ABB Robotics. Product manual, spare parts IRB 6640

Transcription

1 ABB Robotics Product manual, spare parts IRB 6640

2 Trace back information: Workspace RW version a2 Checked in Skribenta version 1184

3 Product manual, spare parts IRB 6640 IRB 6640 IRB 6640 IRB 6640 IRB 6640 IRB 6640ID IRB 6640ID M2004 Document ID: 3HAC Revision: C Copyright ABB. All rights reserved.

4 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. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English. Copyright ABB. All rights reserved. ABB AB Robotics Products SE Västerås Sweden

5 Table of contents Table of contents Overview of this manual... Product documentation, M Rebuilding robot 1.1 Rebuilding parts... 2 Spare parts and exploded views 2.1 Spare parts balancing device Spare parts lower arm Spare parts motors Spare parts wrist unit Spare parts axis 6 complete Spare parts turning disk Spare parts gearboxes... Spare parts armhouse Spare parts axis Spare parts upper arm Spare parts upper arm extenders Spare parts SMB Spare parts manipulator harness Spare parts other parts HAC Revision: C 5 Copyright ABB. All rights reserved.

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7 Overview of this manual Overview of this manual About this manual This manual contains spare parts for: IRB 6640 and all its variants. Usage This manual shall be used as a complement to the product manual for IRB 6640 during: maintenance work repair work. Who should read this manual? This manual is intended for: maintenance personnel repair personnel. Prerequisites A maintenance/repair/installation craftsman working with an ABB Robot must: be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. References Reference Product manual IRB 6640 Product manual IRB 6640 Circuit diagram IRB 6640 Document Id 3HAC HAC HAC Revisions Revision A First edition This revision includes following additions and/or changes: Section Rebuilding parts on page 11 added. Section Manipulator harness other parts on page 46 position 532 changed. Continues on next page 3HAC Revision: C 7 Copyright ABB. All rights reserved.

8 Overview of this manual Continued Revision B C This revision includes following corrected, added or deleted spare part numbers: axis5 motor, complete axis 6, see Rebuilding parts on page 11. axis3 motor and axis5 motors, see Spare parts motors on page 21. balancing device, design 2 and VK covers, see Balancing device design 2 on page 17. cover, sealing and gasket for armhouse, see Spare parts armhouse on page 38. axis 34, see Spare parts axis 34 on page 40. support shaft including bearing, see Spare parts wrist unit on page 26. cradle for the balancing device, see Spare parts balancing device on page 15. turning disk, see Spare parts turning disk on page 31. attachment screw, see Spare parts gearboxes on page 33. arm extenders, see Spare parts upper arm extenders on page 42. covers, see Spare parts SMB on page 44. gaskets for and, see Spare parts upper arm extenders on page 42, Spare parts wrist unit on page 26 and Spare parts upper arm on page 41. motor gasket for, see Spare parts motors on page 21. This revision includes following corrected, added or deleted spare part numbers: Deleted 3HAC and 3HAC in section Spare parts manipulator harness on page 46. A new SMB unit and battery is introduced, with longer battery lifetime. 8 3HAC Revision: C Copyright ABB. All rights reserved.

9 Product documentation, M2004 Product documentation, M2004 Categories for manipulator documentation The manipulator documentation is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for M2004 manipulator systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware will be delivered with a Product manual that generally contains: Safety information. Installation and commissioning (descriptions of mechanical installation or electrical connections). Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts). Repair (descriptions of all recommended repair procedures including spare parts). Calibration. Decommissioning. Reference information (safety standards, unit conversions, screw joints, lists of tools ). Spare parts list with exploded views (or references to separate spare parts lists). Circuit diagrams (or references to circuit diagrams). Technical reference manuals The technical reference manuals describe reference information for robotics products. Technical reference manual Lubrication in gearboxes: of types and volumes of lubrication for the manipulator gearboxes. Technical reference manual RAPID overview: An overview of the RAPID programming language. Technical reference manual RAPID Instructions, Functions and Data types: and syntax for all RAPID instructions, functions, and data types. Technical reference manual RAPID kernel: A formal description of the RAPID programming language. Technical reference manual System parameters: of system parameters and configuration workflows. Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications. Continues on next page 3HAC Revision: C 9 Copyright ABB. All rights reserved.

