-4 (IRB 6650) 3HAC 16331-1 - Wrist (175/2. 225/2.55) 3HAC 15887-2 G Motor axis 4 (125/3. 200/2. 175/2. 225/2.8.75. 200 (125/3.2. 200/2.55.2.2 Spare part / part list 2. 225/2.75. 175/2. 225/2.8.55 3HAC 15885-2 C Gearbox axis 2 3HAC 020043-001 D Motor axis 3 (175/2.2. 200/2.8.55) 3HAC 13752-1 K Gearbox axis 6 (175/2.75. 200/2. 200/2. 175/2.8. 175/2.2.55) 3HAC 16627-1 J Wrist (175/2.2.8.75. 175/2. balancing device 3HAC 021592-001 - Maintenance kit with bearings.55) 3HAC 15990-4 - Motor axis 6 (125/3. Item in figure Motor axis 2 (125/3.55) 3HAC 17484-10 - VK-Cover VK 120x12 3HAA 2166-23 - Turning disk.75) 3HAC 16626-3 J Cable harness axis 5 3HAC 14139-1 - Motor axis 5 (175/2. 225/2.2.55) 3HAC 10828-13 - Motor axis 6 (175/2. 200/2.55. insulated turning disk) 3HAC 17372-1 J Wrist (125/3. 200/2. 225/2.8.55) 3HAC 9744-5 K Turning disk.2.55) 3HAC 15882-2 E Motor axis 3 (125/3. 175/2. 200/2. 200/2. dia.55) 3HAC 10828-10 - Gearbox axis 6 (125/3.55) 3HAC 15991-4 - Cable harness axes 5-6 3HAC 14140-1 - Balancing device (IRB 6600) 3HAC 020691-001 L Balancing device (IRB 6650) 3HAC 020692-001 L Complete maintenance kit.2. 175/2.8. balancing device 3HAC 021593-001 - 3HAC 020938-001 Revision: C . 225/2.8. 175/2.75) 3HAC 15885-2 E Gearbox axis 3 3HAC 021127-001 F Motor axis 4 (175/2.55. Spare part list 28 Description Spare part no. 225/2. 225/2. dia. 200 (175/2.75.2. 175/2.55.55.2.2.75) 3HAC 16626-2 J Wrist (insulated turning disk) (125/3.55) 3HAC 17484-7 - Motor axis 5 (125/3.8. The parts are shown in exploded views or in foldouts.2 Spare part / part list 2.3.1. 3HAC 020938-001 Revision: C 29 .1.3.3 Part list 2. Introduction Overview This section specifies all the replacement articles of the robot. Introduction 2. Specific spare parts are listed separately in a Spare part list. either in this or in a separate chapter. 55 X X X X X Foundry 3HAC 10141-1 Lower arm X 3HAC 13940-1 Lower arm 3HAC 14940-1 Harness ax. The following section. depending on the version of the robot.2.3.55/ 175 2. no.2. Part 3HAC 10746-1 Axis 3-4 3HAC 10746-3 Axis 3-4 3HAC 10746-6 Axis 3-4 3HAC 10746-7 Axis 3-4 2. This section is a general overview of which parts belong to which versions.1-4 3HAC 9760-3 Arm extender 250mm X Standard 3HAC 15859-2 Arm extender 250mm X Standard and Foundry 3HAC 9760-7 Arm extender 450mm X Standard 3HAC 15859-3 Arm extender 450mm X Standard and Foundry 3HAB 7700-69 Screw M12x50 12X 12X 3HAA 1001-134 Washer 13x19x1.3. Rebuilding parts 30 Art.2 Spare part / part list 2.8/ 175 3.55 X X X X X Standard 3HAC 020053-001 Tube shaft 2.75/ 200 2. Part list on page 29also gives further details of the parts specified below.55/ 225 2. Rebuilding parts 2.2/ 125 Type X X X X Standard X X X X X Standard X Foundry Foundry 3HAC 020049-001 Tube shaft 2. Rebuilding parts Overview The IRB 6600/6650 has some rebuilding parts that differ from eachother.5 12X 12X 9ABA 107-56 Parallel pin 10x20 X X 9ADA 618-56 Screw M6x16 4X 6X 3HAC 9760-9 Cover 250mm X 3HAC 9760-10 Cover 450mm 3HAC 15879-2 Motor axis 1 3HAC 15885-2 Motor axis 2 3HAC 15882-2 Motor axis 2 3HAC 15885-2 Motor axis 3 3HAC 15882-2 Motor axis 3 3HAC 15889-2 Motor axis 4 X X X X X X X X X X X X X X X X X X X X X X X X X X X X 3HAC 020938-001 Revision: C . 1-4 X 3HAC 16331-1 Harness ax. 55/ 225 2. no. Rebuilding parts Art.2/ 125 X X X X Type 31 .55/ 175 3HAC 15887-2 Motor axis 4 X 3HAC 16627-3 Wrist 175 kg X 3HAC 16626-2 Wrist 225 kg 3HAC 020938-001 Revision: C 2. Part 2.75/ 200 2.2 Spare part / part list 2.2.8/ 175 3.3. 8. 103 1 3HAC 8114-1 Wrist (6600 .55) 104 1 3HAC 17117-3 Balancing Device B (6650125/3. Foundry See section Axis 3-4.175/2. 2. man. 103 1 3HAC 8114-3 Wrist See section Wrist. Foundry (6600 .2. insulated (6600 . 3HAC 13263-1 on page 48 3HAC 020938-001 Revision: C .55. 6650-200/2. See section Material set.75) 108 1 3HAC 13263-1 Material set manipulator See section Wrist. man ax 1-4 (6650-125/3. 6600-175/2. Foundry (6600 175/2.2.2.55.175/2.8. 102 1 3HAC 10746-4 Axis 3-4.55.75) 105 1 3HAC 10141-1 Lower arm (6600 .3. 6600-175/ 2.8) 105 1 3HAC 13940-1 Lower arm (6650-125/3.55) 106 1 3HAC 16331-1 Cable harness. number Description Note / Dimension 5 1 3HAC 17358-1 Mechanical stop ax 1.55) See section Wrist Foundry on page 45.55) See section Axis 3-4.3. 103 1 3HAC 8114-8 Wrist. overview 2. insulated on page 46. insulated 104 1 3HAC 17117-2 Balancing Device A (6600225/2. manipulator.2 Spare part / part list 2. 6600-175/ 2. standard on page 40 103 1 3HAC 8114-5 Wrist. standard on page 40. Foundry on page 39 102 1 3HAC 10746-5 Axis 3-4. 6650-200/ 2. ax1-4 (6600-225/2.175/ See section Wrist. 