M2004. Document ID: 3HAC Revision: - Copyright 2010 ABB. All rights reserved.
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1 Product manual - Spare parts IRB IRB IRB IRB IRB IRB 6640ID- IRB 6640ID- M2004 Document ID: 3HAC Revision: -
2 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 2010 ABB All rights reserved. ABB AB Robotics Products SE Västerås Sweden
3 Table of Contents Overview of this manual Product documentation, M Spare parts and exploded views Spare parts - Balancing device Spare part - Lower arm Spare Parts - Motors Spare parts - Wrist unit Spare Parts - Axis 6 complete Spare parts - Turning disk Spare parts - Gearboxes Spare parts - Upper arm extenders Spare parts - SMB Spare parts - Manipulator harness
4 Table of Contents 4
5 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. Organization of chapters The manual is organized in the following chapters: Chapter Contents 1. Spare parts and exploded view Complete spare part list and complete list of robot components shown in exploded views. References Revisions Reference Product manual - IRB 6640 Circuit diagram Revision Description - First edition Document Id 3HAC HAC
6 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 All hardware, manipulators and controllers will be delivered with a Product manual that contains: Safety information. Installation and commissioning (descriptions of mechanical installation, electrical connections). 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). Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards). Parts list. Foldouts or exploded views. Circuit diagrams (or references to circuit diagrams). Technical reference manuals The technical reference manuals describe the manipulator software in general and contain relevant reference information. RAPID Overview: An overview of the RAPID programming language. RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types. RAPID Kernel: A formal description of the RAPID programming language. System parameters: Description 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. 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, CD with PC software). How to use the application. Examples of how to use the application. 8
7 Product documentation, M2004 Operating manuals The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and trouble shooters. The group of manuals includes: Emergency safety information General safety information Getting started, IRC5 and RobotStudio IRC5 with FlexPendant RobotStudio Introduction to RAPID Trouble shooting, for the controller and manipulator. 9
8 Product documentation, M
9 1.1. Spare parts - Balancing device 1 Spare parts and exploded views 1.1. Spare parts - Balancing device Balancing device - Design 1 G G G Spare part no. 3HAC HAC HAC HAC HAC HAC Maintenance sets, balancing device- Design 1 Description G.1 3HAC Maintenance set, Cradle G.2 3HAC Maintenance set, Shaft G.3 3HAC Gasket, End cover 11
10 1.1. Spare parts - Balancing device Design 1 xx
11 1.1. Spare parts - Balancing device Balancing device - Design 2 G G G Spare part no. 3HAC HAC HAC HAC HAC HAC Maintenance sets, balancing device - Design 2 Description G.1 3HAC Maintenance set, Cradle G.2 3HAC Maintenance set, Shaft G.3 3HAC Gasket, End cover 13
12 1.1. Spare parts - Balancing device Design 2 xx
13 1.2. Spare part - Lower arm 1.2. Spare part - Lower arm Spare part list - Design 2 Spare J.2 3HAC J.2 3HAC J.2 3HAC J.2 3HAC (Long lower arm) J.2 3HAC (Long lower arm) 3HAC HAC HAC HAC HAC Lower arm - Other parts Description J.3 3HAC Damper, axis 2 J.4 3HAC Cable protector 15
14 1.2. Spare part - Lower arm Illustration - Spare part lower arm Design 1 (J1) and Design 2 (J2) xx
15 1.3. Spare Parts - Motors 1.3. Spare Parts - Motors Motors axis 1 (including pinion) A A A Spare part no. 3HAC Type A2 3HAC Type A2NB 3HAC Type A2 3HAC HAC HAC Motors axis 2 (including pinion) B B B Spare part no. 3HAC Type M13 3HAC Type M13NB 3HAC Type M13 3HAC HAC HAC Description B 3HAC Pinion RV550E 17
16 1.3. Spare Parts - Motors Motors axis 3 (including pinion) C C C Spare part no. 3HAC Type M9 3HAC Type M9NB 3HAC Type M9 3HAC HAC HAC Description C 3HAC Pinion RV410F Motors axis 4 (including pinion) Spare part no. D 3HAC Type M7 3HAC D 3HAC Type M7 3HAC D D D 3HAC Type M10 3HAC Type M10NB 3HAC Type M10 3HAC HAC HAC
17 1.3. Spare Parts - Motors Motors axis 5 IRB6640 (excluding pinion) Spare part no. E 3HAC Type M7 3HAC E 3HAC Type M10 3HAC E 3HAC Type M10NB 3HAC Motor axis 5 IRB 6640ID (including pinion) E Spare part no. 3HAC Type PM2 3HAC
18 1.3. Spare Parts - Motors Motors axis 6 (including pinion) F F F F F F F F Spare part no. 3HAC Type M8 3HAC Type M8 3HAC Type M8 3HAC Type M8NB 3HAC Type M8 3HAC Type PM1 3HAC Pinion RV40E 3HAC Pinion RV70F 3HAC HAC HAC HAC HAC HAC Motors - Other parts Desciption 3HAC Protection plugs 3HAC Elbow fittings O-ring (89.5x3) 3HAB O-ring (67.5x3.0) 3HAC Motorplate Motor, axes 1-5 3HAC Gasket Motor axis 6 3HAC Gasket, cover Motor axis 6 20
19 1.3. Spare Parts - Motors Desciption 3HAC Set of shims Illustration xx
20 1.4. Spare parts - Wrist unit 1.4. Spare parts - Wrist unit Spare Parts - Wrist, type 1 Spare H 3HAC HAC or 3HAC H 3HAC Insulated 3HAC H 3HAC HAC Spare Part - Wrist, type 2 Spare ( ID) H 3HAC HAC or 3HAC H 3HAC Insulated 3HAC H 3HAC HAC H 3HAC HAC Spare Part - Wrist, Process Spare 3HAC Part No. 3HAC
21 1.4. Spare parts - Wrist unit Spare part - Other parts Spare part no. H.4 3HAC Gear cover (Gasket included) H.4 3HAC Gear cover (Gasket included) H.4 3HAC Gear cover (Gasket included) H.4 3HAC Gear cover (Gasket included) H.5 3HAC Cable cover H.5 3HAC Cable cover H.5 3HAC Cable cover H.6 - Support bearing H.6 - Support bearing H.7 - Damper axis 5 H.8 - Sync. plate (Wrist, type 1) H.8 - Sync. plate (Wrist, type 2) 3HAC HAC HAC HAC HAC HAC HAC HAC HAC HAB HAC HAC
22 1.4. Spare parts - Wrist unit Spare part no. H.9 - Magnetic plug G1/2" H.10 - Magnetic plug G1/4" H.10 - Sealing for magnetic plug G1/4" H.11 - Protection cover (Cal. axis 6) 3HAC HAC HAC
23 1.4. Spare parts - Wrist unit Illustration wrist xx
24 1.5. Spare Parts - Axis 6 complete 1.5. Spare Parts - Axis 6 complete Axis 6 complete, Wrist type 1 Spare H.1 3HAC HAC or 3HAC H.1 3HAC Insulated 3HAC H.1 3HAC HAC Axis 6 complete, Wrist type 2 Spare H.1 3HAC HAC H.1 3HAC Insulated 3HAC H.1 3HAC HAC H.1 3HAC HAC
25 1.6. Spare parts - Turning disk 1.6. Spare parts - Turning disk Turning disk, type 1 Spare part no. H.2 3HAC HAC M14x25, 12.9 (6 pcs) O-ring 15.5x1.5 (6 pcs) HAB O-ring 131x2 3HAB Turning disk, type 2 Spare part no. H.3 3HAC HAC HAB M12x30, 12.9 (12 pcs) 3HAB HAB O-ring 13.1x1.6 (12 pcs) 3HAB O-ring 150x2 3HAB HAB
26 1.7. Spare parts - Gearboxes 1.7. Spare parts - Gearboxes Gearboxes axis 1 Spare part no. K.1 3HAC RV320C K.1 3HAC RV320C K.1 3HAC RV320C HAC HAC Gearbox axis 1 - other parts Description Note 3HAC Cable guide 3HAC Sealing, RV320C pipe 3HAC Protection pipe 3HAB O-ring (23x3.6) 3 pcs 3HAB O-ring (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 28