10 Product documentation, M2004 Continued An application manual generally contains information about: The purpose of the application (what it does and when it is useful). What is included (for example cables, I/O boards, RAPID instructions, system parameters, DVD with PC software). How to install included or required hardware. How to use the application. Examples of how to use the application. Operating manuals The operating manuals describe handson handling of the products. The manuals are aimed at those having firsthand operational contact with the product, that is production cell operators, programmers, and trouble shooters. The group of manuals includes (among others): Operating manual Emergency safety information Operating manual General safety information Operating manual Getting started, IRC5 and RobotStudio Operating manual Introduction to RAPID Operating manual IRC5 with FlexPendant Operating manual RobotStudio Operating manual Trouble shooting IRC5, for the controller and manipulator. 10 3HAC Revision: C Copyright ABB. All rights reserved.

11 1 Rebuilding robot 1.1 Rebuilding parts 1 Rebuilding robot 1.1 Rebuilding parts Introduction The robot has some rebuilding parts, depending on robot version. This section is an overview of which part is used on which version. The tables are divided according to the protection of the robot. More detailed information about the components needed for actual rebuild from a certain robot version into an other is found on ABB Library or is attained from ABB. Also, further details of the parts listed are specified in Spare parts and exploded views on page 15. Rebuilding parts and 3HAC Balancing device design 1 3HAC Balancing device design 2 3HAC Lower arm, design 2 3HAC Lower arm long, design 2 3HAC Motor, axis 1, incl. pinion 3HAC Motor, axis 2, incl. pinion 3HAC Motor, axis 3, incl. pinion 3HAC Motor, axis 4, incl. pinion 3HAC Motor, axis 4, incl. pinion 3HAC Motor, axis 5, excl. pinion 3HAC Motor, axis 5, excl. pinion 3HAC Motor, axis 5, incl. pinion 3HAC Motor, axis 6, incl. pinion 3HAC Motor, axis 6, incl. pinion 3HAC Motor, axis 6, incl. pinion 3HAC Wrist, type 1 3HAC Wrist, type 1 Insulated 3HAC Wrist, type 2 3HAC Wrist, type 2 Insulated 3HAC Wrist Process 3HAC Axis 6 complete (wrist type 1) 3HAC Axis 6 complete (wrist type 1 insulated) 3HAC Axis 6 complete (wrist type 2) 3HAC Axis 6 complete (wrist type 2 insulated) Continues on next page 3HAC Revision: C 11 Copyright ABB. All rights reserved.

12 1 Rebuilding robot 1.1 Rebuilding parts Continued 3HAC Gearbox, axis 1 3HAC Gearbox, axis 2 3HAC Gearbox, axis 3 3HAC Gearbox, axis 6 (wrist type 1) 3HAC Gearbox, axis 6 (wrist type 2) 3HAC Arm extension set, 250 mm 3HAC Arm extension set, 450 mm 3HAC Serial measurement unit 3HAC Manipulator harness, axes 16 3HAC Manipulator harness, axes 16 3HAC Manipulator harness, axes 14 3HAC Manipulator harness, axes 14 3HAC Manipulator harness, axis 5 3HAC Manipulator harness, axes 56 Rebuilding parts 3HAC Arm extension set, 250 mm Rebuilding parts 3HAC Balancing device design 1 3HAC Balancing device design 2 3HAC Lower arm, design 2 3HAC Lower arm long, design 2 3HAC Motor, axis 1, incl. pinion 3HAC Motor, axis 2, incl. pinion 3HAC Motor, axis 3, incl. pinion 3HAC Motor, axis 4, incl. pinion 3HAC Motor, axis 4, incl. pinion 3HAC Motor, axis 5, excl. pinion 3HAC Motor, axis 5, excl. pinion 3HAC Motor, axis 6, incl. pinion 3HAC Motor, axis 6, incl. pinion 3HAC Wrist, type 1 3HAC Wrist, type 2 Continues on next page 12 3HAC Revision: C Copyright ABB. All rights reserved.

13 1 Rebuilding robot 1.1 Rebuilding parts Continued 3HAC Axis 6 complete (wrist type 1) 3HAC Axis 6 complete (wrist type 2) 3HAC Gearbox, axis 1 3HAC Gearbox, axis 2 3HAC Gearbox, axis 3 3HAC Gearbox, axis 6 (wrist type 1) 3HAC Gearbox, axis 6 (wrist type 2) 3HAC Serial measurement unit 3HAC Manipulator harness, axes 16 / axis 13 cable 3HAC Revision: C 13 Copyright ABB. All rights reserved.