6600-175/2.55) See section Wrist.55) insulated on page 46.3. assembly 101 1 3HAC 12685-1 Base incl frame ax 1 See section Base incl frame ax 1 on page 34 102 1 3HAC 10746-1 Axis 3-4 See section Axis 3-4 on page 35 102 1 3HAC 10746-3 Axis 3-4 (6600 .175/2. 6600-175/2.55) See section Axis 3-4 on page 35.75) 106 1 3HAC 14940-1 Cable harness. 6600-225/2. Part list.175/ 2. overview Part list 32 Item Qty Art.3. 6650-200/2. Part list. Foundry See section Wrist Foundry on page 45 103 1 3HAC 8114-6 Wrist. Foundry on page 39. 103 1 3HAC 8114-7 Wrist.55. overview Item Qty Art.set balancing device See section Material set. 250 mm.3.5 mm 113 8 or 4 9ADA 618-56 Torx pan head screw M6 x 16 114 1 3HAC 13416-1 Protection cover Shell size 16 115 1 3HAC 18281-1 Cover 3HAC 020938-001 Revision: C 33 . 112 2 or 1 3HAC 12129-1 Cover plate t=1. axis 1-2. 3HAC 12311-5. number Description Note / Dimension 109 1 3HAC 13264-1 Material set ax 1-2 See section Material set. Part list. 3HAC 12311-4 on page 53 111 1 3HAC 12311-5 Arm extension set 450mm (125/3.3. 3HAC 13264-1 on page 49 110 1 3HAC 13265-1 Mtrl. balancing device.8) See section Arm extension set.2 Spare part / part list 2. 450 mm. 3HAC 13265-1 on page 52 111 1 3HAC 12311-4 Arm extension set 250mm (175/2.2) See section Arm extension set. 2.4 24 3HAA 1001-134 Washer 13 x 19 x 1.2. Base incl frame ax 1 2.9 1 9ADA 618-56 Torx pan head screw M6 x 16 D=28 Base.4 1 3HAC 14024-1 Protection screw 16 x 12.4.3 3 3HAC 11732-2 Washer T=3 101. number Description Dimension 101. number Description Dimension 101.3 x 9 x 7 Frame incl ax 1 gearbox Item 34 Qty Art.8 1 3HAC 4428-2 Hose Clip D=23-27 101.3.2 Spare part / part list 2.2. casting 101.2 5 3HAC 4836-7 Protection plug 101.4 18 3HAB 7700-5 Hex socket head cap screw 101.1.1.6 1 3HAC 14453-1 Hose with flange 101. 101.3 1 3HAC 1383-2 Protection Cover compl. machining Item Qty Art.1 1 3HAC 17224-2 Base.1 1 3HAC 15866-1 Frame machining 101. 101.2 1 3HAC 10828-8 101. 101.5 1 3HAC 11529-1 Rubber lined clip 101.5 3HAC 020938-001 Revision: C .3. Base incl frame ax 1 Part list Item Qty Art.1 1 3HAC 17224-4 Base. number Description Note / Dimension 101.2 1 3HAC 12684-1 Frame incl ax 1 gearbox See block Frame incl ax 1 gearbox.3 24 3HAB 7700-73 Hex socket head cap screw M12 x 70 101.1. machining See block Base. machining.4. 3HAC 020858-001.2. 3HAC 172244.1.7 1 3HAC 14453-2 Plug 101. 5.1.3 8 9ADA 183-37 Hex socket head cap screw M8 x 25 102. 3HAC 13350-1.4 1 3HAC 14753-1 Rot ac motor incl gearbox (6600175/2.9 3 9ADA 267-7 Hexagon nut M8 102.5 102. 102.6 3 3HAA 1001-99 Wedge 102. Axis 3-4 Overview Item Qty Art.20 1 3HAC 17218-1 Set of shims 102.3. 102.5 x 23 x 2.1.1 1 3HAC 12261-1 Gear Z4 /4 102.13 1 3HAA 1001-17 Stop. 3HAC 13350-1 Item Qty Art. 102.11 3 9ADA 334-8 Spring washer. 3HAC 14752-1.1. conical 8.21 1 3HAC 17219-2 Thrust washer 102.1.1. shaft 170 102. 102.10 3 3HAB 3409-63 Hex socket head cap screw M10 x 110 102.7 3 3HAC 12560-1 Stud bolt M8 x 65 102.3.18 14 9ADA 618-56 Torx pan head screw M6 x 16 102. 3HAC 14752-1.4 8 9ADA 312-7 Plain washer 8.1.1.2 Spare part / part list 2.1.55) See block Rot ac motor incl gearbox. 3HAC 020049-001.24 1 2216 261-18 Sealing 170 x 200 x 15 3HAC 020938-001 Revision: C Dimension / Note 35 .15 2 3HAB 3409-81 Hex socket head cap screw M16 x 35 102. 3HAC 12149-4.1. Axis 4.16 1 3HAA 1001-98 Gasket T=1 102.55 See block Tube shaft 2.4 x 16 x 1.1.1.5 1 3HAC 12259-1 Wheel unit ax4 225kg See sub-block Wheel unit ax 4.1. 3HAC 13351-2/1.1.55. 3HAC 12259-1. 102. 102.2 1 3HAC 020049-001 Tube shaft 2.1. Axis 3-4 2. conical 10.14 1 3HAC 11925-1 Mechanical stop head 102. Casting 102.1 1 3HAC 13350-1 Material set ax 4 See block Material set ax 4.5. number Description Note 102. axis 4.1. 102.1.1. Material set ax 4. 3HAC 13564-1.1. 225 kg.22 1 9ABA 135-45 Retaining ring.1.1.17 1 3HAC 12149-4 Cover ax4 with sealing See sub-block Cover axis 4 with sealing.1.4 x 18 x 2 102.1.12 1 3HAC 13564-1 Damper axis 4 See sub-block Damper. number Description 102.8 12 9ADA 334-7 Spring washer.23 2 2213 253-5 Ball bearing 170 x 215 x 22 102.3 1 3HAC 13351-1 Axis 3 See block Axis 3.6 102.4 1 3HAC 14752-1 Rot ac motor incl gearbox See block Rot ac motor incl gearbox. 2 1 3HAA 1001-628 Sealing Tube shaft 2. number Description Dimenstion / Note 102.5.1.28 1 21522012-535 O-ring 169.1 1 3HAC 10139-2 Tube shaft 2.33 1 ml 3HAB 7116-2 Locking liquid 102.1.17.1.0 1 3HAC 12259-4 Gear Z2 /4 Item Qty Art.7 102.2 1 3HAC 12259-2 Gear unit Z2.55.2.1.1. 3HAC 12149-4 Item Qty Art.4 1 2213 3802-11 Taper roller bearing 40 x 68 x 19 102.5.1.2 Spare part / part list 2.26 1 3HAB 4317-1 Sealing 102. number Description Dimension / Note 102.3 x 5.3.1.1.1.1. Axis 3-4 Item Qty Art.1.5.27 1 3HAC 3774-7 Spacer ring 102.1.5. 