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ABB OmniCore IRB 6720, Product Manual


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Note

Action

A brief overview of the sequence
that will be run on the FlexPendant
is given in

Overview of the calibra-

tion procedure on the FlexPendant
on page 600

.

Follow the instructions given on the FlexPendant.

5

Restarting an interrupted calibration procedure

If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.

Action

Situation

Press and hold the three-position enabling
device and press

Play

.

The three-position enabling device on the
FlexPendant has been released during robot
movement.

Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See

Starting the calibration

procedure

.

The RobotWare program is terminated with

PP to Main

.

If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in

Calibration movement directions for all

axes on page 591

Axis Calibration with SafeMove option

To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.

However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap

Acknowledge

to confirm the unsynchronized state and continue Axis Calibration procedure.

CAUTION

SafeMove must be synchronized after the calibration is completed.

Continues on next page

602

Product manual - IRB 6720

3HAC085697-001 Revision: C

© Copyright 2023 ABB. All rights reserved.

6 Calibration

6.4.4 Axis Calibration - Running the calibration procedure

Continued

Summary of Contents for OmniCore IRB 6720

Page 1: ...ROBOTICS Product manual IRB 6720...

Page 2: ...Trace back information Workspace 23D version a13 Checked in 2023 12 07 Skribenta version 5 5 019...

Page 3: ...Product manual IRB 6720 OmniCore Document ID 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved Specifications subject to change without notice...

Page 4: ...anty by ABB for losses damage 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...

Page 5: ...2 Risk of tipping stability 59 3 3 On site installation 59 3 3 1 Brief installation procedure 60 3 3 2 Installing a base plate 68 3 3 3 Lifting the robot 68 3 3 3 1 Lifting robot with lifting accesso...

Page 6: ...180 4 6 Cleaning activities 180 4 6 1 Cleaning the IRB 6720 185 5 Repair 185 5 1 Introduction 186 5 2 General procedures 186 5 2 1 Performing a leak down test 187 5 2 2 Mounting instructions for bear...

Page 7: ...ols 600 6 4 4 Axis Calibration Running the calibration procedure 604 6 4 5 Reference calibration 606 6 5 Verifying the calibration 607 6 6 Checking the synchronization position 609 7 Troubleshooting 6...

Page 8: ...This page is intentionally left blank...

Page 9: ...t to the foundation to making it ready for operation maintenance work repair work decommissioning work Note It is the responsibility of the integrator to conduct a risk assessment of the final applica...

Page 10: ...arameters 3HAC050944 001 Operating manual Service Information System Tip All documents can be found via myABB Business Portal www abb com myABB Revisions Description Revision First edition A Published...

Page 11: ...Troubleshooting Decommissioning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts li...

Page 12: ...andling of the products The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 12 Product manual IRB 67...

Page 13: ...o include specific safety information when dangerous steps are to be performed Read more in the chapter Safety on page 15 Illustrations The product is illustrated with general figures that does not ta...

Page 14: ...This page is intentionally left blank...

Page 15: ...bot when the safety devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed as intended Non authorized des...

Page 16: ...luence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the ro...

Page 17: ...ded will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a pote...

Page 18: ...sed to indicate where to find additional information or how to do an operation in an easier way TIP 18 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 1 Safety...

Page 19: ...cription Symbol Warning xx0900000812 Warns that an accident may occur if the instructions are not followed that can lead to serious injury possibly fatal and or great damage to the product It applies...

Page 20: ...00815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will rel...

Page 21: ...p over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 6720 21 3HAC085697 001 Revision C Copyright 2023 ABB All...

Page 22: ...1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page 22 Product manual IRB 6720 3HAC085697 001 Revision C C...

Page 23: ...x1000001242 Lifting of robot xx0900000822 Oil xx0900000823 Can be used in combination with prohibition if oil is not allowed Mechanical stop xx0900000824 Continues on next page Product manual IRB 6720...

Page 24: ...hat this part is pressurized Usually contains additional text with the pressure level Shut off with handle xx0900000827 Use the power switch on the controller Do not step xx1400002648 Warns that stepp...