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15 2.1 Spare parts balancing device 2 Spare parts and exploded views 2.1 Spare parts balancing device Balancing device design 1 G 3HAC HAC G 3HAC HAC G 3HAC HAC Maintenance sets, balancing device design 1 G.1 3HAC Maintenance set, Cradle G.2 3HAC Maintenance set, Shaft G.3 3HAC Gasket, End cover G.4 i 3HAC Cradle 3HAC Cradle 3HAC Cradle G.5 3HAC VK cover i The cradle is the same for both design 1 and design 2 of the balancing device. Location of the cradle is shown in figure Illustration design 2 on page 18. Continues on next page 3HAC Revision: C 15 Copyright ABB. All rights reserved.

16 2.1 Spare parts balancing device Continued Illustration design 1 G.5 G.2 G.1 G G.3 xx Continues on next page 16 3HAC Revision: C Copyright ABB. All rights reserved.

17 2.1 Spare parts balancing device Continued Balancing device design 2 G 3HAC HAC G 3HAC HAC G 3HAC HAC Maintenance sets, balancing device design 2 G.1 3HAC Maintenance set, Cradle G.2 3HAC Maintenance set, Shaft G.3 3HAC Gasket, End cover G.4 3HAC Cradle 3HAC Cradle 3HAC Cradle G.5 3HAA VK cover Continues on next page 3HAC Revision: C 17 Copyright ABB. All rights reserved.

18 2 Spare parts and exploded views 2.1 Spare parts balancing device Continued Illustration design 2 2x G G.2 G.1 G.5 G.3 G.4 xx HAC Revision: C Copyright ABB. All rights reserved.

19 2.2 Spare parts lower arm 2.2 Spare parts lower arm Spare part list design 1 J.1 3HAC HAC J.1 3HAC HAC J.1 3HAC HAC J.1 3HAC HAC (long lower arm) J.1 3HAC HAC (long lower arm) Spare part list design 2 J.2 3HAC HAC J.2 3HAC HAC J.2 3HAC HAC J.2 3HAC HAC (long lower arm) J.2 3HAC HAC (long lower arm) Lower arm other parts J.3 3HAC Damper, axis 2 Continues on next page 3HAC Revision: C 19 Copyright ABB. All rights reserved.

20 2.2 Spare parts lower arm Continued J.4 3HAC Cable protector Illustration spare part lower arm design 1 (J1) and design 2 (J2) xx HAC Revision: C Copyright ABB. All rights reserved.

21 2.3 Spare parts motors 2.3 Spare parts motors Motors axis 1 (including pinion) A 3HAC HAC Type A2 A 3HAC HAC Type A2NB A 3HAC HAC Type A2 Motors axis 2 (including pinion) B 3HAC HAC Type M13 B 3HAC HAC Type M13NB B 3HAC HAC Type M13 B Part no. 3HAC Pinion RV550E Motors axis 3 (including pinion) C 3HAC HAC Type M9 C 3HAC HAC Type M9NB Continues on next page 3HAC Revision: C 21 Copyright ABB. All rights reserved.

22 2.3 Spare parts motors Continued C 3HAC HAC Type M9 C Part no. 3HAC Pinion RV410F Motors axis 4 (including pinion) D 3HAC HAC Type M7 D 3HAC HAC Type M7 D 3HAC HAC Type M10 D 3HAC HAC Type M10NB D 3HAC HAC Type M10 Motors axis 5 IRB6640 (excluding pinion) E 3HAC HAC Type M7 E 3HAC HAC Type M7 Continues on next page 22 3HAC Revision: C Copyright ABB. All rights reserved.

23 2.3 Spare parts motors Continued E 3HAC HAC Type M10 E 3HAC HAC Type M10NB Motors axis 5 IRB 6640ID (including pinion) E 3HAC HAC Type PM2 Motors axis 6 (including pinion) F 3HAC HAC Type M8 F 3HAC HAC Type M8 F 3HAC HAC Type M8 F 3HAC HAC Type M8NB F 3HAC HAC Type M8 F 3HAC HAC Type PM1 Continues on next page 3HAC Revision: C 23 Copyright ABB. All rights reserved.

24 2.3 Spare parts motors Continued F 3HAC Pinion RV40E F 3HAC Pinion RV70F Motors other parts 3HAC Protection plugs 3HAC Elbow fittings Oring (89.5x3) 3HAB Oring (67.5x3.0) 3HAC34381 Motorplate Motor, axes 15 3HAC Gasket Motor axis 6 3HAC Gasket, cover Motor axis 6 3HAC Set of shims Motor axis 5 3HAC Gasket for axis6 motor cover Continues on next page 24 3HAC Revision: C Copyright ABB. All rights reserved.

