ABB M98 Product manual

ROBOTICS
Technical reference manual
Lubrication in gearboxes

Trace back information:
Workspace R17-2 version a11
Checked in 2017-09-20
Skribenta version 5.1.011

Technical reference manual
Lubrication in gearboxes
M98, M2000, M2000A, M2004
Document ID: 3HAC042927-001
Revision: R
© Copyright 2012-2017 ABB. All rights reserved.

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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2012-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden

Table of contents
7Overview of this manual ...................................................................................................................
111 Introduction
111.1 Before you start ................................................................................................ 121.2 Compatibility of lubrication oils ............................................................................ 141.3 Amount of lubrication when ordered as spare part ...................................................
152 Articulated robots - four axes
152.1 IRB 260 ........................................................................................................... 162.2 IRB 460 ........................................................................................................... 172.3 IRB 660 ........................................................................................................... 182.4 IRB 760 ...........................................................................................................
193 Articulated robots - six axes
193.1 IRB 120 ........................................................................................................... 203.2 IRB 140 type C .................................................................................................. 213.3 IRB 1200 ......................................................................................................... 223.4 IRB 1410 ......................................................................................................... 233.5 IRB 1520 ......................................................................................................... 253.6 IRB 1600/1660ID type A ...................................................................................... 273.7 IRB 2400 ......................................................................................................... 283.8 IRB 2600 ......................................................................................................... 313.9 IRB 4400/4450S ................................................................................................ 333.10 IRB 4600 ......................................................................................................... 353.11 IRB 6400RF ...................................................................................................... 363.12 IRB 6600/6650 type A ......................................................................................... 403.13 IRB 6600/6650 type B, and IRB 6600ID/6650ID type B .............................................. 443.14 IRB 6620/6620LX .............................................................................................. 463.15 IRB 6640/6640ID ............................................................................................... 483.16 IRB 6650S ........................................................................................................ 513.17 IRB 6660 ......................................................................................................... 523.18 IRB 6700 ......................................................................................................... 543.19 IRB 7600 ......................................................................................................... 573.20 IRB 8700 .........................................................................................................
594 Collaborative robots
594.1 IRB 14000 ........................................................................................................
615 Parallel arm robots
615.1 IRB 360 ...........................................................................................................
636 SCARA robots
636.1 IRB 910SC .......................................................................................................
657 Other manipulators
657.1 IRBT 2005 ........................................................................................................ 667.2 IRBT 4004/6004/7004 ......................................................................................... 677.3 IRBT 4003/6003/7003 ......................................................................................... 687.4 IRBP ............................................................................................................... 697.5 Motor units and gear units (M2004) .......................................................................
Technical reference manual - Lubrication in gearboxes 5
3HAC042927-001 Revision: R
© Copyright 2012-2017 ABB. All rights reserved.
Table of contents

This page is intentionally left blank

Overview of this manual
About this manual
This manual contains information about:
• the type of lubrication oil or grease that is used in gearboxes
• the article numbers for lubrication oil or grease
• the amount of lubrication oil or grease that is used in gearboxes
• the amount of lubrication oil or grease that is delivered as spare part.
Usage
This manual shall be used during:
• inspection of lubrication oil or grease levels
• changing lubrication oil or grease.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/maintenance/repair work.
References
Information how to inspect or change lubrication oil or grease in gearboxes, as
well as maintenance schedules, is found in the product manual for the respective
manipulator.
Document IDReference
3HAC031045-001Operating manual - General safety information i
3HAC035728-001Product manual - IRB 120
3HAC027400-001Product manual - IRB 140
3HAC026048-001Product manual - IRB 260
3HAC030005-001Product manual - IRB 360
3HAC039842-001Product manual - IRB 460
3HAC025755-001Product manual - IRB 660
3HAC039838-001Product manual - IRB 760
3HAC046983-001Product manual - IRB 1200
3HAC026320-001Product manual - IRB 1410
3HAC043435-001Product manual - IRB 1520
3HAC026660-001Product manual - IRB 1600/1660
Continues on next page
Technical reference manual - Lubrication in gearboxes 7
3HAC042927-001 Revision: R
© Copyright 2012-2017 ABB. All rights reserved.
Overview of this manual