27 1.7. Spare parts - Gearboxes Gearboxes axis 2 Spare part no. K.2 3HAC RV550E K.2 3HAC RV550E K.2 3HAC RV550E HAC HAC Gearbox axis 2- other parts Description Note 3HAB O-ring (339.3x5.7) Included in RV550E 3HAB M16x50, Gleitmo pcs 3HAA Washer, 17x25x3 20 pcs 3HAB M12x60, Gleitmo pcs 3HAA Washer, 13x19x pcs 29
28 1.7. Spare parts - Gearboxes Gearboxes axis 3 Spare part no. K.3 3HAC RV410F K.3 3HAC RV410F K.3 3HAC RV410F HAC HAC Gearbox axis 3 - Other parts Description Note 3HAC Sealing axis 2/3 3HAB O-ring (276x3.53) Included in RV410F 3HAB M12x60 Gleitmo pcs 3HAA Washer, 13x19x pcs 3HAB M12x50 Gleitmo pcs 3HAC Washer axis 3 3 pcs 30
29 1.7. Spare parts - Gearboxes Gearboxes axis 6 - Wrist, type 1 Spare part no. Part no, K.6 3HAC RV40E-81 3HAC K.6 3HAC RV40E-81 3HAC Gearboxes axis 6 - Wrist, type 2 Spare part no. K.6 3HAC RV70F HAC K.6 3HAC RV70F K.6 3HAC RV70F HAC Gearbox axis 6 - Other parts Description 3HAB O-ring, 152.0x3.53 Included in RV40E Wrist type 1 3HAB M8x40, Gleitmo 12.9 (8 pcs) 3HAA Washer, 8.4x13x1.5 (8 pcs) 3HAB O-ring, 131.0x2.0 Wrist type O-ring, 15.5x1.5 Wrist type 1 (6 pcs) 3HAB O-ring, 164.7x3.53 Included in RV70F Wrist type 2 31
30 1.7. Spare parts - Gearboxes Description 3HAB M8x40, Gleitmo 12.9 (18 pcs) 3HAA Washer, 8.4x13x1.5 (18 pcs) 3HAB O-ring, 150.0x2.0 Wrist type 2 3HAB O-ring, 13.1x1.6 Wrist type 2 (12 pcs) 32
31 1.7. Spare parts - Gearboxes Illustration gearboxes xx
32 1.8. Spare parts - Upper arm extenders 1.8. Spare parts - Upper arm extenders Spare part list - Upper arm extenders Spare A Arm extender 250 mm 3HAC A Arm extender 250 mm 3HAC A Arm extender 250 mm 3HAC B Arm extender 450 mm 3HAC B Arm extender 450 mm 3HAC Cable cover, 250 mm 3HAC Cable cover, 450 mm 3HAC Arm extenders - Other parts Description 3HAB Hex socket head cap screw M12x50, 12.9 Gleitmo (12 pcs) 3HAA Washer 13x19x1.5 9ABA Parallel pin 9ADA Torx pan head screw M6x16, 8.8-A2F (6 pcs) 34
33 1.8. Spare parts - Upper arm extenders Illustration Arm extenders xx
34 1.9. Spare parts - SMB 1.9. Spare parts - SMB Spare part list - SMB Description 506 3HAC Serial measurement unit DSQC 633A 507 3HAC Battery pack 508 3HAC Cable battery/smb 518 3HAC Brakerelease unit with buttons DSQC HAC Push button guard 530 3HAC Cover battery box 530 3HAC Cover battery box 514 3HAC Cable FB7-SMB HAC BU Button Guard Plate 531 3HAC Cover SMB 526 3HAC Battery holder 36
35 1.9. Spare parts - SMB Illustration Spare part - SMB xx
36 1.10. Spare parts - Manipulator harness Spare parts - Manipulator harness Spare part list - Manipulator harness Spare Part 7 Manipulator harness Axes Manipulator harness Axes 1-6 L Manipulator harness Axes 1-6/MH axis 1-3 cable 8 Cable harness, manipulator Axes Cable harness, manipulator Axes 1-4 Manipulator harness, Axis 5 4 Manipulator harness, Axes 5-6 3HAC HAC HAC HAC HAC HAC HAC
37 1.10. Spare parts - Manipulator harness Manipulator harness - Other parts Description 502 3HAC Adapter, complete 25 3HAC Adapter, complete 533 3HAC Connection plate 533 3HAC Connection plate FP 342 3HAC Bottom plate/connection plate 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 21 3HAC Connection plate Axis HAC Connection plate Axis 3 39
38 1.10. Spare parts - Manipulator harness Illustration spare part manipulator harness xx
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