25 2.3 Spare parts motors Continued Illustration xx HAC Revision: C 25 Copyright ABB. All rights reserved.

26 2.4 Spare parts wrist unit 2.4 Spare parts wrist unit Spare parts wrist, type 1 H 3HAC HAC81141 or 3HAC81146 H 3HAC HAC81147 Insulated H 3HAC HAC Spare parts wrist, type 2 H 3HAC HAC81143 or 3HAC81145 H 3HAC HAC81148 Insulated H 3HAC HAC H 3HAC HAC Spare part wrist, process 3HAC HAC Spare part other parts H.4 3HAC HAC80818 Gear cover (Gasket included) Continues on next page 26 3HAC Revision: C Copyright ABB. All rights reserved.

27 2.4 Spare parts wrist unit Continued H.4 3HAC HAC80818 Gear cover (Gasket included) H.4 3HAC HAC Gear cover (Gasket included) H.4 3HAC HAC Gear cover (Gasket included) H.5 3HAC HAC Cable cover H.5 3HAC HAC Cable cover Cleanroom H.5 3HAC HAC Cable cover H.6 3HAC HAC Support shaft including bearing H.6 3HAC HAC Support shaft including bearing H.7 3HAB43372 Damper axis 5 H.8 3HAC Sync. plate (Wrist, type 1) H.8 3HAC Sync. plate (Wrist, type 2) H.9 3HAC Magnetic plug G1/2" Continues on next page 3HAC Revision: C 27 Copyright ABB. All rights reserved.

28 2.4 Spare parts wrist unit Continued H.10 3HAC Magnetic plug G1/4" H.10 3HAC Sealing for magnetic plug G1/4" H.11 3HAC Protection cover (Cal. axis 6) Gasket for wrist house cover 3HAC Continues on next page 28 3HAC Revision: C Copyright ABB. All rights reserved.

29 2 Spare parts and exploded views 2.4 Spare parts wrist unit Continued Illustration wrist H.2 H.3 D H.11 H.10 H.1 H.8 D DD H.4 H.7 H.9 H H.6 H.5 xx HAC Revision: C 29 Copyright ABB. All rights reserved.

30 2.5 Spare parts axis 6 complete 2.5 Spare parts axis 6 complete Axis 6 complete, wrist type 1 H.1 3HAC HAC or 3HAC H.1 3HAC HAC Insulated H.1 3HAC HAC Axis 6 complete, wrist type 2 H.1 3HAC HAC H.1 3HAC HAC Insulated H.1 3HAC HAC H.1 3HAC HAC HAC Revision: C Copyright ABB. All rights reserved.

31 2.6 Spare parts turning disk 2.6 Spare parts turning disk Turning disk, type 1 H.2 3HAC HAC HAC HAC HAC Process wrist 3HAC M14x25, 12.9 (6 pcs) Oring 15.5x1.5 (6 pcs) 3HAB HAB Oring 131x2 Turning disk, type 2 H.3 3HAC HAC HAC HAC HAC Process wrist 3HAC HAB M12x30, 12.9 (12 pcs) 3HAB HAB Oring 13.1x1.6 (12 pcs) 3HAB Continues on next page 3HAC Revision: C 31 Copyright ABB. All rights reserved.

32 2.6 Spare parts turning disk Continued 3HAB Oring 150x2 3HAB HAC Revision: C Copyright ABB. All rights reserved.

33 2.7 Spare parts gearboxes 2.7 Spare parts gearboxes Gearboxes axis 1 K.1 3HAC HAC RV320C K.1 3HAC HAC RV320C K.1 3HAC HAC RV320C Gearbox axis 1 other parts Note 3HAC Cable guide 3HAC Sealing, RV320C pipe 3HAC Protection pipe 3HAB Oring (23x3.6) 3 pcs 3HAB Oring (380.6x3.53) Included in RV320C 3HAB M16x60, Gleitmo pcs 3HAA Washer, (17x25x3) 12 pcs 3HAB M12x80, Gleitmo pcs 3HAC Serrated washer, (12.6x18x1.8) 16 pcs Gearboxes axis 2 K.2 3HAC HAC RV550E K.2 3HAC HAC RV550E K.2 3HAC HAC RV550E Continues on next page 3HAC Revision: C 33 Copyright ABB. All rights reserved.