Document IDReference
3HAC022031-001Product manual - IRB 2400
3HAC035504-001Product manual - IRB 2600
3HAC022032-001Product manual - IRB 4400
3HAC033453-001Product manual - IRB 4600
3HAC040585-001Product manual - IRB 4600 Foundry Prime
3HAC027076-001Product manual - IRB 6400RF
3HAC020938-001Product manual - IRB 6600/6650 Type A
3HAC044349-001Product manual - IRB 6600/6650 Type A Foundry Prime
3HAC023082-001Product manual - IRB 6600/6650 Type B
3HAC041132-001Product manual - IRB 6600/6650 Type B Foundry Prime
3HAC027151-001Product manual - IRB 6620
3HAC035737-001Product manual - IRB 6620LX
3HAC026876-001Product manual - IRB 6640
3HAC040586-001Product manual - IRB 6640 Foundry Prime
3HAC020993-001Product manual - IRB 6650S
3HAC028197-001Product manual - IRB 6660
Document.ID-1Product manual - Product.ProductName
3HAC022033-001Product manual - IRB 7600
3HAC044350-001Product manual - IRB 7600 Foundry Prime
3HAC052853-001Product manual - IRB 8700
3HAC056430-001Product manual - IRB 910SC
3HAC028506-001Product manual - IRBT 4004/6004/7004
Product manual - IRBP /D2009
3HAC040148-001Product manual - Motor Units and Gear Units
iThis manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
DescriptionRevision
First edition.-
• The heading Spare Part number in tables is replaced by WebCon-
fig number. Spare part number is only shown in section Amount
of lubrication when ordered as spare part on page 14.
• Spare part number for Shell Tivela S150 is updated.
• The WebConfig number for Mobil SHC Cibus 220 is corrected.
A
•The amount of oil in the axis-6 gearbox for IRB 7600, with insulated
turning disk, is corrected, see IRB 7600 on page 54.
B
Continues on next page
8 Technical reference manual - Lubrication in gearboxes
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Overview of this manual
Continued

DescriptionRevision
• A caution has been added throughout the manual (valid for IRB
120, IRB 1520, IRB 1600, IRB 1600ID, IRB 6620, IRB 6620LX and
IRB 6640), informing to observe the different amount in a new
wrist compared to when it is refilled after draining.
• Lubrication oil for IRB1600ID in axis-4, axis-5 and axis-6 is added.
• The amount of oil for IRB 4400/4450S in the axis-2 and axis-3
gearboxes is separated for better understanding.
• The information in the tables of IRB 4600 is updated for better
understanding.
• The information in the tables of IRB 6600/6650 type B and
6600ID/6650ID type B is updated for better understanding.
• The amount of oil in the axis-6 gearbox of IRB6600ID and 6650ID
type B is changed.
• Information about axis-6 gearbox for IRB 6620 Foundry Plus and
Standard is updated for better understanding.
• The amount of oil in the axis-6 gearbox for IRB 6620 is changed.
•The amount of oil in the axis-6 gearbox for IRB 6620LX is changed.
• The amount of oil in the axis-6 gearbox for IRB 6640 with wrist
type 2 is changed.
• Information about oil in the axis-6 gearbox for IRB 6640 with wrist
type 1 is added.
• The amount of oil for positioners is added, see IRBP on page 68.
C
• Lubrication oil for IRB 2600 is added for serial numbers from
101000- or 501000-.
• Lubrication oil for IRB 4600 Type C is added.
• IRBP Y-X is removed from the manual. The product is phased out.
D
• Lubrication for IRBT 4003/6003/7003 is added.
• Quantity of lubrication for IRBT 4004/6004/7004 is added.
•Lubrication oil for IRB 4600 in axis-4 gearbox is corrected for Type
Cand Other design than Type C.
E
• The product name Shell Tivela S 150 is changed to Shell Omala
S4 WE 150.
• The amount of oil in axis-1 gearbox of IRB 140 is changed.
• The amount of grease in axis-5 gearbox of IRB 1410 is changed.
• The amount of grease in axis-3 gearbox of IRB 120 is changed.
• The unit has changed from "liter" to "milliliter" (ml) in IRB 360.
Amount is not changed.
F
• Lubrication oil for IRB 6700 -235/2.65, -205/2.80, -175/3.05, -
150/3.20 is added.
•Correction regarding serial numbers for IRB 2600ID-15/1.85, -8/2.0
floor mounted, M2004.
G
• Lubrication oil for IRB 4600 in axis-4 gearbox is corrected for both
Type C and Other design than Type C.
• The article number and name for grease in axis-5 and -6 gearbox
of IRB 1410 is changed.
H
• Lubrication oil for IRB 6700 -200/2.60, -155/2.85, -300/2.70, -
245/3.00 is added.
• The illustration showing different oil groups is updated.
•The caution informing about mixing oil types is updated throughout
the manual.
J
Continues on next page
Technical reference manual - Lubrication in gearboxes 9
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Overview of this manual
Continued

DescriptionRevision
• The amount of oil is updated to an indicative value for IRB 6600,
IRB 6620, IRB 6620LX, IRB 6640, IRB 6650S, IRB 6660, IRB 6700,
and IRB 7600. Always judge the correct amount of filling by in-
specting the oil level according to the procedure in the product
manual. By doing this, the following risks are avoided:
- Too much lubrication may cause leakage due to over
pressure in the gearbox.
- Too little lubrication may cause reduced lifetime of the
gearbox due to lack of lubrication.
• Lubrication for IRB 1200 is added.
K
• Lubrication oil for IRB 8700 is added.
• Lubrication oil for IRBT 2005 is added.
L
• Lubrication for IRB 4400 Foundry plus added for axis 4-6.
•The article number and amount of grease on each axis is changed
for IRB 120.
•The amount of grease on axes 2, 3, and 5 is changed for IRB 1200.
• Name change of grease (Longtime PD 0 → Tribol GR 100-0 PD)
• Lubrication for IRB 1600ID-6/1.55 is added.
• Lubrication for IRB 910SC is added.
• Lubrication for IRB 120, Food Grade lubrication is added.
• Lubrication for IRB 1200, Food Grade lubrication is added.
M
• Rename of the variant IRB 1600ID - 6/1.55 to IRB 1660ID - 6/1.55.
N
• Lubrication for IRB 1600ID-4/1.55 is added.
P
• Lubrication for IRB 360-6/1600 and -8/1130 are added.
Q
• Added information about IRB 6700Inv.
R
10 Technical reference manual - Lubrication in gearboxes
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© Copyright 2012-2017 ABB. All rights reserved.
Overview of this manual
Continued

1 Introduction
1.1 Before you start
Note
Before starting any inspection, maintenance, or changing activities of lubrication,
always verify that you have the latest available revision of this manual. Any
updates of the manual in between the main releases will be published on ABB
Library. Contact your local ABB for information.
Content in this manual
This manual contains information about the lubrication oil or grease in the
gearboxes of the manipulators. It covers all currently available manipulators (IRB,
IRBT, IRBP, and MU/GU), each presented in a separate chapter. This lubrication
manual is a complement to the product manuals for the manipulators.
The information in this manual - type of lubrication, article numbers and the amount
used in gearboxes - is only presented here.
Inspection and change of lubrication
The instructions for inspecting the lubrication levels and changing the lubrication
are found in the product manuals for the manipulators.
Technical reference manual - Lubrication in gearboxes 11
3HAC042927-001 Revision: R
© Copyright 2012-2017 ABB. All rights reserved.
1 Introduction
1.1 Before you start

1.2 Compatibility of lubrication oils
Mixing of oils
Some lubrication oils cannot be mixed with other oils. Severe damage may be
caused if they are mixed.
The figure Groups of oil on page 12 shows two different groups of oil types. The
oils within each group are mixable with each other, but not with any other oil outside
the group.
If oils from different groups are mixed, the gearbox must be thoroughly rinsed as
described in Rinsing the gearbox on page 13.
If oils within the same group are mixed, it is sufficient to drain and refill the gearbox
with the correct type of oil.
Note
Even if the oils within a group are mixable, it does not mean that they are
equivalent! Always use the type of oil that is specified in the table for each robot.
Groups of oil
1.
2.
Mobil SHC Cibus 220
Optimol Optigear
RMO150 Castrol Optigear
Synthetic RO150
Shell Tivela S150 Kyodo Yushi TMO150
Optimol Optigear BM100
Mobilgear 600 XP 320
xx1200000013
The oils in this group are mixable within the group, but not with any
other oil outside the group.
Optimol Optigear RMO 150, Castrol Optigear Synthetic RO 150, Mobilgear
600 XP 320, Mobil SHC Cibus 220, Mobil SHC Cibus 220, Optimol Opti-
gear BM 100.
Oil group 11
The oils in this group are mixable within the group, but not with any
other oil outside the group.
Shell Omala S4 WE 150, (old product name Shell Tivela S150), Kyodo
Yushi TMO 150.
Oil group 22
Continues on next page
12 Technical reference manual - Lubrication in gearboxes
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© Copyright 2012-2017 ABB. All rights reserved.
1 Introduction
1.2 Compatibility of lubrication oils

Mixing types of oil may cause severe damage!
When refilling or replacing oil in a gearbox it is important to first check which type
of oil is recommended for use in the gearbox. As Kyodo Yushi TMO 150 and Shell
Tivela S 150 (new product name Shell Omala S4 WE 150) are not compatible with
mineral oil, contamination with other types of oil in the gearboxes is not acceptable.
Equipment used in handling Kyodo Yushi or Shell Tivela S 150 (new product name
Shell Omala S4 WE 150) must be carefully cleaned before use!
If the type of oil needs to be changed to an oil from a different group of oils (see
figure Groups of oil on page 12), the gearbox must be thoroughly rinsed. See
Rinsing the gearbox on page 13.
Rinsing the gearbox
Depending on which types of oil are mixed and which type of oil shall be filled in
the gearbox after rinsing, use the appropriate procedure.
The same applies if the type of oil shall be changed in the gearbox.
Note
The explanation given for Kyodo Yushi TMO 150 also applies to Shell Tivela S
150 (new product name Shell Omala S4 WE 150).
The explanation given for Mobilgear 600 XP 320 also applies to Mobil Gearlube
X320.
Kyodo Yushi TMO 150 mixed with Optimol Optigear RMO 150 or Castrol Optigear RO 150
Use this procedure to rinse the contaminated gearbox if the oil type Kyodo Yushi
TMO 150 is mixed with Optimol Optigear RMO 150 or Castrol Optigear RO 150.
1 Flush the gearbox properly three times with the correct type of oil. Use a
service program when flushing.
2 Refill the gearbox with the correct type of oil.
Kyodo Yushi TMO 150 mixed with Mobilgear 600 XP320
Use this procedure to rinse the contaminated gearbox if the gearbox shall contain
Kyodo Yushi TMO 150 and it is mixed with Mobilgear 600 XP320.
1 Flush the gearbox properly three times with Kyodo Yushi TMO 150. Use a
service program when flushing.
2 Refill the gearbox with Kyodo Yushi TMO 150.
Technical reference manual - Lubrication in gearboxes 13
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© Copyright 2012-2017 ABB. All rights reserved.
1 Introduction
1.2 Compatibility of lubrication oils
Continued

1.3 Amount of lubrication when ordered as spare part
Lubrication as spare part
When lubrication is ordered as spare part it is delivered in drums (or containers).
Hence the exact amount of oil or grease that is needed, cannot always be ordered.
The tables show in which amount the lubrication is delivered when ordered as a
spare part.
Order size for lubrication oil
This table shows in which amounts that the lubrication oil can be ordered.
Amount in con-
tainer (drum)
WebConfig numberSpare part numberProduct name
209 liters3HAC032140-0013HAC032140-002Kyodo Yushi TMO 150
20 liters3HAC032140-0013HAC032140-004Kyodo Yushi TMO 150
1 liter3HAC021469-0013HAC043226-001Shell Omala S4 WE 150
(old product name Shell Tivela
S150)
5 liters3HAC021469-0013HAC043226-002Shell Omala S4 WE 150
(old product name Shell Tivela
S150)
10 liters3HAC021469-0013HAC043226-003Shell Omala S4 WE 150
(old product name Shell Tivela
S150)
20 liters3HAC021469-0013HAC043226-004Shell Omala S4 WE 150
(old product name Shell Tivela
S150)
5 liters3HAC0860-13HAC042564-001Optimol Optigear BM 100
1.000 liters3HAC031291-0013HAC042589-001Castrol Optigear RO150
206 liters3HAC031291-0013HAC042592-001Castrol Optigear RO150
10 liters3HAC031291-0013HAC042577-001Castrol Optigear RO150
10 liters11712016-6043HAC042471-001Mobilgear 600 XP 320
0.9 liters3HAC6450-23HAC6450-3Mobil SHC Cibus 220
0.2 liters3HAC6450-23HAC042574-001Mobil SHC Cibus 220
Order size for lubrication grease
This table shows in which amounts that the lubrication grease can be ordered.
Amount in contain-
er (drum)
WebConfig numberSpare part numberProduct name
420 ml3HAA1001-2943HAC042534-001Optimol Long time PD0
420 ml-3HAC9408-1Optimol Long time PD2
400 g3HAB3537-13HAC042536-001Shell GADUS S2 V220AC 2
500 g3HAC031695-0013HAC037302-001Harmonic Grease 4B No.2
14 Technical reference manual - Lubrication in gearboxes
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1 Introduction
1.3 Amount of lubrication when ordered as spare part

2 Articulated robots - four axes
2.1 IRB 260
CAUTION
When filling the gearbox with oil, do not mix different types of oil as this may
cause severe damage to the gearbox! Always use the type of oil that is specified
in the table!
If oils from different oil groups are mixed, then the gearbox must be thoroughly
rinsed! See Groups of oil on page 12 and Rinsing the gearbox on page 13.
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of oil - currently used
This table shows the lubrication oil that is currently used in the gearboxes of the
robot.
IRB 260 - all variants, M2004
AmountTypeWebConfig numberAxis
6,400 mlMobilgear 600 XP 32011712016-604Axis 1
4,500 mlMobilgear 600 XP 32011712016-604Axis 2
3,800 mlMobilgear 600 XP 32011712016-604Axis 3
Not applicableAxis 4
Not applicableAxis 5
70 mlKyodo Yushi TMO 1503HAC032140-001Axis 6
The information in the table updated: July 4 2012.
Technical reference manual - Lubrication in gearboxes 15
3HAC042927-001 Revision: R
© Copyright 2012-2017 ABB. All rights reserved.
2 Articulated robots - four axes
2.1 IRB 260

2.2 IRB 460
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of oil - currently used
This table shows the lubrication oil that is currently used in the gearboxes of the
robot.
IRB 460-110/2.4, M2004
AmountTypeWebConfig numberAxis
5,900 mlKyodo Yushi TMO 1503HAC032140-001Axis 1
3,200 mlKyodo Yushi TMO 1503HAC032140-001Axis 2
3,200 mlKyodo Yushi TMO 1503HAC032140-001Axis 3
Not applicableAxis 4
Not applicableAxis 5
300 mlKyodo Yushi TMO 1503HAC032140-001Axis 6
The information in the table updated: September 27 2013.
16 Technical reference manual - Lubrication in gearboxes
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2 Articulated robots - four axes
2.2 IRB 460

2.3 IRB 660
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of oil - currently used
This table shows the lubrication oil that is currently used in the gearboxes of the
robot.
IRB 660-180/3.15, -250/3.15, M2004
AmountTypeWebConfig numberAxis
8,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 1
5,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 2
5,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 3
Not applicableAxis 4
Not applicableAxis 5
250 mlKyodo Yushi TMO 1503HAC032140-001Axis 6
The information in the table updated: July 4 2012.
Technical reference manual - Lubrication in gearboxes 17
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2 Articulated robots - four axes
2.3 IRB 660

2.4 IRB 760
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of oil - currently used
This table shows the lubrication oil that is currently used in the gearboxes of the
robot.
IRB 760-450/3.2, M2004
AmountTypeWebConfig numberAxis
8,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 1
5,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 2
5,000 mlKyodo Yushi TMO 1503HAC032140-001Axis 3
Not applicableAxis 4
Not applicableAxis 5
850 mlKyodo Yushi TMO 1503HAC032140-001Axis 6
The information in the table updated: July 4 2012.
18 Technical reference manual - Lubrication in gearboxes
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2 Articulated robots - four axes
2.4 IRB 760

3 Articulated robots - six axes
3.1 IRB 120
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of grease - currently used
This table shows the lubrication grease that is currently used in the gearboxes of
the robot.
IRB 120-3/0.6, M2004
Note
The gearboxes contain grease, not lubrication oil!
The amount is measured in grams.
AmountTypeWebConfig numberAxis
58 gramHarmonic grease 4B No. 23HAC031695-0011
40 gramHarmonic grease 4B No. 23HAC031695-0012
11 gramHarmonic grease 4B No. 23HAC031695-0013
3.5 gramHarmonic grease 4B No. 23HAC031695-0014
5 gramHarmonic grease 4B No. 23HAC031695-0015
3.5 gramHarmonic grease 4B No. 23HAC031695-0016
The information in the table updated: February 19 2016.
IRB 120-3/0.6, food grade lubrication, M2004
Note
The gearboxes contain grease, not lubrication oil!
The amount is measured in grams.
AmountTypeWebConfig numberAxis
66 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0011
40 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0012
11 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0013
3.5 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0014
5 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0015
3.5 gramLUBRIPLATE SYNXTREME FG-03HAC043771-0016
The information in the table updated: February 19 2016.
Technical reference manual - Lubrication in gearboxes 19
3HAC042927-001 Revision: R
© Copyright 2012-2017 ABB. All rights reserved.
3 Articulated robots - six axes
3.1 IRB 120

3.2 IRB 140 type C
Note
For spare part number and in which amount the lubrication can be ordered, see
Amount of lubrication when ordered as spare part on page 14.
Type of oil - currently used
This table shows the lubrication oil that is currently used in the gearboxes of the
robot.
IRB 140-6/0.8 & IRB 140T-6/0.8, M2004
CAUTION
The total amount of lubrication oil in a new wrist can not be refilled after the
gearbox has been drained. In order to avoid future leakage due to overpressure,
refill the gearbox with the amount shown in the table.
AmountTypeWebConfig numberAxis
1,200 mlMobilgear 600 XP 32011712016-6041
1,000 mlMobilgear 600 XP 32011712016-6042
300 mlMobilgear 600 XP 32011712016-6043
200 mlMobilgear 600 XP 32011712016-6044
New wrist: 350 mlOptimol Optigear BM 1003HAC0860-15-6
Refilling the wrist: 300 ml
The information in the table updated: January 15 2013.
20 Technical reference manual - Lubrication in gearboxes
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3 Articulated robots - six axes
3.2 IRB 140 type C