Page 25: ...rgency stops are described in the product manual for the controller For more information see Product manual OmniCore V250XT Type B Product manual OmniCore V400XT Product manual IRB 6720 25 3HAC085697...

Page 26: ...e impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot mot...

Page 27: ...he robot Safety devices The integrator is responsible for that the safety devices necessary to protect people working with the robot system are designed and installed correctly When integrating the ro...

Page 28: ...functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level 28 Product manual IRB 6720 3HAC085697 001 Revision C Copyright...

Page 29: ...ent of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator...

Page 30: ...are working as intended Hot surfaces Surfaces can be hot after running the robot and touching these may result in burns Allow the surfaces to cool down before maintenance or repair Allergic reaction E...

Page 31: ...ctions Al ways use the type of oil specified for the product Mixing types of oil may cause severe damage to the gearbox Do not mix types of oil Make sure that protective gear like goggles protective v...

Page 32: ...recharge puncture incinerate crush immerse force discharge or expose to temperatures above the declared operating temperature range of the product Risk of fire or explosion Operating temperatures are...

Page 33: ...uire using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the manipulator does not result in additional hazards for example even more...

Page 34: ...2 Switch the motor to the MOTORS OFF 3 Inspect and verify that the axis maintains its position If the manipulator does not change position as the motors are switched off then the brake function is ade...

Page 35: ...d engineers A risk assessment must be done to address both robot and robot system specific hazards WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall...

Page 36: ...ent of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator...

Page 37: ...s tools and other equipment fitted on the robot The weight includes the weight of the DressPack for LID variants Mounting positions The table shows valid mounting positions and the installation mounti...

Page 38: ...g operation The values also never reach their maximum at the same time WARNING The robot installation is restricted to the mounting options given in following load table s Floor mounted Maximum load e...

Page 39: ...the resonance frequency of the building floor etc For example if the equivalent mass of the floor is very high it will not affect robot movement even if the frequency is well below the stated frequenc...

Page 40: ...ipulator protection type Foundry Plus 2 i According to IEC 60529 Environmental information The product complies with IEC 63000 Technical documentation for the assessment of electrical and electronic p...

Page 41: ...ws the unrestricted working range of the robot 2651 1904 926 1181 267 3115 A xx2200001965 Path intersect with axis 5 center A Continues on next page Product manual IRB 6720 41 3HAC085697 001 Revision...

Page 42: ...cted working range of the robot 2800 2045 1286 919 307 3265 A xx2200001966 Path intersect with axis 5 center A Continues on next page 42 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 202...

Page 43: ...cted working range of the robot 3100 2344 1520 973 607 3565 A xx2200001967 Path intersect with axis 5 center A Continues on next page Product manual IRB 6720 43 3HAC085697 001 Revision C Copyright 202...

Page 44: ...n shows the unrestricted working range of the robot A 1768 2501 2965 280 1355 897 xx2200001968 Continues on next page 44 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights...

Page 45: ...tricted working range of the robot A 2651 1904 926 267 3115 1469 xx2200001969 Path intersect with axis 5 center A Continues on next page Product manual IRB 6720 45 3HAC085697 001 Revision C Copyright...

Page 46: ...ricted working range of the robot A 2800 2045 919 307 3265 1590 xx2200001970 Path intersect with axis 5 center A Continues on next page 46 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2...

Page 47: ...ricted working range of the robot A 3100 2344 973 607 3565 1853 xx2200001971 Path intersect with axis 5 center A Continues on next page Product manual IRB 6720 47 3HAC085697 001 Revision C Copyright 2...

Page 48: ...0 240 2 65 IRB 6720 215 2 65 LID R2651 2x 170 R926 xx2200001987 Continues on next page 48 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 2 Manipulator descrip...

Page 49: ...B 6720 200 2 8 LID R2800 2x 170 R919 xx2200001988 Continues on next page Product manual IRB 6720 49 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Worki...

Page 50: ...B 6720 150 3 1 LID R3100 2x 170 R973 xx2200001989 Continues on next page 50 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 2 Manipulator description 2 2 Worki...

Page 51: ...ge axis 1 option on page 95 65 85 Axis 2 IRB 6720 240 2 65 180 ii 70 Axis 3 IRB 6720 210 2 8 IRB 6720 170 3 1 180 ii 72 IRB 6720 215 2 5 LID IRB 6720 215 2 65 LID 160 70 IRB 6720 200 2 8 LID IRB 6720...

Page 52: ...3 1 LID 220 iii i Option Extended Working Range Axis 1 3324 1 Not valid with DressPack SW ii 160 if lower arm DressPack is installed iii Maximum combined movements reduced Working range limitation Th...

Page 53: ...stroy sensitive electronics Safe handling Use one of the following alternatives Use a wrist strap Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly...

Page 54: ...This page is intentionally left blank...

Page 55: ...ards and regulations The technical data is detailed in section Technical data on page 37 Safety information Before any installation work is commenced all safety information must be observed There are...

Page 56: ...lifting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 37 5 If the robot is not installed directly it must be stored as described in Stor...

Page 57: ...o tip over The transportation position is the most stable position Do not change the robot position before securing it to the foundation Transportation position This figure shows the robot in its tran...

Page 58: ...of axis Axis number 0 Axis 1 34 to 39 Axis 2 70 Axis 3 0 Axis 4 0 Axis 5 0 Axis 6 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 58 Product manual IRB 6720 3...

Page 59: ...e plat form foundation 3 See Orienting and securing the ro bot on page 76 See Product manual OmniCore V250XT Type B Connect the manipulator to the controller 4 See Product manual OmniCore V250XT Type...

Page 60: ...ning the robot base directly onto The base plate has a greater number of fastening points to the foundation and makes a larger footprint which reduces the load on each fastening point to reduce surfac...

Page 61: ...2x 12H7 0 0 018 2 x 1 x 4 5 2 x 1 8 1 H 7 2 0 1 2 3 2 1 M 5 0 1 A B D A B 0 2 Common Zone E F G H xx1500000246 Description Pos Hole for guide pin cylindrical see Guide pins on page 64 A B Common toler...

Page 62: ...0 0 0 7 0 0 1 8 D C L 2x R22 5 B 3 x R 1 3x 90 3 x 4 C C xx1500000247 Continues on next page 62 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 3 Installation...

Page 63: ...9 2x 132 8 87 27 87 27 5x M16 16x 22 1020 950 0 0 0 0 2x 271 2x 774 41 123 358 175 538 721 773 855 896 923 1 933 1 2x 860 2x 726 2x 543 2x 363 2x 206 110 448 786 878 87 1 87 27 1 27 50 18 69 2x 904 50...

Page 64: ...de pins on page 64 A Assembly of guide pins 800 B B B B A B A Description Pos Cylindrical guide pin x2 A M5 x 40 Tightening torque 6 Nm x2 B Continues on next page 64 Product manual IRB 6720 3HAC08569...

Page 65: ...for leveling bolts in the base plate A A A B B B B xx1500000312 Orienting grooves 3 pcs A Levelling bolts attachment holes 4 pcs B Continues on next page Product manual IRB 6720 65 3HAC085697 001 Rev...

Page 66: ...ase plate guide sleeve holes The illustration below shows the guide sleeve holes in the base plate A xx0300000045 Guide sleeve holes 2 pcs A Continues on next page 66 Product manual IRB 6720 3HAC08569...

Page 67: ...n figure Base plate orienting grooves and leveling bolts on page 65 Fit the base plate and use the levelling bolts to level the base plate 6 If required fit strips of sheet metal underneath the base p...

Page 68: ...tailed instruction see the user instructions enclosed with the accessory Note The user manual may be out of date The latest revision is available for download via myABB Business Portal www abb com myA...

Page 69: ...he enclosed instruction Go to the user instructions enclosed with the lifting accessory DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for th...

Page 70: ...t pockets and all required hardware for installation on robot base User instructions are enclosed with the tool 3HAC047054 003 Fork lift accessory set Required documents Document number Document 3HAC0...

