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

8/9/2019 IRC5-IRB6600 Prod Man 3HAC020938-001 References RevC En

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Product manual (part 2 of 2), reference informationArticulated robotIRB 6600 - 225/2.55 type AIRB 6600 - 175/2.8 type AIRB 6600 - 175/2.55 type AIRB 6650 - 200/2.75 type AIRB 6650 - 125/3.2 type AM2000, M2004, M2000A


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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 AM2000

M2000A

M2004

Document ID: 3HAC 020938-001

Revision: C


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The information in this manual is subject to change without notice and should not beconstrued as a commitment by ABB. ABB assumes no responsibility for any errors thatmay appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued 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 fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABBs writtenpermission, and contents thereof must not be imparted to a third party nor be used forany 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 ABRobotics

SE-721 68 VstersSweden


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Table of Contents

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Product documentation, M2000/M2000A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1 Reference information 11

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.6 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181.7 Special tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191.8 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2 Spare part / part list 25

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.2 Spare part list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262.2.2 Spare part list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.3 Part list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292.3.2 Rebuilding parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.3.3 Part list, overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322.3.4 Base incl frame ax 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342.3.5 Axis 3-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352.3.6 Axis 3-4, Foundry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392.3.7 Wrist, standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402.3.8 Wrist Foundry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452.3.9 Wrist, insulated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462.3.10 Material set, manipulator, 3HAC 13263-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482.3.11 Material set, axis 1-2, 3HAC 13264-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492.3.12 Material set, balancing device, 3HAC 13265-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522.3.13 Arm extension set, 250 mm, 3HAC 12311-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

3 Exploded views 55

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553.2 Base incl. Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563.3 Frame-Lower arm 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573.4 Frame-Lower arm 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583 5 Upper arm 59


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Table of Contents


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Overview

Overview

About this manualThis manual contains reference information for all procedures described in the Productmanual, procedures .

Usage

This manual should be used duringinstallation

maintenance work

repair work.

Who should read this manual?This manual is intended for:

installation personnel

maintenance personnel

repair personnel.

PrerequisitesThe reader should...

be a trained maintenance/repair craftsman

have the required knowledge of mechanical and electrical installation/repair/ maintenance work.


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Overview

Organization of chaptersThe manual is organized in the following chapters:

Revisions

Chapter Contents

Reference information Useful information when performing installation, maintenance orrepair work (lists of necessary tools, reference documents, safetystandards).

Spare part / Part list Complete list of manipulator parts, shown in the exploded viewsor foldouts.

Exploded views Detailed illustrations of the robot with reference numbers to thepart list.

Circuit diagram Circuit diagram of the robot.

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 calibrationmanuals.

C New lubricating oil in the gearboxes. Changes made in the section Part

list on page 29 .


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Product documentation, M2000/M2000A

Product documentation, M2000/M2000A

GeneralThe 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 whichis divided into two parts:

Product manual, procedures

Safety information

Installation and commissioning (descriptions of mechanical installation, electricalconnections and loading system software)

Maintenance (descriptions of all required preventive maintenance proceduresincluding 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 Productmanual, procedures, lists of tools, safety standards)

Part list Foldouts or exploded views

Circuit diagrams

Software manualsThe software documentation consists of a wide range of manuals, ranging from manuals forbasic 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 manualEach hardware option for the controller is supplied with its own documentation. Eachdoc ment set contains the t pes of information specified belo :


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Product documentation, M2004


GeneralThe robot documentation may be divided into a number of categories. This listing is based onthe type of information contained within the documents, regardless of whether the productsare standard or optional. This means that any given delivery of robot products will not containall documents listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid forM2004 robot systems.

Hardware manualsAll hardware, robots and controller cabinets, will be delivered with a Product manual whichis 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 proceduresincluding 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 Productmanual, procedures, lists of tools, safety standards)

Part list

Foldouts or exploded views

Circuit diagrams

RobotWare manualsThe following manuals describe the robot software in general and contain relevant referenceinformation:

RAPID Overview : An overview of the RAPID programming language.


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Application manualsSpecific applications (e.g. software or hardware options) are described in Applicationmanuals . 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

Operators manualsThis 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 manualsinclude:

Operators manual - IRC5 with FlexPendant Operators manual - RobotStudio Online

Trouble shooting manual for the controller and robot

MiscellaneousA number of manuals provide generic descriptions of the robot and robot system. Theseinclude:

Robot fundamentals (describing the fundamental aspects, functions, concept andsimilar, of a robot system to provide a basic understanding of the robot system)


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1 Reference information

1.1. Introduction

1 Reference information1.1. Introduction

GeneralThis chapter includes general information, complementing the more specific information inthe Product manual (part 1 of 2), procedures .


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1.2. Applicable Safety Standards

1.2. Applicable Safety Standards

Standards, generalThe robot is designed in accordance with the requirements of:

EN 775 - Robot safety.

EN 292-1 - Basic terminology.

EN 292-2 - Technical principles.

EN 418 - Emergency stop.

EN 563 - Temperatures of surfaces.

EN 954-1 - Safety related parts of control systems.

EN 60204-1 - Electrical equipment of machines.

EN 1050 - Principles for risk assessment.

ANSI/RIA 15.06-1999 - Industrial robots, safety requirements.

DIN 19258 - Interbus-S, International Standard

Standards, robot cellThe following standards are applicable when the robot is part of a robot cell:

EN 953 - Fixed and moveable guards

EN 811 - Safety distances to prevent danger zones being reached by the lower limbs.