3HAC 020049-001 36 Item Qty Art. 3/4 See sub-block below.1.1.0 1 3HAC 12259-3 Pinion Z3 /4 102.1.100 1171 2016-604 ml Lubricating oil 102.17.1. 225 kg.1 1 3HAC 11742-1 Intermediate hub.1 1 3HAC 12149-3 Cover ax4 with gasket 102.31 30 g 3HAB 3537-1 Bearing grease 102.12.1. 3HAC 13564-1 Dimension Cover axis 4 with sealing.1. 3HAC 12259-1 Item Qty Art.2.1.3 1 2126 2851-104 Lock nut M20 X 1 102. number Description 102.5. number Description 102.1. axis 4.2.5. number Description Dimension 102.5. casting Note 3HAC 020938-001 Revision: C . machine 102. 102.5. 3HAC 12259-2 Item Qty Art.5.25 1 2216 0086-4 Sealing (Nilos) 180 x 215 x 4 102.55.2 2 3HAC 13564-2 Plate for damper Dimension Damper.1.6 1 ml 3HAB 7116-2 Locking liquid Gear unit Z2.29 1 9ABA 107-56 Parallel pin 10 x 20 102.30 8.32 1 ml 3HAB 7116-1 Locking liquid 102. 3/4.34 1 3HAC 16721-1 Magnetic plug R 1/2" Wheel unit ax 4.5 1 3HAA 1001-129 Taper roller bearing 102. number Description 102. 3 24 3HAB 3409-71 Hex socket head cap screw M12 x 60 102. 3HAC 14750-1 102.3.2.3.3.4 24 3HAA 1001-134 Washer 13 x 19 x 1.2.2 1 3HAC 10122-15 Input gear 3HAC 020938-001 Revision: C Dimension 37 .2.1 1 3HAC 10828-11 RV 410F.3.2. number Description 102.3 1 3HAC 1383-1 Protection Cover 102.3.2 1 3HAB 3772-68 O-ring Dimension 276 x 3.2 1 3HAC 021127-001 RV 410F-270.3. 3HAC 021127-001 102.3. slotted 10 x 30 RV 410F-270.2 Spare part / part list 2.2. 176 assembly.5 1 3HAC 14750-1 Rot ac motor incl pinion See sub-block Rot ac motor incl pinion.2. Axis 3-4 Item Qty Art..1 1 9ADA 624-69 Torx counters. number Description 102.10 1 9ABA 142-92 Dimension / Note R 1/2" Lubricating oil.3. i=270.3.1 1 3HAC 10133-1 Axis 4 housing 102. number Description Note 102.5 102.53 Rot ac motor incl pinion.2 1 3HAB 3772-66 O-ring 8x2 102.3.3.3.2.2. 3HAC 021127-001 Item Qty Art. number Description Dimension 102.7 4 3HAB 4233-1 Washer 102.5.176 assembly See sub-block RV 410F270.3.2.2.3. RMO Do not mix different types 150 of oil! Spring pin.4 1 3HAC 1383-3 Gasket Axis 3.8 1 3HAC 16721-1 Magnetic plug 102. 3HAC 13351-1 Item Qty Art.500 ml 3HAC 16843-1 102.2.. head screw M8 x 20 102.3.5. See sub-block Protection cover compl. 3HAC 1383-2 Item Qty Art.9 2. Shell Do not mix different types Tivela S 150 of oil! 102.500 ml 3HAC 021469-001 Lubricating oil.1 1 3HAC 17484-9 Rotational ac motor M9 102.176 102.3. 176 assembly. 3HAC 14750-1 Item Qty Art.6 4 3HAB 3409-50 Hex socket head cap screw M10 x 40 102.9 2. 3HAC 1383-2 Protection cover compl.5. number Description 102.2 1 3HAC 1383-2 Protection Cover compl. 2 Spare part / part list 2. number Description Dimension 102.5x3 3HAC 020938-001 Revision: C .3.5.3 1 2152 2012-430 O-ring 89.3.4.5.4 1 9ADA 183-444 Hex socket head cap screw M8 x 130 102.55) 102.4.1 1 3HAC 17484-10 Rotational ac motor M10 102.5 3 ml 3HAB 7116-1 Locking liquid Rot ac motor incl gearbox 38 Item Qty Art. number Description Dimension 102.3. Axis 3-4 Item Qty Art.4.5.1 1 3HAC 17484-7 Rotational ac motor M7 (6600175/2.3.3 1 2152 2012-430 O-ring 89.5 x 3 102.2 1 3HAC 12260-1 Pinion Z1 /4 102.5.4. 4 1 3HAC 14752-1 Rot ac motor incl gearbox See block Rot ac motor incl gearbox on page 38 3HAC 020938-001 Revision: C See block Axis 3.1 1 3HAC 13350-1 Material set ax 4 See block Material set ax 4.2 Spare part / part list 2.55 foundry 102.3. Foundry Overview Item Qty Art. Axis 3-4. 3HAC 13351-1 on page 37 39 .6.2 1 3HAC 020053-001 Tube shaft 2.4 1 3HAC 14753-1 Rot ac motor incl gearbox See block Rot ac motor incl (6600-175/2. Axis 3-4.6.3.55) gearbox on page 38 102. number Description Note 102.3 1 3HAC 13351-1 Axis 3 102. 3HAC 13350-1 on page 35 102. Foundry 2. 2 1 3HAC 7941-29 Rot ac motor incl gearbox (6600175/2.2 1 3HAC 7941-28 Set of shim. 3HAC 9744-1. conical 8.18 1 3HAC 9953-1 Syncplate with nonie Material set.1 1 3HAC 8114-4 Material set See block Material set. number Description Dimension / Note 103.55) 103.1.1.5 1 3HAC 12732-1 Label (6600-175/ 2.4 x 18 x 2 103.1. 103. 103. 103.15 1 3HAC 7941-32 Support shaft incl bearing See sub-block Support shaft incl bearing.7 1 3HAC 4334-3 Cylindrical roll.17 2 3HAB 4337-2 Damper axis 5 103.1.6 1 3HAA 2166-11 VK-Cover D=80 B=10 103.9 1 ml 3HAB 7116-2 Locking liquid 103.1.1.1.1.55) See block Rot ac motor incl gearbox on page 42.8 4 3HAC 12560-1 Stud bolt M8 x 65 103. motor 103.1.2 1 3HAC 7941-30 Rot ac motor incl gearbox See block Rot ac motor incl gearbox. 3HAC 7941-30.5 3HAC 020938-001 Revision: C . 3HAC 13890-1/2.3.1.11 4 9ADA 267-7 Hexagon nut M8 103. bevel gear 103. Wrist.7. 3HAC 8114-4. 225kg 103.1. 103.14 1 3HAA 2166-23 VK-Cover D=120.4 1 3HAC 9744-1 Axis 6 complete (6600-175/2. 103. bearing 50 x 90 x 20 103. 3HAC 7941-32.13 1 3HAB 7299-1 Sealing Di=115 Dy=140 B=12 103.6 103. Wrist. number Description 103.3 10 3HAB 3409-89 Hex socket head cap screw M16 x 80 103.5 8 9ADA 312-7 Plain washer 8.3 1 3HAC 7941-19 Set of shim.12 4 3HAA 1001-99 Wedge 103. B=12 103.1.1.1.55) See block Axis 6 complete.4 x 16 x 1.1.4 1 3HAC 13890-1 Axis 6 complete See block Axis 6 complete.3.2 Spare part / part list 2. 3HAC 16032-1 on page 43. standard 2. 103. standard Overview Item Qty Art.10 16 9ADA 334-7 Spring washer.1 1 3HAC 7956-1 Wrist housing.16 6 9ADA 183-39 Hex socket head cap screw M8 x 35 103.7. 3HAC 8114-4 40 Dimension / Note T=1.1.4 8 9ADA 183-37 Hex socket head cap screw M8 x 25 103.5 1 3HAC 12732-3 Label Item Qty Art.1.1. 225kg 103.32 2 2166 2055-3 Cable straps.1.1.33 5 3HAA 1001-106 Washer D/d =15/6.1.7.8 x 208 103.1.28 1 3HAC 7941-21 Gear wheel unit z6/5 225 See sub-block Gear wheel unit z6/5 225.5 103.4 1 3HAC 13142-1 Washer 17 x 30 x 6 103.1 1 3HAC 7946-1 Hub ax5.2 2 3HAA 1001-130 Taper Roller Bearing 103.4 x 14 x 1.1.6 1 ml 3HAB 7116-2 Locking liquid Gear unit Z4-Z5/5 225 kg.2 1 3HAC 7941-5 Gear z4/5 225kg 3HAC 020938-001 Revision: C Dimension 41 .1. ax 5/6 103. 3HAC 7941-6. Wrist.30 1 3HAC 8081-3 Cable cover 103.1.2 Spare part / part list 2.26 1 3HAC 7941-6 Interm.1.26. 3HAC 7941-21 103.26.26.3. 3HAC 7941-32 Item Qty Art.15.1.23 1 ml 3HAB 7116-1 Locking liquid 103. number Description 103.1. number Description Dimension / Note 103. 3HAC 7941-12 Item Qty Art. number Description Dimension 103.15.15. 3HAC 7941-6 Item Qty Art.1.3.31 1 3HAC 14140-1 Manip.1.1.1.27 1 3HAA 1001-266 Screw M16 x 60 103.22 2 9ADA 334-6 Plain washer 6.1 1 3HAC 14731-1 Shaft 103.1.3 3 9ADA 618-56 Torx pan head screw M6 x 16 103.1. wheel unit/5 225 kg.3.1. outdoors 4.26.26.1.1.4 1 ml 3HAB 7116-1 Locking liquid Interm. Harn.1.1.25 6. standard Item Qty Art.700 1171 2016-604 ml Lubricating oil 103.5 1 3HAC 7941-11 Locking Nut 103.1. wheel unit/5 225 kg.4 t=3 Support shaft incl bearing.1.2 1 3HAB 3643-11 Groove ball bearing 130 x 165 x 18 103.26. 103.wheel unit/5 225kg See sub-block Interm.3 1 3HAC 7941-12 Gear Unit z4-z5/5 225kg See sub-block below! 103.26.1 1 3HAC 7941-7 Pinion z5/5 225kg 103. machining 103. Harness ax 5 103.1.29 1 3HAC 8081-8 Cover with gasket.24 1 3HAC 14139-1 Manip.21 27 9ADA 618-56 Torx pan head screw M6 x 16 103.15.1.26.1. number Description Dimension / Note 103.19 1 3HAC 16721-1 Magnetic plug R 1/2" 103. 0 103.28.1 1 3HAC 7941-8 Gear z6/5 225kg 103. number Description Dimension 103.1.4.2 Spare part / part list 2.4.1 1 3HAC 13752-1 Turning disk 103.2. 103.7 18 3HAA 1001-172 Washer 8.55) 103.7.4 1 3HAC 14754-1 Rot ac motor incl pinion See sub-block Rot ac motor incl. standard Gear wheel unit z6/5 225.15 18 3HAB 7700-55 Hex socket head cap screw M8 x 40 See sub-block RV 40E81 assembly.5 4 9ADA 312-7 Plain washer 8.2 1 3HAC 7941-1 Bevelgear set unit z1-3/5 103.4. number Description Dimension 103.12 12 3HAB 3772-61 O-ring 13. Wrist.6 4 9ADA 183-37 Hex socket head cap screw M8 x 25 103.9 450 ml 3HAC 16843-1 Lubricating oil.28.4 1 ml 3HAB 7116-2 Locking liquid 110 x 150 x 20 Rot ac motor incl gearbox Item Qty Art.6 103. Shell Tivela S 150 Do not mix different types of oil! 103. foundry 103.0 x 2.8 assembly 103. RMO 150 Do not mix different types of oil! 103.2.3 1 3HAB 6686-1 Support ring 103. 3HAC 13890-1/2 42 Item Qty Art.4.28.28.1 x 1.4.4.1 1 3HAC 17484-7 Rotational ac motor M7 (6600175/2.4 x 13 x 1. pinion.1.4.4.1.4.9 450 ml 3HAC 021469001 Lubricating oil.14 12 3HAB 7700-65 Hex socket head cap screw M12 x 30 103.2.1 1 3HAC 17484-10 Rotational ac motor M10 103.10 2 ml 3HAB 7116-1 Locking liquid 103.5 x 3 Axis 6 complete.4. 3HAC 020938-001 Revision: C .3 1 3HAC 16009-1 Tilt housing RV70.4. 3HAC 14754-1.4.11 1 3HAB 3772-64 O-ring 150.5 103.4.3. number Description Dimension / Note 103.1. 3HAC 10828-13.4.4.4.13 1 3HAC 16862-1 Syncplate 175 kg 103.2.3 1 3HAC 11522-2 Tilt housing RV70 103.3 1 2152 2012-430 O-ring 89.2 1 3HAC 10828-13 RV 70F-125.4 x 16 x 1.2 1 3HAB 4271-1 Groove ball bearing 103.4.8 2 2522 122-1 Magnetic plug R1/4" 103. 3HAC 7941-21 Item Qty Art.6 103. 5 2 ml 3HAB 7116-1 Locking liquid 103.175/2.4.2 1 3HAB 3772-57 O-ring Dimension 164.4.53 Rot ac motor incl.3.2 1 3HAC 10828-10 RV 40E-81 assembly 103.9 300 ml 3HAC 16843-1 Lubricating oil.7.175/2. 3HAC 14754-1 Item Qty Art. 3HAC 14755-1 on page 44.5 x 3 103.4.2.4.9 300 ml 3HAC 021469001 Lubricating oil.4 1 9ADA 183-415 Hex socket head cap screw M5 x 55 103.8. number Description Dimension 103. number Description 103.55 103.4.2 1 3HAC 11173-3 Pinion RV 70F.4. 