34 2.7 Spare parts gearboxes Continued Gearbox axis 2 other parts Note 3HAB Oring (339.3x5.7) Included in RV550E 3HAB M16x50, Gleitmo pcs 3HAA Washer, 17x25x3 20 pcs 3HAB M12x60, Gleitmo pcs 3HAA Washer, 13x19x pcs Gearboxes axis 3 K.3 3HAC HAC RV410F K.3 3HAC HAC RV410F K.3 3HAC HAC RV410F Gearbox axis 3 Other parts Note 3HAC Sealing axis 2/3 3HAB Oring (276x3.53) Included in RV410F 3HAB M12x60 Gleitmo pcs 3HAA Washer, 13x19x pcs 3HAB M12x50 Gleitmo pcs 3HAC (grey) Washer axis 3 3 pcs 3HAC (orange) Washer axis 3 3 pcs Continues on next page 34 3HAC Revision: C Copyright ABB. All rights reserved.

35 2.7 Spare parts gearboxes Continued Gearboxes axis 6 Wrist, type 1 K.6 3HAC HAC RV40E81 K.6 3HAC HAC RV40E81 Gearboxes axis 6 Wrist, type 2 K.6 3HAC HAC RV70F125.8 K.6 3HAC HAC RV70F125.8 K.6 3HAC HAC RV70F125.8 Gearbox axis 6 Other parts 3HAB Oring, 152.0x3.53 Included in RV40E Wrist type 1 3HAB M8x40, Gleitmo 12.9 Wrist type 1 (8 pcs) 3HAA Washer, 8.4x13x1.5 Wrist type 1 (8 pcs) 3HAB Oring, 131.0x2.0 Wrist type Oring, 15.5x1.5 Wrist type 1 (6 pcs) Continues on next page 3HAC Revision: C 35 Copyright ABB. All rights reserved.

36 2.7 Spare parts gearboxes Continued 3HAB Oring, 164.7x3.53 Included in RV70F Wrist type 2 3HAB M8x40, Gleitmo 12.9 Wrist type 2 (18 pcs) 3HAA Washer, 8.4x13x1.5 Wrist type 2 (18 pcs) 3HAB Oring, 150.0x2.0 Wrist type 2 3HAB Oring, 13.1x1.6 Wrist type 2 (12 pcs) Continues on next page 36 3HAC Revision: C Copyright ABB. All rights reserved.

37 2.7 Spare parts gearboxes Continued Illustration gearboxes xx HAC Revision: C 37 Copyright ABB. All rights reserved.

38 Spare parts armhouse Spare parts armhouse A A B C Spare part no. 3HAC HAC HAC HAC HAC HAA HAC HAC HAC HAC Axis4 cover Note Includes sealing 3HAA For robots with protection Fits robots that has a sleeve installed and Foundry on the tube shaft. Plus. The figure Sleeve on tube shaft on Axis4 cover For robots with protection. Axis4 cover For robots with protection. page 39 shows where the sleeve is located. If the robot is manufactured prior to November 2009, it is recommended that a sleeve should be installed, according to the repair kit for axis 4 (see further down in the table), if not already installed. The recommendation is valid for all protection types. Axis4 cover Includes sealing 3HAA For robots with protection Fits robots that has not a sleeve installed on the tube shaft. Robots with. protection type, manufactured after November 2009, do not need the sleeve. The figure Sleeve on tube shaft on page 39 shows where the sleeve is located. Gasket, axis4 cover Sealing Repair kit for axis 4 For robots with protection and Foundry Plus. Repair kit for axis 4 For robots with protection. Repair kit for axis 4 For robots with protection. Axis4 wheel unit It is recommended that a sleeve should be installed on the tube shaft on robots (all protection types) manufactured prior to November and Clean Room robots manufactured after November 2009 are delivered with the sleeve installed. The repair kit contains the sleeve, the axis4 cover and instructions for how to fit the sleeve to the tube shaft. Note Fitting the sleeve requires an installation tool, 3HAC , not included in the repair kit. Continues on next page 38 3HAC Revision: C Copyright ABB. All rights reserved.

39 2 Spare parts and exploded views Spare parts armhouse Continued Illustration armhouse C B A xx Sleeve on tube shaft The figure shows where the sleeve is visible on the upper arm house. 3HAC Revision: C 39 Copyright ABB. All rights reserved.