EN 349 - Minimum gaps to avoid crushing of parts of the human body. EN 294 - Safety distances to prevent danger zones being reached by the upper limbs.

EN 1088 - Interlocking devices

EN 999 - The positioning of protective equipment in respect of approach speeds of thehuman body.

ISO 11 161 - Industrial automation systems - Safety of intergrated manufacturingsystems.


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1.3. Unit conversion

1.3. Unit conversion

Converter tableUse the table below to convert units used in this manual.

Quantity Units

Length 1 m 3.28 ft 39.37 inWeight 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


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1.4. Screw joints

1.4. Screw joints

GeneralThis section details how to tighten the various types of screw joints on the robot and thecontroller.

The instructions and torque values are valid for screw joints comprised of metallic materialsand do not apply to soft or brittle materials.

UNBRAKO screwsUNBRAKO is a special type of screw recommended by ABB for certain screw joints. Itfeatures special surface treatment (Gleitmo as described below), and is extremely resistant tofatigue.

Whenever used, this is specified in the instructions, and in such cases, no other type ofreplacement screw is allowed! Using other types of screws will void any warranty and may

potentially cause serious damage or injury!

Gleitmo treated screwsGleitmo 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 thisthe screw must be discarded and replaced with a new one.

When handling screws treated with Gleitmo, protective gloves of nitrile rubber type shouldbe used.

Screws lubricated in other waysScrews 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 orsmaller may be tightened without a torque wrench if this is done by trained andqualified personnel.


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1.4. Screw joints

Tightening torqueBefore tightening any screw, note the following:

Determine whether a standard tightening torque or special torque is to be applied. Thestandard torques are specified in the tables below. Any special torques are specified inthe Repair, Maintenance or Installation procedure description. Any special torquespecified overrides the standard value.

Use the correct tightening torque for each type of screw joint.

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-lubricatedscrews 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



M5 6 - -

M6 10 - -


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1.4. Screw joints

The table below specifies the recommended standard tightening torque for water and airconnectors when one or both connectors are made of brass .

M10 55 66

M12 96 115

M16 235 280

Dimension Tightening torqueNm - NominalTightening torqueNm - Min.

Tightening torqueNm - Max.

1/8 12 8 15

1/4 15 10 20

3/8 20 15 25

1/2 40 30 503/4 70 55 90

Dimension Tightening torque (Nm)Class 10.9, Molycote-lubricatedTightening torque (Nm)Class 12.9, Molycote-lubricated


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1.5. Weight specifications

1.5. Weight specifications

DefinitionIn all repair and maintenance procedures, weights of the components handled are sometimesspecified. 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 componentswith a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each

manipulator model.

ExampleBelow 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!


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1.6. Standard toolkit

1.6. Standard toolkit

GeneralAll service (repairs, maintenance and installation) instructions contain lists of tools requiredto perform the specified activity.

All special tools required are listed directly in the instructions while all the tools that areconsidered standard are gathered in the Standard toolkit and defined in the table below.

In this way, the tools required are the sum of the Standard Toolkit and any tools listed in theinstruction.

Contents, standard toolkit, 3HAC 15571-1

Qty Art. no. Tool Rem.

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, socket 40mm bit L 100mm

1 - Socket head cap no:14, socket 40mm bit L 20mm To be shorted to 12mm




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1 R f i f ti


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1.7. Special tools

Calibration equipment, WylerThe table below specifies the calibration equipment required when calibrating the robot withthe Wyler method, using the Levelmeter 2000.

Calibration equipment, PendulumThe table below specifies the calibration equipment needed when calibrating the robot withthe Pendulum method.

Oil exchange equipmentThe table below specifies the recommended equipment for oil exhange.

Description Art. no. Note

Angel bracket 68080011-LP

Calibration bracket 3HAC 13908-9

Calibration tool ax1 3HAC 13908-4Levelmeter 2000 kit 6369901-347 Includes one sensor.

Measuring pin 3HAC 13908-5

Sensor fixture 68080011-GM

Sensor plate 3HAC 0392-1

Sync. adapter 3HAC 13908-1

Turn disk fixture 3HAC 68080011-GU


CalPen (Calibration

Pendulum)

3HAC 15716-1 Complete kit that also includes user

instructions.


Oil exchange equipment 3HAC 021745-001 Includes

vacuum pump withregulator, hose and coupling couplings and adapters pump (manual) with hose

and coupling graduated measuring glass


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1.8. Document references

Additional documentation

Document name Document ID Note

External axes 3HAC 9299-1



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1.9. Lifting equipment and lifting instructions

1.9. Lifting equipment and lifting instructions

GeneralMany repair and maintenance activities require different pieces of lifting equipment, whichare specified in each procedure.

The use of each piece of lifting equipment is not detailed in the activity procedure, but in theinstruction delivered with each piece of lifting equipment.

This implies that the instructions delivered with the lifting equipment should be stored forlater reference.

2 Spare part / part list


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p p p

2.1. Introduction

2 Spare part / part list2.1. Introduction

DefinitionsThis chapter specifies all spare parts and replacement articles of the robot.



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p p p

2.2.1. Introduction

2.2 Spare part list

2.2.1. Introduction

OverviewThis section specifies all articles considered spare parts of the robot. The spare parts are alsospecified as required equipment directly in the repair instruction of the current spare part.


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2.2.2. Spare part list

Motor axis 2(125/3.2, 175/2.8, 200/2.75, 225/2.55

3HAC 15885-2 C

Gearbox axis 2 3HAC 020043-001 D

Motor axis 3 (175/2.55) 3HAC 15882-2 E

Motor axis 3(125/3.2, 175/2.8, 225/2.55, 200/2.75)

3HAC 15885-2 E

Gearbox axis 3 3HAC 021127-001 FMotor axis 4 (175/2.55) 3HAC 15887-2 G

Motor axis 4(125/3.2, 175/2.8, 225/2.55, 200/2.75)

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 (175/2.55) 3HAC 16627-1 J

Wrist (175/2.55, insulated turning disk) 3HAC 17372-1 J

Wrist(125/3.2, 175/2.8, 225/2.55, 200/2.75)

3HAC 16626-2 J

Wrist (insulated turning disk)(125/3.2, 175/2.8, 225/2.55, 200/2.75)

3HAC 16626-3 J

Cable harness axis 5 3HAC 14139-1 -

Motor axis 5 (175/2.55) 3HAC 17484-7 -

Motor axis 5(125/3.2, 200/2.75, 175/2.8, 225/2.55)

3HAC 17484-10 -

VK-Cover VK 120x12 3HAA 2166-23 -

Turning disk, dia. 200 (175/2,55) 3HAC 9744-5 K

Turning disk, dia. 200

(125/3.2, 200/2.75, 175/2.8, 225/2.55)

3HAC 13752-1 K

Gearbox axis 6 (175/2.55) 3HAC 10828-10 -

Gearbox axis 6(125/3.2, 200/2.75, 175/2.8, 225/2.55)

3HAC 10828-13 -

Motor axis 6 (175/2.55) 3HAC 15990-4 -

Description Spare part no. Item in figure



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2.3.1. Introduction

2.3 Part list

2.3.1. Introduction

OverviewThis section specifies all the replacement articles of the robot. The parts are shown inexploded views or in foldouts, either in this or in a separate chapter.

Specific spare parts are listed separately in a Spare part list .



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2.3.2. Rebuilding parts


OverviewThe IRB 6600/6650 has some rebuilding parts that differ from eachother, depending on theversion of the robot. This section is a general overview of which parts belong to whichversions.

The following section, Part list on page 29 also gives further details of the parts specified

below.

Rebuilding parts

Art. no. Part 2.55/1752.55/225

2.75/200

2.8/175

3.2/125 Type

3HAC 10746-1 Axis 3-4 X X X X Standard

3HAC 10746-3 Axis 3-4 X Standard3HAC 10746-6 Axis 3-4 X X X X Foundry

3HAC 10746-7 Axis 3-4 X Foundry

3HAC 020049-001 Tube shaft 2.55 X X X X X Standard

3HAC 020053-001 Tube shaft 2.55 X X X X X Foundry

3HAC 10141-1 Lower arm X X X

3HAC 13940-1 Lower arm X X

3HAC 14940-1 Harness ax. 1-4 X X X3HAC 16331-1 Harness ax.1-4 X X

3HAC 9760-3 Arm extender250mm

X Standard


X Standardand Foundry


X Standard


X Standardand Foundry

3HAB 7700-69 Screw M12x50 12X 12X

3HAA 1001-134 Washer13x19x1,5

12X 12X

9ABA 107 56 P ll l i X X



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3HAC 15887-2 Motor axis 4 X

3HAC 16627-3 Wrist 175 kg X

3HAC 16626-2 Wrist 225 kg X X X X

Art. no. Part 2.55/175 2.55/225 2.75/200 2.8/175 3.2/125 Type



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2.3.3. Part list, overview


Part list

Item Qty Art. number Description Note / Dimension

5 1 3HAC 17358-1 Mechanical stop ax 1,assembly

101 1 3HAC 12685-1 Base incl frame ax 1 See section Base inclframe ax 1 on page 34

102 1 3HAC 10746-1 Axis 3-4 See section Axis 3-4 onpage 35

102 1 3HAC 10746-3 Axis 3-4 (6600 - 175/2.55) See section Axis 3-4 onpage 35 .

102 1 3HAC 10746-4 Axis 3-4, Foundry See section Axis 3-4,Foundry on page 39

102 1 3HAC 10746-5 Axis 3-4, Foundry (6600 -175/2.55) See section Axis 3-4,Foundry on page 39 .

103 1 3HAC 8114-1 Wrist (6600 - 175/2.55) See section Wrist,standard on page 40 .

103 1 3HAC 8114-3 Wrist See section Wrist,standard on page 40

103 1 3HAC 8114-5 Wrist, Foundry See section WristFoundry on page 45

103 1 3HAC 8114-6 Wrist, Foundry (6600 - 175/ 2.55) See section WristFoundry on page 45 .

103 1 3HAC 8114-7 Wrist, insulated (6600 - 175/ 2.55)

See section Wrist,insulated on page 46 .

103 1 3HAC 8114-8 Wrist, insulated See section Wrist,insulated on page 46 .

104 1 3HAC 17117-2 Balancing Device A (6600-225/2.55, 6600-175/2.8,6600-175/2.55)

104 1 3HAC 17117-3 Balancing Device B (6650-125/3.2, 6650-200/2.75)

105 1 3HAC 10141-1 Lower arm (6600 - 175/2.55,6600-225/2.55, 6600-175/ 2.8)



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109 1 3HAC 13264-1 Material set ax 1-2 See section Material set,axis 1-2, 3HAC 13264-1 on page 49

110 1 3HAC 13265-1 Mtrl.set balancing device See section Material set,balancing device, 3HAC13265-1 on page 52

111 1 3HAC 12311-4 Arm extension set 250mm(175/2.8)

See section Armextension set, 250 mm,3HAC 12311-4 on page53

111 1 3HAC 12311-5 Arm extension set 450mm(125/3.2)

See section Armextension set, 450 mm,3HAC 12311-5.

112 2 or 1 3HAC 12129-1 Cover plate t=1,5 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



2 3 4 B i l f 1


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2.3.4. Base incl frame ax 1

2.3.4. Base incl frame ax 1

Part list

Base, machining

Frame incl ax 1 gearbox


101.1 1 3HAC 17224-4 Base, machining See block Base,machining, 3HAC 17224- 4 .

101.2 1 3HAC 12684-1 Frame incl ax 1 gearbox See block Frame incl ax1 gearbox, 3HAC020858-001.

101.3 3 3HAC 11732-2 Washer T=3

101.4 18 3HAB 7700-5 Hex socket head cap screw

101.5 1 3HAC 11529-1 Rubber lined clip D=28

101.6 1 3HAC 14453-1 Hose with flange

101.7 1 3HAC 14453-2 Plug101.8 1 3HAC 4428-2 Hose Clip D=23-27

101.9 1 9ADA 618-56 Torx pan head screw M6 x 16

Item Qty Art. number Description Dimension

101.1.1 1 3HAC 17224-2 Base, casting

101.1.2 5 3HAC 4836-7 Protection plug 16 x 12.3 x 9 x 7

101.1.3 1 3HAC 1383-2 Protection Cover compl.

101.1.4 1 3HAC 14024-1 Protection screw


101.2.1 1 3HAC 15866-1 Frame machining

101.2.2 1 3HAC 10828-8

101.2.3 24 3HAB 7700-73 Hex socket head cap screw M12 x 70


2 3 5 Axis 3 4


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2.3.5. Axis 3-4

2.3.5. Axis 3-4

Overview

Material set ax 4, 3HAC 13350-1

Item Qty Art. number Description Note

102.1 1 3HAC 13350-1 Material set ax 4 See block Material set ax 4, 3HAC13350-1.

102.2 1 3HAC 020049-001 Tube shaft 2,55 See block Tube shaft 2.55, 3HAC020049-001.

102.3 1 3HAC 13351-1 Axis 3 See block Axis 3, 3HAC 13351-2/1.

102.4 1 3HAC 14753-1 Rot ac motor inclgearbox (6600-175/2.55)

See block Rot ac motor inclgearbox, 3HAC 14752-1 .

102.4 1 3HAC 14752-1 Rot ac motor inclgearbox

See block Rot ac motor inclgearbox, 3HAC 14752-1.

Item Qty Art. number Description Dimension / Note

102.1.1 1 3HAC 12261-1 Gear Z4 /4

102.1.3 8 9ADA 183-37 Hex socket head cap screw M8 x 25

102.1.4 8 9ADA 312-7 Plain washer 8.4 x 16 x 1.6

102.1.5 1 3HAC 12259-1 Wheel unit ax4 225kg See sub-block Wheel unitax 4, 225 kg, 3HAC12259-1.

102.1.6 3 3HAA 1001-99 Wedge

102.1.7 3 3HAC 12560-1 Stud bolt M8 x 65

102.1.8 12 9ADA 334-7 Spring washer, conical 8.4 x 18 x 2

102.1.9 3 9ADA 267-7 Hexagon nut M8

102.1.10 3 3HAB 3409-63 Hex socket head cap screw M10 x 110102.1.11 3 9ADA 334-8 Spring washer, conical 10.5 x 23 x 2.5

102.1.12 1 3HAC 13564-1 Damper axis 4 See sub-block Damper,axis 4, 3HAC 13564-1.

102.1.13 1 3HAA 1001-17 Stop, Axis 4, Casting


2 3 5 Axis 3-4


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2.3.5. Axis 3-4

Wheel unit ax 4, 225 kg, 3HAC 12259-1

Gear unit Z2, 3/4, 3HAC 12259-2

Damper, axis 4, 3HAC 13564-1

102.1.25 1 2216 0086-4 Sealing (Nilos) 180 x 215 x 4

102.1.26 1 3HAB 4317-1 Sealing

102.1.27 1 3HAC 3774-7 Spacer ring

102.1.28 1 21522012-535 O-ring 169.3 x 5.7

102.1.29 1 9ABA 107-56 Parallel pin 10 x 20

102.1.30 8,100ml

1171 2016-604 Lubricating oil

102.1.31 30 g 3HAB 3537-1 Bearing grease

102.1.32 1 ml 3HAB 7116-1 Locking liquid


102.1.34 1 3HAC 16721-1 Magnetic plug R 1/2"


Item Qty Art. number Description Dimenstion / Note

102.1.5.1 1 3HAC 11742-1 Intermediate hub, machine

102.1.5.2 1 3HAC 12259-2 Gear unit Z2, 3/4 See sub-block below.

102.1.5.3 1 2126 2851-104 Lock nut M20 X 1

102.1.5.4 1 2213 3802-11 Taper roller bearing 40 x 68 x 19

102.1.5.5 1 3HAA 1001-129 Taper roller bearing

102.1.5.6 1 ml 3HAB 7116-2 Locking liquid


102.1.5.2.0 1 3HAC 12259-3 Pinion Z3 /4

102.1.5.2.0 1 3HAC 12259-4 Gear Z2 /4


102.1.12.2 2 3HAC 13564-2 Plate for damper


2.3.5. Axis 3-4


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2.3.5. Axis 3 4

Protection cover compl., 3HAC 1383-2

Axis 3, 3HAC 13351-1

102.2.2 1 3HAC 1383-2 Protection Cover compl. See sub-block Protectioncover compl., 3HAC 1383-2