3HAC 16032-1 Item Qty Art. pinion.8 103.225/2. IRB 6650 Do not mix different types of oil! 103.4.8 103.8 assembly.1 1 3HAC 9744-5 Turning disk 103.55 175/2.7 18 3HAA 1001-172 Washer 8.4. Wrist. number Description 103.1 1 3HAC 10828-14 RV 70F.18 2 9ADA 618-32 Torx pan head screw M4 x 8 103.4.4.4 x 16 x 1.6 103. pinion.4. RMO 150 IRB 6600 .4.8 2 2522 122-1 Magnetic plug R1/4" 103.4.21 1 9ADA 624-69 Torx counters.55 3HAC 020938-001 Revision: C Dimension / Note See sub-block RV 40E81 assembly. number Description Dimension / Note 103.4.4.20 1 3HAC 14263-1 Protection Cover 103. RMO 150 IRB 6600 .1 1 3HAC 17484-8 Rotational ac motor M8 103.5 4 9ADA 312-7 Plain washer 8.6 4 9ADA 183-37 Hex socket head cap screw M8 x 25 103. foundry 103. Shell Tivela S 150 IRB 6600 .4.5 103.2 Spare part / part list 2. 3HAC 10828-10 on page 44. standard Item Qty Art.4. 103.4.4.125.4.4.4. i=125.4 1 3HAC 14755-1 Rot ac motor incl pinion See sub-block Rot ac motor incl.2. 43 .4.3 1 3HAC 16009-2 Tilt housing RV40.3 1 2152 2012-430 O-ring 89.69 x 3.4.9 450 ml 3HAC 16843-1 Lubricating oil. head screw M8 x 20 RV 70F-125.4.4 x 13 x 1.4.3 1 3HAC 9744-3 Tilt housing RV40 103. 3HAC 9744-1. 3HAC 10828-13 Item Qty Art.4.4.4.6 1 3HAC 12877-1 Gasket Axis 6 complete. head screw M8 x 20 M8 x 40 M4 x 8 RV 40E-81 assembly.5 x 3 3HAC 020938-001 Revision: C .4.4.4.3.4.225/2.55 175/2.20 1 3HAC 14263-1 Protection Cover 103.4.4.4.3 1 2152 2012-430 O-ring 103.8.4.1 1 3HAC 10828-5 RV 40E. standard Item Qty 103.15 18 3HAB 7700-55 Hex socket head cap screw 103. Shell Tivela S 150 IRB 6600 .4.11 1 3HAB 3772-65 O-ring 103.4.7. IRB 6650 Do not mix different types of oil! 103.4.4. 3HAC 10828-10 Item Qty Art.2 Spare part / part list 2.9 Art.4.4.2. Wrist.10 2 ml 3HAB 7116-1 Locking liquid 103.4.4. i=81 103.2.13 1 3HAC 16862-2 Syncplate 175 kg 103.4.4.6 1 3HAC 12877-1 Gasket 89.2 1 3HAB 3772-58 O-ring Dimension Rot ac motor incl.18 2 9ADA 618-32 Torx pan head screw 103.5 2 ml 3HAB 7116-1 Locking liquid 103.16 2 21520441-1 Washer 103.4. number Description Dimension 103.14 12 21212518-577 Hex socket head cap screw 103.4.1 1 3HAC 17484-8 Rotational ac motor M8 103.4.4. 3HAC 14755-1 44 Item Qty Art.2 1 3HAC 10122-24 Pinion RV 40E-81 103. number Description Dimension / Note 450 ml 3HAC 021469001 Lubricating oil.4.4.4 1 9ADA 183-20 Hex socket head cap screw 103. pinion.12 12 21520431-20 O-ring 103. number Description 103.21 1 9ADA 624-69 Torx counters.4. 55) See block Axis 6 complete.4 1 3HAC 16032-1 Axis 6 complete Foundry (6600-175/2.8. 3HAC 9744-1.5 1 3HAC 12732-2 Label 103. Wrist Foundry 2.5 1 3HAC 12732-4 Label 3HAC 020938-001 Revision: C 45 . 3HAC 16032-1 on page 43.3 10 3HAB 3409-89 Hex socket head cap screw M16 x 80 103.2 1 3HAC 7941-29 Rot ac motor incl gearbox (6600-175/2. 103.3.8.1 1 3HAC 8114-4 Material set See block Material set. 3HAC 13890-1/ 2 on page 42 103. 103.2 Spare part / part list 2.55) See block Rot ac motor incl gearbox on page 42. 3HAC 8114-4 on page 40 103.4 1 3HAC 13890-2 Axis 6 complete Foundry See block Axis 6 complete.3. Wrist Foundry Overview Item Qty Art. number Description Dimension 103.2 1 3HAC 7941-30 Rot ac motor incl gearbox See block Rot ac motor incl gearbox on page 42 103. 3HAC 8114-4 on page 40. 3HAC 8114-4 on page 40.5 1 3HAC 12732-5 Label 103.4.4 4 9ADA 183-37 Hex socket head cap screw 103. RMO 150 103. 3HAC 17371-1 on page 47.4. 3HAC 14755-1 on page 46.2 1 3HAC 7941-30 Rot ac motor incl gearbox See block Rot ac motor incl gearbox on page 42.3.7 1 3HAC 16862-2 Syncplate 175 kg 103. no. Description Note/Dimension 103.2 1 3HAC 14755-1 Rot ac motor incl pinion See sub-block Rot ac motor incl pinon.4. Description Note 103.9.5 1 3HAC 12732-6 Label Ax 6 complete. insulated Overview Item Qty Art.4 1 3HAC 17255-1 Ax 6 complete.4 1 3HAC 17371-1 Ax 6 complete.9 1 3HAC 14263-1 Protection cover 9ADA 624-69 Torx counters. Description 103.4.9. Wrist.4.8 2 9ADA 618-32 Torx pan head screw 103. insulated See block Ax 6 complete.55) See block Material set. 103. 3HAC 14755-1 46 Item Qty Art.2.4.6 1 ml 3HAB 7116-1 Locking liquid 103.55) See block Ax 6 complete. Shell Tivela S 150 103. 103. insulated. 3HAC 17255-1 on page 46. no.4. insulated 2.1 1 3HAC 8114-4 Material set See block Material set.2 Spare part / part list 2.10 1 Note/Dimension Rot ac motor incl pinon.5 300 ml 3HAC 16843-1 Lubricating oil. head screw 103. 103.4. insulated (6600-175/2.2 1 3HAC 10122-24 Pinion RV40E-81 3HAC 020938-001 Revision: C .4. 103.3 4 9ADA 312-7 Plain washer M8 103.4.4.3. Wrist.4. insulated.2 1 3HAC 7941-29 Rot ac motor incl gearbox (6600-175/2. 