40 2.9 Spare parts axis Spare parts axis 34 3HAC HAC HAC HAC HAC HAC Revision: C Copyright ABB. All rights reserved.

41 2.10 Spare parts upper arm 2.10 Spare parts upper arm Gasket for cable cover on upper arm tube 3HAC Gasket for small cover on upper arm tube 3HAC HAC Revision: C 41 Copyright ABB. All rights reserved.

42 2.11 Spare parts upper arm extenders 2.11 Spare parts upper arm extenders Spare part list upper arm extenders A 3HAC HAC97603 Arm extender 250 mm A 3HAC HAC Arm extender 250 mm B 3HAC HAC97607 Arm extender 450 mm Cable cover, 3HAC mm Cable cover, 3HAC mm Gasket for cable cover on arm extender 250 mm 3HAC Gasket for cable cover on arm extender 450 mm 3HAC Arm extenders other parts 3HAB Hex socket head cap screw M12x50, 12.9 Gleitmo (12 pcs) 3HAA Washer 13x19x1.5 9ABA10756 Parallel pin 9ADA61856 Torx pan head screw M6x16, 8.8A2F (6 pcs) Continues on next page 42 3HAC Revision: C Copyright ABB. All rights reserved.

43 2.11 Spare parts upper arm extenders Continued Illustration arm extenders xx HAC Revision: C 43 Copyright ABB. All rights reserved.

44 2.12 Spare parts SMB 2.12 Spare parts SMB Spare part list SMB 506 3HAC SMB unit, RMU101 or RMU HAC Battery pack Can only be used with SMB unit 3HAC HAC SMB unit, DSQC633A 507 3HAC Battery pack Can only be used with SMB unit 3HAC HAC Cable battery/smb 518 3HAC Brake release unit with buttons DSQC HAC64991 Push button guard 530 3HAC Cover battery box 530 3HAC Cover battery box 514 3HAC Cable FB7SMB HAC BU Button Guard Plate 526 3HAC Battery holder Continues on next page 44 3HAC Revision: C Copyright ABB. All rights reserved.

45 2.12 Spare parts SMB Continued Illustration Spare part SMB xx HAC Revision: C 45 Copyright ABB. All rights reserved.

46 2.13 Spare parts manipulator harness 2.13 Spare parts manipulator harness Spare part list manipulator harness 7 Manipulator harness 3HAC Axes 16 7 Manipulator harness 3HAC Axes 16 L Manipulator harness 3HAC Axes 16/MH axis 13 cable 8 Cable harness, manipulator 3HAC Axes 14 8 Cable harness, manipulator 3HAC Axes 14 Manipulator harness, Axis 5 3HAC Manipulator harness, 3HAC Axes 56 Manipulator harness other parts 502 3HAC Adapter, complete 25 3HAC Adapter, complete 533 3HAC Connection plate Continues on next page 46 3HAC Revision: C Copyright ABB. All rights reserved.

47 2.13 Spare parts manipulator harness Continued 533 3HAC Connection plate FP 534 3HAC Frame bracket 534 3HAC Frame bracket FP 23 3HAC Attachment plate 24 3HAC Protection cover 532 3HAC Base cover 532 3HAC Base cover FP 22 3HAC Connection plate Axis 3 Continues on next page 3HAC Revision: C 47 Copyright ABB. All rights reserved.

48 2.13 Spare parts manipulator harness Continued Illustration spare part manipulator harness 7 L xx HAC Revision: C Copyright ABB. All rights reserved.

49 2.14 Spare parts other parts 2.14 Spare parts other parts Surface treatment Part no. 3HAC HAC HAC Touch up paint 2, grey Touch up paint, orange Touch up paint, Wite Labels and plates Part no. 3HAC HAC HAC Label and plate set Label set, oil labels (IRB6640) Label set, oil labels (IRB6640ID) Options 3HAC HAC HAC Base plate UL signal lamp Axis4 wheel unit 3HAC Revision: C 49 Copyright ABB. All rights reserved.

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52 Contact us ABB AB Discrete Automation and Motion Robotics S VÄSTERÅS, Sweden Telephone +46 (0) ABB AS, Robotics Discrete Automation and Motion Box 265 N4349 BRYNE, Norway Telephone: HAC , Rev C, en ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI , China Telephone: ABB Inc. Discrete Automation and Motion Robotics 1250 Brown Road Auburn Hills, MI USA Telephone: