IRC5-IRB1600 Prod Man 3HAC023637-001 - References - Rev - en PDF

Product manual (part 2 of 2), reference information
Articulated robot
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004

Product manual (part 2 of 2), reference information
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004
Document ID: 3HAC 023637-001

Revision: -
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 2005 ABB All right reserved.

ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Reference information 9
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Applicable safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.6 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.7 Special tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.8 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Spare parts and exploded views 21

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2 Spare parts - base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3 Spare parts - base connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4 Spare parts - frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5 Spare parts - lower arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.6 Spare parts - upper arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.7 Spare parts - options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3 Circuit diagram 35
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3HAC 023637-001 Revision: - 3

Overview
Overview
About This Manual

This manual contains reference information for all procedures in part 1: Product manual,
procedures.
Usage
This manual should be used during
• installation
• maintenance work
• repair work.
Who should read this manual?

This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
The reader should...
• be a trained maintenance/repair craftsman
• have the required knowledge of mechanical and electrical installation/repair/
maintenance work.
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
Reference Useful information when performing installation, maintenance or repair
information work. Includes lists of necessary tools, additional documents, safety
standards, etc.
Spare part / Part Complete spare part list and complete list of robot components, shown in
list the exploded views.
Exploded views Detailed illustrations of the robot with reference numbers to the part list.
Circuit diagram Circuit diagram for the robot.
References
See section Document references.
Revisions
Revision Description
- First edition
4 3HAC 023637-001 Revision: -

Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID reference manual part 1: Description of all RAPID instructions.
• RAPID reference manual part 2: Description of all RAPID functions and data types.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
3HAC 023637-001 Revision: - 5

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
6 3HAC 023637-001 Revision: -

1 Reference information
1.1. Introduction
1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the Product manual (part 1 of 2), procedures.
3HAC 023637-001 Revision: - 7

1.2. Applicable safety standards
1.2. Applicable safety standards
Health and safety standards, robot

The robot, controlled by the IRC5, conforms to the following standards:
Standard Description
EN ISO 12100-1 Safety of machinery, terminology
EN ISO 12100-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control systems
EN 775 Manipulating industrial robots, safety
EN 60204 Electrical equipment of industrial machines
EN 61000-6-4 (option) EMC, Generic emission
EN 61000-6-2 EMC, Generic immunity
IEC 204-1 Electrical equipment of industrial machines
IEC 529 Degrees of protection provided by enclosures
ISO 10218 Manipulating industrial robots, safety
ISO 9787 Manipulating industrial robots, coordinate systems and motions
ANSI/RIA 15.06/1999 Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998 Safety Standard for Robots and Robotic Equipment (Max.
(option) payload 6 kg fulfilment).
CAN/CSA Z 434-03 Industrial Robots and Robot Systems - General Safety
(option) Requirements (Max. payload 6 kg fulfilment).
8 3HAC 023637-001 Revision: -

1.3. Unit conversion
1.3. Unit conversion
Converter table
Use the table below to convert units used in this manual.
Quantity Units
Length 1m 3.28 ft 39.37 in
Weight 1 kg 2.21 lb
Pressure 1 bar 100 kPa 14.5 psi
Force 1N 0.738 lbf
Moment 1 Nm 0.738 lbf-tn
Volume 1L 0.264 US gal
3HAC 023637-001 Revision: - 9

1.4. Screw joints
1.4. Screw joints
General
This section details how to tighten the various types of screw joints on the robot and the
controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It
features special surface treatment (Gleitmo as described below), and is extremely resistant to
fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other type of
replacement screw is allowed! Using other types of screws will void any warranty and may
potentially cause serious damage or injury!
Gleitmo treated screws

Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.
Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After this
the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should
be used.
Screws lubricated in other ways

Screws lubricated with Molycote 1000 should only be used when specified in the repair,
maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1. Apply lubricant to the screw thread.
2. Apply lubricant between the plain washer and screw head.
3. Tighten to the torque specified in section Tightening torque below. Screw dimensions
of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or
smaller may be tightened without a torque wrench if this is done by trained and
qualified personnel.
Lubricant Art. no.

Molycote 1000 (molybdenum disulphide grease) 1171 2016-618
10 3HAC 023637-001 Revision: -

1.4. Screw joints
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• 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.
Tightening torque (Nm)

Dimension
Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0
The table below specifies the recommended standard tightening torque for oil-lubricated
screws with Allen head screws.
Tightening torque Tightening torque Tightening torque

(Nm) (Nm) (Nm)
Dimension
Class 8.8, oil- Class 10.9, oil- Class 12.9, oil-
lubricated lubricated lubricated
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 Molycote-
lubricated screws with Allen head screws.
Tightening torque (Nm) Tightening torque (Nm)

Dimension
Class 10.9, Molycote-lubricated Class 12.9, Molycote-lubricated
M8 28 34
3HAC 023637-001 Revision: - 11

1.4. Screw joints
Tightening torque (Nm) Tightening torque (Nm)

Dimension
Class 10.9, Molycote-lubricated Class 12.9, 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.
Tightening torque Tightening torque Tightening torque

Dimension
Nm - Nominal Nm - Min. Nm - Max.
1/8 12 8 15
1/4 15 10 20
3/8 20 15 25
1/2 40 30 50
3/4 70 55 90
12 3HAC 023637-001 Revision: -

1.5. Weight specifications
1.5. Weight specifications
Definition
In all repair and maintenance procedures, weights of the components handled are sometimes
specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.
To avoid injury, ABB recommends the use of lifting equipment when handling components
with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each
manipulator model.
Example
Below is an example of how a weight specification is presented:
CAUTION!
Caution!
The motor weighs 32 kg! All lifting equipment used must be sized accordingly!
3HAC 023637-001 Revision: - 13

1.6. Standard toolkit
1.6. Standard toolkit
General
All service (repair, maintenance and installation) instructions contain lists of tools required to
perform the specified activity. All special tools, i.e. all tools that are not considered standard
as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.
Standard toolkit, contents
Qty Art. no. Tool

1 - Ring-open-end spanner 8-19mm
1 - Socket head cap 2,5-17mm
1 - Torx socket no:20-60
1 - Torque wrench 10-100Nm
1 - Small screwdriver
1 - Plastic mallet
1 - Ratchet head for torque wrench 1/2
1 - Socket head cap no:5, socket 1/2"" bit L 20mm
1 - Small cutting plier
14 3HAC 023637-001 Revision: -

1.7. Special tools
1.7. Special tools
General
All service instructions contain lists of tools required to perform the specified activity. The
required tools are a sum of standard tools, defined in section Standard toolkit on page 14, and
of special tools, listed directly in the instructions and also gathered in this section.
Special tools
The table below specifies all the tools, not considered standard, used when performing
service activities on the robot.
Description Art. no. Note

Rotation tool, motor 3HAC 022266-003 Used to adjust the gear play on all
motors.
Dynamometer Salter - - Supplier: Ahlsell
Super Samson 100N
Hook 3HAC 024045-001 Used to tighten the timing belt of axis 6,
together with the dynamometer.
Belt tightener 3HAC 024044-001 Used to tighten the timing belt of axis 5,
together with the dynamometer.
Lifting tool, gearbox 3HAC 023364-001
Lifting tool, upper arm 3HAC 023386-001
3HAC 023637-001 Revision: - 15

1.8. Document references
1.8. Document references
General
The contents of this manual may include references to additional documentation necessary to
perform certain procedures. This section specifies the article numbers for the referenced
documentation.
Product specification, robot

The product specification includes generic technical data. The specification listed below is
the English version.
Document name Document ID

Product specification 3HAC 023604-001 (M2004)
Product manuals, controller

The product manuals include information about installation and service activities. The table
below specifies the article numbers of the product manuals for all controller models. The part
number -001 is the English version.
Document name Document ID

Product manual, IRC5 M2004 3HAC 021313-001
Operators manual
The operators manual contains instructions for daily operation of robot systems. The table
below specifies the article numbers of the operators manuals for different robot systems.
Document name Document ID Note

Operator’s manual (IRC5) 3HAC 16590-1
Calibration manuals

Calibration Pendulum 3HAC 16578-1 Enclosed with the Calibration Pendulum
Instruction Toolkit.
Instructions for Levelmeter 3HAC 022907- Enclosed with the Levelmeter 2000.
calibration (alternative method) 001
CalibWare 2.0 Users Guide 3HAC 16090-1 Manual for Absolute Accuracy calibration.
Additional documentation

Additional axes 3HAC 021395-001 IRC5 based robot systems.
16 3HAC 023637-001 Revision: -

1.9. Lifting equipment and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting equipment, which
are specified in each procedure.
The use of each piece of lifting equipment is not detailed in the activity procedure, but in the
instruction delivered with each piece of lifting equipment.
This implies that the instructions delivered with the lifting equipment should be stored for
later reference.
3HAC 023637-001 Revision: - 17

18 3HAC 023637-001 Revision: -

2 Spare parts and exploded views
2.1. Introduction

2.1. Introduction
Overview
This section specifies all articles considered spare parts of the robot. The spare parts are also
specified as required equipment directly in the repair instruction of the current spare part. The
list of required equipment in each instruction also specifies necessary replacement articles
and all required service tools.
3HAC 023637-001 Revision: - 19

2.2. Spare parts - base
Base, spare part list

The spare parts for the base are listed below and shown in the following figure.
Item no. Description Spare part no. Dimension

1 Base, spare 3HAC 023552-001
2 Stop pin 3HAB 3258-1
3 Cover base, spare 3HAC 023554-001
4 Gasket, base cover 3HAC 022047-001
6 VK-cover 3HAA 2166-26 D=180, B=12
7 Serial measurement unit 3HAC 023424-001
8 Push button unit 3HAC 020967-001
9 Battery pack 3HAC 16831-1 Lithium
34x102x63
11 Push button guard 3HAC 6499-1
12 Signal cable SMB 3HAC 4050-1
13 Torx pan head screw 9ADA 618-56 Steel 8.8-A2F
M6 x 16
100 Cable harness IRB 1600/1.45 3HAC 021827-001
101 Cable harness IRB 1600/1.2 3HAC 021827-008
102 Cable harness IRB 1600/1.45, Customer 3HAC 021828-001
connections
103 Cable harness IRB 1600/1.2, Customer 3HAC 021828-002
connections
106 Cable harness IRB 1600/1.45, Wire 3HAC 021830-001
feeder
107 Cable harness IRB 1600/1.2, Wire feeder 3HAC 021830-002
20 3HAC 023637-001 Revision: -

Base, exploded view
xx0500001382
3HAC 023637-001 Revision: - 21

2.3. Spare parts - base connections
Base connections, spare part list

The spare parts for connections at the base are listed below and shown in the following figure.

80 Gasket 3HAB 9040-1 115x46 T=3
81 Housing 40P 3HAB 6411-1
82 Surface mounted housing HIP. 16/40 AG 3HAC 022964-001
84 Cover, cable harness wire feeder 3HAC 022918-002
85 Cover 3HAC 6823-1
86 Key pin 5217687-9
87 Plug 3HAC 11719-1
88 Protective hood 25222101-8 D=11,4-13
89 Dust cap 5217649-9
90 Environmental dust cap 3HAA 1001-727
92 Dust cap 3HAA 1001-630
93 Protection cover 40-p 3HAC 7816-1
22 3HAC 023637-001 Revision: -

Base connections, illustrations
xx0500001383
3HAC 023637-001 Revision: - 23

2.4. Spare parts - frame
Frame, spare part list

The spare parts are listed below and shown in the following figure.

M6 x 16
20 Gearbox axis 1-2, spare 3HAC 023555-001
21 Stop arm 3HAC 022001-001
22 Cover, gearbox axis 1-2 3HAC 023556-001
23 Gasket, gearbox axis 1-2 3HAC 022048-001
24 Damper, axis 2 3HAC 022013-001
25 V-ring (sealing ring) 3HAB 3732-21 V-150A
135x12.8
26 Sealing ring (V-ring) 3HAB 3732-13 V-110-L
99x10.5
27 Rot. ac motor incl. pinion, spare 3HAC 023557-001
28 O-ring 21522012-428 Nitrile rubber
79.5x3
100-107 Cabling See section .
24 3HAC 023637-001 Revision: -

Frame, exploded view
xx0500001384
3HAC 023637-001 Revision: - 25

2.5. Spare parts - lower arm
Lower arm, spare part list

The spare parts are listed below and shown in the following figure.

40 Lower arm, spare 3HAC 023558-001
41 Lower arm, short, spare 3HAC 023559-001
42 VK-cover 3HAA 2166-23 D=120, B=12
43 VK-cover 3HAA 2166-21 D=68, B=8
26 3HAC 023637-001 Revision: -

Lower arm, exploded view
xx0500001385
3HAC 023637-001 Revision: - 27

2.6. Spare parts - upper arm
Spare part list, upper arm

The spare parts listed below are shown in the exploded views, located on the next two pages.

M6 x 16
60 Upper arm, spare 3HAC 023630-001
61 Rot. ac motor incl pinion 3HAC 021799-001
62 O-ring 3HAB 3772-81 Nitrile rubber
D1=41, D2=3
64 Timing belt 3HAC 6779-1
65 Timing belt 3HAC 021304-001
66 O-ring sealingplate 3HAC 7191-1
67 Wrist, Standard/Foundry 3HAC 10475-1
69 O-ring 21522012-426 Nitrile rubber
74.5x3
70 Damper, axis 3 3HAC 022260-001
71 Sealing ring (V-ring) 3HAB 3732-19 Flourinated rubber/
V-95A
85x11
72 Damper, axis 5 3HAB 8964-1
73 Arm housing cover, spare 3HAC 023560-001
74 Gasket, upper arm cover 3HAC 022049-001
75 Gasket, customer connections 3HAC 022050-001
73 Contact panel 3HAC 022173-001
77 Connector panel 3HAC 022173-002
79 Contact pane, Wire feeder 3HAC 022173-006
88 Protective hood 25222101-8 D=11,4-13
89 Dust cap 5217649-9
90 Environmental dust cap 3HAA 1001-727
91 Dust cap 5217649-82
94 Plug with o-ring M10 3HAC 022881-003
95 Coupling 3HAB 3333-20
96 Lamp unit 3HAC 022235-001
28 3HAC 023637-001 Revision: -

Upper arm, exploded view 1
xx0500001386
3HAC 023637-001 Revision: - 29

Upper arm, exploded view 2
xx0500001387
30 3HAC 023637-001 Revision: -

2.7. Spare parts - options
General
This section specifies spare parts that are considered options. The items are not shown in any
figure.
Spare parts - options
Option no. Description Spare part no. Note

213-1 Lamp unit 3HAC 022235-001
25-3 Position switch, axis 1 3HAC 023973-001 Includes 3 switches.
28-1 Working range limit axis 1 3HAC 023110-001
3HAC 023637-001 Revision: - 31

32 3HAC 023637-001 Revision: -

3 Circuit diagram
3.1. Introduction
3 Circuit diagram
3.1. Introduction
Overview
This chapter includes the circuit diagram for the robot.
3HAC 023637-001 Revision: - 33

Circuit diagram 3HAC 021351-003/Rev. 00
Contents Sheet
List of contents ............................................................................................................. 101

Connection point location............................................................................................. 102
Brake release unit, serial measuring board................................................................... 103
Motor, axes 1-2............................................................................................................. 104
Feedback, axes 1-2 ....................................................................................................... 105
Motor, axes 3-4............................................................................................................. 106
Feedback, axes 3-4 ....................................................................................................... 107
Motor, axes 5-6............................................................................................................. 108
Feedback, axes 5-6 ....................................................................................................... 109
Cable harness, customer connection, options............................................................... 110
Cable harness, customer connection, Wire Feeder, options ......................................... 112
Position indicator, axis 1, options................................................................................. 113
Circuit diagram IRB 1600

Circuit diagram 3HAC 021351-003/Rev. 00
Contents Sheet
2 Circuit diagram IRB 1600

sheet Revision
List of contents 101 00
Circuit diagram 3HAC 021351-003
sheet Revision
Connection point location 102 00
sheet Revision
Brake release unit, serial measuring board 103 00
sheet Revision
Motor, axes 1-2 104 00
sheet Revision
Feedback, axes 1-2 105 00
sheet Revision
sheet Revision
sheet Revision
sheet Revision
sheet Revision
Cable harness, customer connection, options 110 00
sheet Revision
Cable harness, customer connection, Wire Feeder, options 112 00
sheet Revision
Position indicator, axis 1, options 113 00
Index
C
calibration manual, article number 16
D
documentation
article numbers, other manuals 16
calibration 16
controller 16
robot system 16
I
illustrations
base connections 23
base, exploded 21
frame, exploded 25
lower arm, exploded 27
upper arm, exploded 29, 30
O
operators manual, article number 16
P
product manual, controller, article number 16
product specification, article number 16
S
spare parts
base 20, 21
base connections 22, 23
frame 24, 25
lower arm 26, 27
optional equipment 31
upper arm 28, 29, 30
T
tools, article numbers 15
3HAC 023637-001 Revision: - 35

IRC5-IRB1600 Prod Man 3HAC023637-001 - References - Rev - en PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

IRC5-IRB1600 Prod Man 3HAC023637-001 - References - Rev - en PDF

Uploaded by

Copyright:

Available Formats

Product manual (part 2 of 2), reference information

Document ID: 3HAC 023637-001

© Copyright 2005 ABB All right reserved.

2 Spare parts and exploded views 21

3HAC 023637-001 Revision: - 3

About This Manual

Who should read this manual?

4 3HAC 023637-001 Revision: -

Product documentation, M2004

3HAC 023637-001 Revision: - 5

6 3HAC 023637-001 Revision: -

3HAC 023637-001 Revision: - 7

1.2. Applicable safety standards

Health and safety standards, robot

8 3HAC 023637-001 Revision: -

1.3. Unit conversion

3HAC 023637-001 Revision: - 9

1.4. Screw joints

Gleitmo treated screws

Screws lubricated in other ways

Lubricant Art. no.

10 3HAC 023637-001 Revision: -

Tightening torque (Nm)

Tightening torque Tightening torque Tightening torque

Tightening torque (Nm) Tightening torque (Nm)

3HAC 023637-001 Revision: - 11

Tightening torque (Nm) Tightening torque (Nm)

Tightening torque Tightening torque Tightening torque

12 3HAC 023637-001 Revision: -

1.5. Weight specifications

3HAC 023637-001 Revision: - 13

1.6. Standard toolkit

Standard toolkit, contents

Qty Art. no. Tool

14 3HAC 023637-001 Revision: -

1.7. Special tools

Description Art. no. Note

3HAC 023637-001 Revision: - 15

1.8. Document references

Product specification, robot

Document name Document ID

Product manuals, controller

Document name Document ID

Document name Document ID Note

Document name Document ID Note

Document name Document ID Note

16 3HAC 023637-001 Revision: -

1.9. Lifting equipment and lifting instructions

3HAC 023637-001 Revision: - 17

18 3HAC 023637-001 Revision: -

2 Spare parts and exploded views

3HAC 023637-001 Revision: - 19

2.2. Spare parts - base

Base, spare part list

Item no. Description Spare part no. Dimension

20 3HAC 023637-001 Revision: -

Base, exploded view

3HAC 023637-001 Revision: - 21

2.3. Spare parts - base connections

Base connections, spare part list

Item no. Description Spare part no. Dimension

22 3HAC 023637-001 Revision: -

Base connections, illustrations