3HAC 17255-1 Item Qty Art. insulated.2. 103.1 1 3HAC 17098-1 Axis 6 insulated 103. 103.3 8 10 3HAB 3409-89 Hex socket head cap screw 103.4.1 1 3HAC 17484-8 Rotational ac motor M8 103. no.5 300 ml 3HAC 021469001 Lubricating oil. 2 1 3HAC 14754-1 Rot ac motor incl pinion See sub-block Rot ac motor incl pinon.9.2.5 2 ml 3HAB 7116-1 Locking liquid 103.4. no. Description 103.4 4 9ADA 183-37 Hex socket head cap screw 103.2 Spare part / part list 2. no. 103.4. 3HAC 14754-1 Item Qty Art.4.4.2.4.4.2. insulated.4.5 2 ml 3HAB 7116-1 Locking liquid 103.4.4.5 450 ml 3HAC 16843-1 Lubricating oil.4.10 1 Note/Dimension Rot ac motor incl pinon.5 450 ml 3HAC 021469001 Lubricating oil.4.4.7 1 3HAC 16862-1 Syncplate 225 kg 103.4.3 4 9ADA 312-7 Plain washer M8 103.6 1 3HAC 12877-1 Gasket 3HAC 020938-001 Revision: C Note 47 . head screw 103. insulated Item Qty Art.2.2.2.3.2.4.6 2 ml 3HAB 7116-1 Locking liquid 103.4 1 9ADA 183-20 Hex socket head screw 103.4 1 9ADA 183-415 Hex socket head screw 103.2.4.4.2.3 1 21522012-430 O-ring 103. Wrist. Description 103.4.4.8 103.3 1 21522012-430 O-ring 103. Shell Tivela S 150 103.6 1 3HAC 12877-1 Gasket Note Ax 6 complete.1 1 3HAC 17196-1 Axis 6 insulated 103.9 1 3HAC 14263-1 Protection cover 9ADA 624-69 Torx counters. Description 103.4.4.8 2 9ADA 618-32 Torx pan head screw 103.2. 3HAC 17371-1 Item Qty Art. 3HAC 14754-1 on page 47.4.2 1 3HAC 11173-3 Pinion RV70F-125.1 1 3HAC 17484-8 Rotational ac motor M8 103. no. RMO 150 103. 3.207 12 3HAA 1001-134 Washer 13 x 19 x 1.10.231 1 21520441-1 Washer 108.228 1 3HAC 3261-1 Cover 108.210 1 3HAC 14300-1 Cable protector 108.229 1 3HAC 15431-1 Cable protection 108.217 2 9ADA 334-7 Spring washer.232 6 3HAC 16721-1 Magnetic plug R 1/2" 108. Material set. axis 2 108.214 2 3HAC 12320-1 Damper.201 2 3HAC 17212-1 Sealing axis 2/3 108. end part 108.234 3 9ADA 618-56 Torx pan head screw M6 x 16 108.235 1 3HAC 020958-001 Cable protection lower arm M12 x 50 t = 4 mm M6 x 16 t=3 3HAC 020938-001 Revision: C .233 1 2522122-1 Magnetic plug G 1/4" 108.203 3 3HAC 12703-1 Washer.224 1 3HAC 12844-1 Cable cover 108. manipulator.10.2 Spare part / part list 2.222 1 3HAC 12719-1 Syncplate with vernier ax3 T=1. axis 3 108.4 x 18 x 2 108.206 12 3HAB 7700-69 Hex socket head cap screw M12 x 50 108.218 2 9ADA 618-57 Torx pan head screw M6 x 20 108. conical 8.5 108. number Description 108.230 1 3HAC 14880-1 Cable fixing bracket 108.213 1 3HAC 13960-1 Connection plate. 3HAC 13263-1 Overview Item 48 Qty Dimension / Note Art. manipulator.3. 3HAC 13263-1 2.5 108. Material set.220 2 3HAC 9953-1 Syncplate with vernier T=1.223 2 9ADA 183-48 Hex socket head cap screw M10 x 16 108. head screw M6 x 60 108.204 33 3HAA 1001-134 Washer 108.211 1 3HAC 16926-1 Lower arm cable protection (IRB6600) 108.202 66 3HAB 7700-69 Hex socket head cap screw 108.212 1 3HAC 11771-1 Cable guide.215 2 3HAC 12991-1 Damper.5 108. ax3 108.225 21 9ADA 618-56 Torx pan head screw 108. axis 3 108.216 2 9ADA 624-65 Torx counters.211 1 3HAC020507-001 Lower arm cable protection (IRB6650) 108. 3HAC 13264-1 Overview Item Qty Art.315 29 9ADA 183-39 Hex socket head cap screw M8 x 35 109. 109.314 1 3HAC 16295-3 Cover 109. 109. complete See block Adapter. 109.306 1 3HAC 14749-1 Rot ac motor incl pinion See block Rot ac motor incl pinion.321 1 3HAC 12671-6 Block for calibration 109.301 1 3HAC 021127-001 Reduction gear See block Reduction gear.55) See block Rot ac motor incl pinion. 3HAC 13264-1 2.326 1 3HAC 16014-1 Serial measurement unit 109. 109. Material set. 3HAC 14750-1/ 14751-1 on page 51.1 109. 109. axis 1-2.5 109.3.11.5 109.2 Spare part / part list 2. complete.318 1 3HAB 3772-69 O-ring 378x4 109. 3HAC 14024-1.305 24 3HAA 1001-134 Washer 13 x 19 x 1.327 1 3HAC 14692-3 Cover SMB and BRU 3HAC 020938-001 Revision: C See block Cover SMB and BRU.53 109. 3HAC 14749-1.324 24 9ADA 618-56 Torx pan head screw M6 x 16 109.311 1 3HAC 14131-1 Connection plate. 109.11.319 1 3HAB 3772-70 O-ring 340x3.312 1 3HAC 11774-3 Adapter. ax.4 x 16 x 1.302 1 3HAC 16829-1 Cover.6 109.309 8 3HAB 4233-1 Washer 109. number Description Dimension / Note 109.3.317 1 3HAB 3772-68 O-ring 276x3.320 1 3HAC 12671-5 Profile with sync scale 109. Material set. 49 .316 29 9ADA 312-7 Plain washer 8. 3HAC 117743.310 1 3HAC 12252-1 Bottom plate T=3 109.325 3 9ADA 618-57 Torx pan head screw M6 x 20 109. axis 1-2. 3HAC 14750-1/ 14751-1 on page 51.307 1 3HAC 14750-1 Rot ac motor incl pinion See block Rot ac motor incl pinion.303 1 3HAC 14699-1 Friction washer 294x333x1.308 8 3HAB 3409-50 Hex socket head cap screw M10 x 40 109.0 109. axis 2 109.307 1 3HAC 14751-1 Rot ac motor incl pinion (6600-175/2.304 24 3HAB 3409-71 Hex socket head cap screw M12 x 60 109.313 1 3HAC 11769-1 Cable guide.322 1 3HAC 14024-1 Protection screw See block Protection screw. base t=3 mm 109. 349 2 9ADA 618-58 Torx pan head screw 109.351 10 9ADA 618-44 Torx pan head screw Art.346 1 3HAC 16035-1 BU w.341 7. 3HAC 13264-1 Item Qty Art. B=12 109.329 1 3HAC 13151-1 Cable battery/SMB L=350 ± 20 109.332 1 3HAC 14791-3 Cover battery box See block Cover.348 4 9ADA 629-56 Torx pan head roll. 109.336 1 3HAC 020745-001 Attachment plate IRB 6600 109. number Description 109.330 2 3HAC 11526-1 Stud screw M6 x 150 109. Shell Tivela S 150 Do not mix the types of oil! 109. push button guard 109.306.335 1 3HAA 2166-23 VK-Cover D=120.7 109.2 1 3HAC 11350-1 Pinion RV 500C & RV 320C 109. screw M6 x 16 109.2 1 3HAB 3772-68 O-ring M6 M6 x 25 M5 x 12 Reduction gear Item Qty Dimension Rot ac motor incl pinion. Material set. battery box.344 1 ml 3HAB 7116-1 Locking liquid 109.300 3HAC16843-1 ml Lubricating oil.600 3HAC 021469-001 ml Lubricating oil.339 1 3HAC 15619-1 Cable. number Description Dimension 109.3 1 2152 2012-430 O-ring 89. FB7-SMB 1. 3HAC 14791-3.345 2 9ADA 267-6 Hexagon nut 109. buttons DSQC 563 109. 3HAC 14749-1 Item 50 Qty Art.350 1 3HAC 4813-1 Cover.1 1 3HAC 17484-6 Rotational ac motor M6 109. Velcro 25 x 450 109. number Description Dimension / Note 109.306.3. RMO 150 Do not mix the types of oil! 109.1 1 3HAC 10828-11 Reduction gear 109.301. RMO 150 Do not mix the types of oil! 109.347 1 3HAC 6499-1 Push button guard 109. axis 1-2.301.341 7.300 3HAC 021469-001 ml Lubricating oil.334 5 9ADA 618-53 Torx pan head screw M6 x 8 109.337 2 3HAC 12625-1 Strap.342 4. Shell Tivela S 150 Do not mix the types of oil! 109.342 4.306.2 Spare part / part list 2.328 1 3HAC 16831-1 Battery pack 109.5 x 3 3HAC 020938-001 Revision: C .600 3HAC 16843-1 ml Lubricating oil.338 1 3HAC 14792-1 Bracket T=3 109.11. 1 1 3HAC 14692-1 Cover 109. Material set.332. 3HAC 14024-1 Item Qty Art.3 1 3HAC 16977-1 Warning label battery Cover SMB and BRU Qty Cover. number Description 109.327.327.2 1 3HAB 3772-32 O-ring 17 x 3 Item Art.312.307.3.2 1 3HAC 14692-2 Gasket 109.307.2 Spare part / part list 2.2 1 3HAC 14791-2 Gasket T=3 109.2 2 2152 2012-428 O-ring 109. complete.5 x 3 Protection screw.3 1 3HAC 14692-4 Rubber cloth Art.1 1 3HAC 11774-1 Adapter.1 1 3HAC 14791-1 Cover T=4 109.312.332.327.307.5 1 ml 3HAB 7116-1 Locking liquid Art. number Description Dimension 109.332.307.1 1 3HAC 17484-6 Rotational ac motor M6 (6600175/2. 3HAC 13264-1 Rot ac motor incl pinion.2 1 3HAC 10122-15 Input gear 109.3 1 21522012-430 O-ring 109. 3HAC 14750-1/ 14751-1 Item Qty Art. number Description Dimension 109. 3HAC 11774-3 Item Qty Dimension 79.4 1 9ADA 183-444 Hexagon socket head screw 109. axis 1-2.307.322.307. number Description Dimension 109.3 1 ml 1234 0011-125 Acrylate adhesive Dimension 89. 3HAC 14791-3 Item 3HAC 020938-001 Revision: C Qty 51 . machined 109. number Description 109. battery box.11.322.1 1 3HAC 13582-1 Protection screw 109.312.55) 109.1 1 3HAC 17484-9 Rotational ac motor M9 109.5 x 3 Adapter. shaft 110.402 1 3HAC 12481-1 Thrust washer 110.411 4 3HAA 1001-186 Washer 110.414 1 9ADA 183-490 Hex socket head cap screw M16 x 180 110.412 50 ml 3HAA 1001-294 Grease 110. Material set.6 x 7.404 1 9ABA 135-31 Retaining ring.407 4 3HAB 7700-5 Hex socket head cap screw M16 x 70 110. 3HAC 13265-1 2.415 1 9ADA 312-10 Plain washer 17 x 30 x 3 65 17 x 25 x 3 3HAC 020938-001 Revision: C . balancing device.3.5 110.405 1 3HAC 12480-1 Shaft 110.401 1 3HAC 12441-2 Spherical roller bearing 65 x 120 x 38 110.2 Spare part / part list 2. Material set.3 x 9 x 7 110.403 1 3HAC 12627-1 Bushing 110. balancing device 110.3.12.408 2 9ABA 107-56 Parallel pin 10 x 20 110.410 1 3HAC 12534-1 Shaft.5 x 5.406 1 3HAC 4836-7 Protection plug 16 x 12.12.413 2 3HAC 4836-1 Protection plug 20 x 14. number Description Dimension 110.409 1 3HAC 12548-1 Protection washer T=1 110. 3HAC 13265-1 Overview 52 Item Qty Art. balancing device. 250 mm.503 12 3HAB 7700-69 Hex socket head cap screw M12 x 50 111. Arm extension set.13. number Description 111.507 4 9ADA 618-56 Torx pan head screw 3HAC 020938-001 Revision: C Dimension M6 x 16 53 .504 12 3HAA 1001-134 Washer 13 x 19 x 1.13.2 Spare part / part list 2. Arm extension set.5 111. 3HAC 12311-4 2. 3HAC 12311-4 Overview Item Qty Art.3.505 1 9ABA 107-56 Parallel pin 10 x 20 111. Foundry 111.3.501 1 3HAC 15859-2 Arm extender 250mm.506 1 3HAC 9760-9 Cable cover 250mm 111. 250 mm.501 1 3HAC 9760-3 Arm extender 250mm 111. 2 Spare part / part list 2. 