102.2.2.1 1 9ADA 624-69 Torx counters. head screw M8 x 20

102.2.2.2 1 3HAB 3772-66 O-ring 8 x 2

102.2.2.3 1 3HAC 1383-1 Protection Cover

102.2.2.4 1 3HAC 1383-3 Gasket

Item Qty Art. number Description Dimension / Note102.3.1 1 3HAC 10133-1 Axis 4 housing

102.3.2 1 3HAC 021127-001 RV 410F-270,176assembly

See sub-block RV 410F- 270, 176 assembly, 3HAC021127-001

102.3.3 24 3HAB 3409-71 Hex socket headcap screw

M12 x 60

102.3.4 24 3HAA 1001-134 Washer 13 x 19 x 1.5

102.3.5 1 3HAC 14750-1 Rot ac motor inclpinion

See sub-block Rot acmotor incl pinion, 3HAC14750-1

102.3.6 4 3HAB 3409-50 Hex socket headcap screw

M10 x 40

102.3.7 4 3HAB 4233-1 Washer


102.3.9 2,500 ml 3HAC 16843-1 Lubricating oil, RMO150

Do not mix different typesof oil!

102.3.9 2,500 ml 3HAC 021469-001 Lubricating oil, ShellTivela S 150

Do not mix different typesof oil!

102.3.10 1 9ABA 142-92 Spring pin, slotted 10 x 30


2.3.5. Axis 3-4


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Rot ac motor incl gearbox

102.3.5.3 1 2152 2012-430 O-ring 89.5 x 3

102.3.5.4 1 9ADA 183-444 Hex socket head cap screw M8 x 130



Item Qty Art. number Description Dimension102.4.1 1 3HAC 17484-10 Rotational ac motor M10

102.4.1 1 3HAC 17484-7 Rotational ac motor M7 (6600-175/2.55)

102.4.2 1 3HAC 12260-1 Pinion Z1 /4

102.4.3 1 2152 2012-430 O-ring 89,5x3


2.3.6. Axis 3-4, Foundry


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y

2.3.6. Axis 3-4, Foundry

Overview


102.1 1 3HAC 13350-1 Material set ax 4 See block Material set ax 4,3HAC 13350-1 on page 35

102.2 1 3HAC 020053-001 Tube shaft 2,55 foundry102.3 1 3HAC 13351-1 Axis 3 See block Axis 3, 3HAC

13351-1 on page 37

102.4 1 3HAC 14753-1 Rot ac motor incl gearbox(6600-175/2.55)

See block Rot ac motor inclgearbox on page 38

102.4 1 3HAC 14752-1 Rot ac motor incl gearbox See block Rot ac motor inclgearbox on page 38


2.3.7. Wrist, standard


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Overview

Material set, 3HAC 8114-4


103.1 1 3HAC 8114-4 Material set See block Material set, 3HAC8114-4.

103.2 1 3HAC 7941-30 Rot ac motor inclgearbox See block Rot ac motor inclgearbox, 3HAC 7941-30.

103.2 1 3HAC 7941-29 Rot ac motor inclgearbox (6600-175/2.55)

See block Rot ac motor inclgearbox on page 42 .

103.3 10 3HAB 3409-89 Hex socket headcap screw

M16 x 80

103.4 1 3HAC 13890-1 Axis 6 complete See block Axis 6 complete, 3HAC13890-1/2.

103.4 1 3HAC 9744-1 Axis 6 complete(6600-175/2.55)

See block Axis 6 complete, 3HAC9744-1, 3HAC 16032-1 on page43 .

103.5 1 3HAC 12732-1 Label (6600-175/ 2.55)

103.5 1 3HAC 12732-3 Label


103.1.1 1 3HAC 7956-1 Wrist housing, 225kg

103.1.2 1 3HAC 7941-28 Set of shim, motor

103.1.3 1 3HAC 7941-19 Set of shim, bevel gear

103.1.4 8 9ADA 183-37 Hex socket head cap screw M8 x 25

103.1.5 8 9ADA 312-7 Plain washer 8.4 x 16 x 1.6103.1.6 1 3HAA 2166-11 VK-Cover D=80 B=10

103.1.7 1 3HAC 4334-3 Cylindrical roll. bearing 50 x 90 x 20

103.1.8 4 3HAC 12560-1 Stud bolt M8 x 65

103 1 9 1 ml 3HAB 7116 2 Locking liquid




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Support shaft incl bearing, 3HAC 7941-32

Interm. wheel unit/5 225 kg, 3HAC 7941-6


103.1.21 27 9ADA 618-56 Torx pan head screw M6 x 16

103.1.22 2 9ADA 334-6 Plain washer 6.4 x 14 x 1.5


103.1.24 1 3HAC 14139-1 Manip. Harness ax 5

103.1.25 6,700ml

1171 2016-604 Lubricating oil

103.1.26 1 3HAC 7941-6 Interm.wheel unit/5 225kg See sub-block Interm.wheel unit/5 225 kg,3HAC 7941-6.

103.1.27 1 3HAA 1001-266 Screw M16 x 60

103.1.28 1 3HAC 7941-21 Gear wheel unit z6/5 225 See sub-block Gearwheel unit z6/5 225,3HAC 7941-21

103.1.29 1 3HAC 8081-8 Cover with gasket, 225kg

103.1.30 1 3HAC 8081-3 Cable cover

103.1.31 1 3HAC 14140-1 Manip. Harn. ax 5/6

103.1.32 2 2166 2055-3 Cable straps, outdoors 4.8 x 208

103.1.33 5 3HAA 1001-106 Washer D/d =15/6.4 t=3



103.1.15.1 1 3HAC 14731-1 Shaft

103.1.15.2 1 3HAB 3643-11 Groove ball bearing 130 x 165 x 18

103.1.15.3 3 9ADA 618-56 Torx pan head screw M6 x 16



103.1.26.1 1 3HAC 7946-1 Hub ax5, machining

103.1.26.2 2 3HAA 1001-130 Taper Roller Bearing




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Gear wheel unit z6/5 225, 3HAC 7941-21

Rot ac motor incl gearbox

Axis 6 complete, 3HAC 13890-1/2


103.1.28.1 1 3HAC 7941-8 Gear z6/5 225kg

103.1.28.2 1 3HAB 4271-1 Groove ball bearing 110 x 150 x 20

103.1.28.3 1 3HAB 6686-1 Support ring



103.2.1 1 3HAC 17484-10 Rotational ac motor M10


103.2.2 1 3HAC 7941-1 Bevelgear set unit z1-3/5103.2.3 1 2152 2012-430 O-ring 89.5 x 3


103.4.1 1 3HAC 13752-1 Turning disk

103.4.2 1 3HAC 10828-13 RV 70F-125,8 assembly See sub-block RV 40E- 81 assembly, 3HAC10828-13.

103.4.3 1 3HAC 11522-2 Tilt housing RV70

103.4.3 1 3HAC 16009-1 Tilt housing RV70, foundry

103.4.4 1 3HAC 14754-1 Rot ac motor incl pinion See sub-block Rot acmotor incl. pinion, 3HAC14754-1.

103.4.5 4 9ADA 312-7 Plain washer 8.4 x 16 x 1.6103.4.6 4 9ADA 183-37 Hex socket head cap

screwM8 x 25

103.4.7 18 3HAA 1001-172 Washer 8.4 x 13 x 1.5

103.4.8 2 2522 122-1 Magnetic plug R1/4"




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RV 70F-125,8 assembly, 3HAC 10828-13

Rot ac motor incl. pinion, 3HAC 14754-1

Axis 6 complete, 3HAC 9744-1, 3HAC 16032-1


103.4.20 1 3HAC 14263-1 Protection Cover

103.4.21 1 9ADA 624-69 Torx counters. head screw M8 x 20



103.4.2.1 1 3HAC 10828-14 RV 70F, i=125,8

103.4.2.2 1 3HAB 3772-57 O-ring 164.69 x 3.53


103.4.4.1 1 3HAC 17484-8 Rotational ac motor M8

103.4.4.2 1 3HAC 11173-3 Pinion RV 70F.125,8

103.4.4.3 1 2152 2012-430 O-ring 89.5 x 3

103.4.4.4 1 9ADA 183-415 Hex socket head cap screw M5 x 55


103.4.4.6 1 3HAC 12877-1 Gasket


103.4.1 1 3HAC 9744-5 Turning disk

103.4.2 1 3HAC 10828-10 RV 40E-81 assembly See sub-block RV 40E- 81 assembly, 3HAC10828-10 on page 44 .

103.4.3 1 3HAC 9744-3 Tilt housing RV40

103.4.3 1 3HAC 16009-2 Tilt housing RV40, foundry

103.4.4 1 3HAC 14755-1 Rot ac motor incl pinion See sub-block Rot acmotor incl. pinion, 3HAC14755-1 on page 44 .

103 4 5 4 9ADA 312 7 Plain washer 8 4 x 16 x 1 6




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RV 40E-81 assembly, 3HAC 10828-10

Rot ac motor incl. pinion, 3HAC 14755-1

103.4.9 450 ml 3HAC 021469-001

Lubricating oil, ShellTivela S 150

IRB 6600 - 225/2.55 -175/2.8, IRB 6650Do not mix differenttypes of oil!


103.4.11 1 3HAB 3772-65 O-ring

103.4.12 12 21520431-20 O-ring

103.4.13 1 3HAC 16862-2 Syncplate 175 kg103.4.14 12 21212518-577 Hex socket head cap

screw

103.4.15 18 3HAB 7700-55 Hex socket head capscrew

M8 x 40

103.4.16 2 21520441-1 Washer


103.4.20 1 3HAC 14263-1 Protection Cover

103.4.21 1 9ADA 624-69 Torx counters. head screw M8 x 20



103.4.2.1 1 3HAC 10828-5 RV 40E, i=81

103.4.2.2 1 3HAB 3772-58 O-ring



103.4.4.2 1 3HAC 10122-24 Pinion RV 40E-81

103.4.4.3 1 2152 2012-430 O-ring 89.5 x 3

103.4.4.4 1 9ADA 183-20 Hex socket head cap screw


103.4.4.6 1 3HAC 12877-1 Gasket


2.3.8. Wrist Foundry


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2.3.8. Wrist Foundry

Overview


103.1 1 3HAC 8114-4 Material set See block Material set,3HAC 8114-4 on page 40

103.2 1 3HAC 7941-30 Rot ac motor incl gearbox See block Rot ac motorincl gearbox on page 42


See block Rot ac motorincl gearbox on page 42 .

103.3 10 3HAB 3409-89 Hex socket head cap screw M16 x 80

103.4 1 3HAC 13890-2 Axis 6 complete Foundry See block Axis 6complete, 3HAC 13890-1/ 2 on page 42

103.4 1 3HAC 16032-1 Axis 6 complete Foundry(6600-175/2.55)

See block Axis 6complete, 3HAC 9744-1,3HAC 16032-1 on page43 .

103.5 1 3HAC 12732-2 Label

103.5 1 3HAC 12732-4 Label


2.3.9. Wrist, insulated


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Overview

Ax 6 complete, insulated, 3HAC 17255-1

Item Qty Art. no. Description Note/Dimension

103.1 1 3HAC 8114-4 Material set See block Material set, 3HAC8114-4 on page 40 .


See block Material set, 3HAC8114-4 on page 40 .

103.2 1 3HAC 7941-30 Rot ac motor incl gearbox See block Rot ac motor inclgearbox on page 42 .

103.3 810

3HAB 3409-89 Hex socket head cap screw

103.4 1 3HAC 17255-1 Ax 6 complete, insulated(6600-175/2.55)

See block Ax 6 complete,insulated, 3HAC 17255-1 onpage 46 .

103.4 1 3HAC 17371-1 Ax 6 complete, insulated See block Ax 6 complete,insulated, 3HAC 17371-1 onpage 47 .

103.5 1 3HAC 12732-5 Label

103.5 1 3HAC 12732-6 Label


103.4.1 1 3HAC 17098-1 Axis 6 insulated

103.4.2 1 3HAC 14755-1 Rot ac motor incl pinion See sub-block Rot acmotor incl pinon, 3HAC14755-1 on page 46 .

103.4.3 4 9ADA 312-7 Plain washer M8

103.4.4 4 9ADA 183-37 Hex socket head cap screw103.4.5 300

ml3HAC 021469-001

Lubricating oil, Shell Tivela S150

103.4.5 300ml

3HAC 16843-1 Lubricating oil, RMO 150




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Ax 6 complete, insulated, 3HAC 17371-1

Rot ac motor incl pinon, 3HAC 14754-1

103.4.2.3 1 21522012-430 O-ring

103.4.2.4 1 9ADA 183-20 Hex socket head screw


103.4.2.6 1 3HAC 12877-1 Gasket

Item Qty Art. no. Description Note


103.4.1 1 3HAC 17196-1 Axis 6 insulated

103.4.2 1 3HAC 14754-1 Rot ac motor incl pinion See sub-block Rot acmotor incl pinon, 3HAC14754-1 on page 47 .

103.4.3 4 9ADA 312-7 Plain washer M8

103.4.4 4 9ADA 183-37 Hex socket head cap screw

103.4.5 450ml

3HAC 021469-001

Lubricating oil, Shell Tivela S150

103.4.5 450ml

3HAC 16843-1 Lubricating oil, RMO 150


103.4.7 1 3HAC 16862-1 Syncplate 225 kg

103.4.8 2 9ADA 618-32 Torx pan head screw

103.4.9 1 3HAC 14263-1 Protection cover103.4.10 1 9ADA 624-69 Torx counters, head screw

Item Qty Art. no. Description Note


103.4.2.2 1 3HAC 11173-3 Pinion RV70F-125,8103.4.2.3 1 21522012-430 O-ring

103.4.2.4 1 9ADA 183-415 Hex socket head screw


103 4 2 6 1 3HAC 12877 1 G k t


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2.3.11. Material set, axis 1-2, 3HAC 13264-1


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Overview


109.301 1 3HAC 021127-001 Reduction gear See block Reductiongear.

109.302 1 3HAC 16829-1 Cover, axis 2

109.303 1 3HAC 14699-1 Friction washer 294x333x1,0

109.304 24 3HAB 3409-71 Hex socket head capscrew

M12 x 60

109.305 24 3HAA 1001-134 Washer 13 x 19 x 1.5

109.306 1 3HAC 14749-1 Rot ac motor incl pinion See block Rot ac motorincl pinion, 3HAC14749-1.

109.307 1 3HAC 14750-1 Rot ac motor incl pinion See block Rot ac motorincl pinion, 3HAC14750-1/ 14751-1 onpage 51 .

109.307 1 3HAC 14751-1 Rot ac motor incl pinion(6600-175/2.55)

See block Rot ac motorincl pinion, 3HAC14750-1/ 14751-1 onpage 51 .

109.308 8 3HAB 3409-50 Hex socket head cap

screw

M10 x 40

109.309 8 3HAB 4233-1 Washer

109.310 1 3HAC 12252-1 Bottom plate T=3

109.311 1 3HAC 14131-1 Connection plate, base t=3 mm

109.312 1 3HAC 11774-3 Adapter, complete See block Adapter,complete, 3HAC 11774- 3.

109.313 1 3HAC 11769-1 Cable guide, ax.1

109.314 1 3HAC 16295-3 Cover

109.315 29 9ADA 183-39 Hex socket head capscrew

M8 x 35

109.316 29 9ADA 312-7 Plain washer 8.4 x 16 x 1.6




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Reduction gear

109.328 1 3HAC 16831-1 Battery pack

109.329 1 3HAC 13151-1 Cable battery/SMB L=350 20

109.330 2 3HAC 11526-1 Stud screw M6 x 150

109.332 1 3HAC 14791-3 Cover battery box See block Cover,battery box, 3HAC14791-3.


109.335 1 3HAA 2166-23 VK-Cover D=120, B=12109.336 1 3HAC 020745-001 Attachment plate IRB 6600

109.337 2 3HAC 12625-1 Strap, Velcro 25 x 450

109.338 1 3HAC 14792-1 Bracket T=3

109.339 1 3HAC 15619-1 Cable, FB7-SMB 1.7

109.341 7,300ml

3HAC16843-1 Lubricating oil, RMO 150 Do not mix the types ofoil!

109.341 7,300ml 3HAC 021469-001 Lubricating oil, ShellTivela S 150 Do not mix the types ofoil!

109.342 4,600ml

3HAC 16843-1 Lubricating oil, RMO 150 Do not mix the types ofoil!

109.342 4,600ml

3HAC 021469-001 Lubricating oil, ShellTivela S 150

Do not mix the types ofoil!

109.344 1 ml 3HAB 7116-1 Locking liquid

109.345 2 9ADA 267-6 Hexagon nut M6

109.346 1 3HAC 16035-1 BU w. buttons DSQC 563109.347 1 3HAC 6499-1 Push button guard

109.348 4 9ADA 629-56 Torx pan head roll. screw M6 x 16


109.350 1 3HAC 4813-1 Cover, push button guard




109.301.1 1 3HAC 10828-11 Reduction gear




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Rot ac motor incl pinion, 3HAC 14750-1/ 14751-1

Adapter, complete, 3HAC 11774-3

Protection screw, 3HAC 14024-1

Cover SMB and BRU

Cover battery box 3HAC 14791 3


109.307.1 1 3HAC 17484-9 Rotational ac motor M9


109.307.2 1 3HAC 10122-15 Input gear

109.307.3 1 21522012-430 O-ring 89.5 x 3

109.307.4 1 9ADA 183-444 Hexagon socket head screw



109.312.1 1 3HAC 11774-1 Adapter, machined109.312.2 2 2152 2012-428 O-ring 79.5 x 3

109.312.3 1 ml 1234 0011-125 Acrylate adhesive


109.322.1 1 3HAC 13582-1 Protection screw

109.322.2 1 3HAB 3772-32 O-ring 17 x 3


109.327.1 1 3HAC 14692-1 Cover109.327.2 1 3HAC 14692-2 Gasket

109.327.3 1 3HAC 14692-4 Rubber cloth


2.3.12. Material set, balancing device, 3HAC 13265-1


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2.3.12. Material set, balancing device, 3HAC 13265-1

Overview


110.401 1 3HAC 12441-2 Spherical roller bearing 65 x 120 x 38

110.402 1 3HAC 12481-1 Thrust washer

110.403 1 3HAC 12627-1 Bushing110.404 1 9ABA 135-31 Retaining ring, shaft 65

110.405 1 3HAC 12480-1 Shaft

110.406 1 3HAC 4836-7 Protection plug 16 x 12.3 x 9 x 7

110.407 4 3HAB 7700-5 Hex socket head cap screw M16 x 70

110.408 2 9ABA 107-56 Parallel pin 10 x 20

110.409 1 3HAC 12548-1 Protection washer T=1

110.410 1 3HAC 12534-1 Shaft, balancing device110.411 4 3HAA 1001-186 Washer 17 x 25 x 3

110.412 50 ml 3HAA 1001-294 Grease

110.413 2 3HAC 4836-1 Protection plug 20 x 14.6 x 7.5 x 5.5

110.414 1 9ADA 183-490 Hex socket head cap screw M16 x 180

110.415 1 9ADA 312-10 Plain washer 17 x 30 x 3


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2.3.13. Arm extension set, 250 mm, 3HAC 12311-4


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3 Exploded views

3.1. Introduction


57/82

3 Exploded views3.1. Introduction

DefinitionsThis chapter contains detailed views of the components on the manipulator.

The numbered details are specified with item numbers in the Part List.

The exploded views are divided into: Base, incl. frame

Frame-Lower arm 1

Frame-Lower arm 2

Upper arm

Wrist complete

3 Exploded views

3.2. Base incl. Frame


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3.2. Base incl. Frame

3 Exploded views

3.3. Frame-Lower arm 1


59/82


Exploded view

3 Exploded views



60/82


3 Exploded views

3.5. Upper arm


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3.5. Upper arm

3 Exploded views

3.6. Wrist complete


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3.6. Wrist complete

4 Circuit Diagram

4.1. Introduction


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4 Circuit Diagram4.1. Introduction

OverviewThis chapter includes the circuit diagram of the robot.


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Circuit Diagram 3HAC 13347-1 / Rev. 02CONTENTS

S h e e t


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Contents ........................................................................................................................101 Connection Point Location ...........................................................................................102 Legend ..........................................................................................................................103 Brake Release Unit .......................................................................................................104 Serial Measurement Board ...........................................................................................105 Axis 1............................................................................................................................106 Axis 2............................................................................................................................107 Axis 3............................................................................................................................108

Axis 4............................................................................................................................109 Axis 5 (IRB 7600) ........................................................................................................110 Axis 6............................................................................................................................111 Switches axis 1 .............................................................................................................113 Switches/Fan axis 2 ......................................................................................................114 Switches/Fan axis 3 ......................................................................................................115 Axis 5 (IRB 6600) ........................................................................................................901 Design changes, note 1.1 ..............................................................................................905 Design changes, note 2.1-2.7........................................................................................906


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R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Contents 101


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R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Connection Point Location 102


68/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Legend 103


69/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Brake Release Unit 104


70/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4

7 -1 Serial Measurement Board 105


71/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4

7 -1 Axis 1 106


72/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4

7 -1 Axis 2 107


73/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4

7 -1 Axis 3 108


74/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Axis 4 109


75/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1

Axis 5 (IRB 7600)110


76/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Axis 6

111


77/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Switches axis 1

113


78/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Switches/Fan axis 2

114


79/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Switches/Fan axis 3

115


80/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1

Axis 5 (IRB 6600)901


81/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Design changes, note 1.1

905


82/82

R e v i s i o n

02

s h e e t

Ci r c ui t Di a

gr am 3 HA

C1

3 3 4 7 -1 Design changes, note 2.1-2.7

906

Documents

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