250 mm. Arm extension set.3.13. 3HAC 12311-4 54 3HAC 020938-001 Revision: C . 1.1. frame • Frame-Lower arm 1 • Frame-Lower arm 2 • Upper arm • Wrist complete 3HAC 020938-001 Revision: C 55 . The exploded views are divided into: • Base. Introduction 3 Exploded views 3.3 Exploded views 3. The numbered details are specified with item numbers in the Part List. incl. Introduction Definitions This chapter contains detailed views of the components on the manipulator. Base incl.2. Frame xx0200000329 56 3HAC 020938-001 Revision: C .2. Base incl. Frame 3.3 Exploded views 3. Frame-Lower arm 1 3.3 Exploded views 3.3.3. Frame-Lower arm 1 Exploded view xx0200000334 3HAC 020938-001 Revision: C 57 . Frame-Lower arm 2 3.3 Exploded views 3. Frame-Lower arm 2 xx0200000335 58 3HAC 020938-001 Revision: C .4.4. 3 Exploded views 3.5. Upper arm 3.5. Upper arm xx0200000337 3HAC 020938-001 Revision: C 59 . Wrist complete 3.6. Wrist complete xx0200000336 60 3HAC 020938-001 Revision: C .3 Exploded views 3.6. 4 Circuit Diagram 4. 3HAC 020938-001 Revision: C 61 .1. Introduction 4 Circuit Diagram 4. Introduction Overview This chapter includes the circuit diagram of the robot.1. . ....................................... note 2......102 Legend .................................................................................108 Axis 4..........................................................................................101 Connection Point Location ...............................................................................................................................107 Axis 3...........................111 Switches axis 1 ..................................................................................................................................................................................................................106 Axis 2.....................................................................1 ............................................................................................................................................................................901 Design changes.............................................................................................................................................................................................................................................................................................................................905 Design changes......906 ............................................................................... note 1......Circuit Diagram 3HAC 13347-1 / Rev.............................................................114 Switches/Fan axis 3 ...........................................................................110 Axis 6..............................................................1-2................................................7 ................113 Switches/Fan axis 2 ....105 Axis 1......................................................................................................................115 Axis 5 (IRB 6600) .............................................109 Axis 5 (IRB 7600) ..................103 Brake Release Unit ....104 Serial Measurement Board ................................................................................................................................................. 02 CONTENTS Sheet Contents ................................ Contents 101 02 Circuit Diagram 3HAC 13347-1 Revision sheet . Connection Point Location 102 Revision 02 Circuit Diagram 3HAC 13347-1 sheet . Circuit Diagram 3HAC 13347-1 02 Legend 103 Revision sheet . sheet 104 Revision 02 Circuit Diagram 3HAC 13347-1 Brake Release Unit . Serial Measurement Board 105 Revision 02 Circuit Diagram 3HAC 13347-1 sheet . Axis 1 106 02 Circuit Diagram 3HAC 13347-1 Revision sheet . Axis 2 107 02 Circuit Diagram 3HAC 13347-1 Revision sheet . Axis 3 108 02 Circuit Diagram 3HAC 13347-1 Revision sheet . 109 02 Circuit Diagram 3HAC 13347-1 Revision sheet Axis 4 . sheet 110 Revision 02 Circuit Diagram 3HAC 13347-1 Axis 5 (IRB 7600) . Axis 6 111 02 Circuit Diagram 3HAC 13347-1 Revision sheet . Switches axis 1 113 Revision 02 Circuit Diagram 3HAC 13347-1 sheet . Switches/Fan axis 2 114 Revision 02 Circuit Diagram 3HAC 13347-1 sheet . Switches/Fan axis 3 115 Revision 02 Circuit Diagram 3HAC 13347-1 sheet . sheet Revision 901 02 Circuit Diagram 3HAC 13347-1 Axis 5 (IRB 6600) . note 1.1 sheet .Revision 905 02 Circuit Diagram 3HAC 13347-1 Design changes. Revision 906 02 Circuit Diagram 3HAC 13347-1 Design changes.7 sheet .1-2. note 2.
Copyright © 2024 DOKUMEN.SITE Inc.