Page 71: ...essory set 3HAC047054 003 See Lifting the robot with fork lift on page 70 The robot can also be lifted with roundslings as detailed in this section Illustration lifting position This figure shows the...

Page 72: ...Roundsling B 1 pcs 2 2 5 m depending on robot variant ii Roundsling C 4 pcs Lifting eye M20 D i Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during tra...

Page 73: ...page 72 Roundslings and lifting eyes Lifting the robot with roundslings Use this procedure to lift the robot with roundslings Note Action 34 39 7 0 913 65 670 65 645 CL xx1300000356 Make sure the rob...

Page 74: ...6720 200 2 8 LID 1 220 kg IRB 6720 150 3 1 LID 1 230 kg All lifting accessories used must be sized ac cordingly 2 Lifting eye M20 4 pcs Fit lifting eyes eye bolts to the lifting points of the robot 3...

Page 75: ...ending on robot vari ant ii Roundsling C 4 pcs Lifting eye M20 D i Fit the roundsling with slack They prevent the robot from rotating if there is a sudden stop during transport ii Fit the roundsling w...

Page 76: ...tightening yield point utilization factor v according to VDI2230 0 3 mm i Level surface requirements i See Requirements foundation on page 39 Securing a floor mounted robot Use this procedure to orien...

Page 77: ...t two pins to the holes in the base 6 For more information see Guide pins on page 64 Make sure the robot base is cor rectly fitted onto the pins Guide the robot gently using the attachment screws whil...

Page 78: ...2 7 0 2 25 H8 R400 0 3 A B 2 x 2 0 25 H8 M M 0 3 A B A CLAxis 1 4x 90 4x 15 2x 7 5 K K Ref C 8x 49 5 4x 16 8 x 5 3 4x 45 H8 8x 30 0 5 K K 0 3 A B 0 12 0 3 A B xx2200001840 78 Product manual IRB 6720 3...

Page 79: ...is equipped with buttons for controlling the axes brakes The buttons are numbered according to the numbers of the axes Note If the robot is not connected to the controller power must be supplied to th...

Page 80: ...able the brake release buttons Note Action DANGER Incorrect connections such as supplying power to the wrong pin may cause all brakes to be released simultaneously and instantly 1 xx0600002937 Supply...

Page 81: ...ops or major damage to the robot Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Stopping time an...

Page 82: ...circumscribed radius around axis 4 R4 Measurements The measurements are given in mm R4 R3 R1b R1a G F E D C B A Variant 216 446 525 634 30 345 320 1 185 200 1 132 5 2 351 5 IRB 6720 240 2 65 216 446...

Page 83: ...s for fitting extra equipment Maximum allowed arm load depends on center of gravity of arm load and robot payload Frame The table and figure shows allowed extra load on the frame Description JH 100 kg...

Page 84: ...ad up to maximum 200 kg in combination with the reduced payload use RobotStudio add in RobotLoad or contact ABB 200 400 200 C LAxis 3 C LAxis 4 xx2200002036 Continues on next page 84 Product manual IR...

Page 85: ...M12 20 A A 80 190 4 x M12 24 min 2 x M12 18 min 2 x M8x1 25 24 2 x M10 15 min 2x 28 120 190 200 C L Axis 3 C L Axis 4 xx2200002039 Continues on next page Product manual IRB 6720 85 3HAC085697 001 Rev...

Page 86: ...L Axis 4 Axis 6 xx2200002040 Continues on next page 86 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipmen...

Page 87: ...16 min 2x 30 xx2200002055 Continues on next page Product manual IRB 6720 87 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on...

Page 88: ...200002056 Continues on next page 88 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot...

Page 89: ...10 20 min 30 4x 15 0 4 x M10 15 xx2200002057 Continues on next page Product manual IRB 6720 89 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 F...

Page 90: ...200 h8 1 X 45 1 X 45 A xx2200002061 IRB 6720 215 2 5 LID IRB 6720 215 2 65 LID IRB 6720 200 2 8 LID IRB 6720 150 3 1 LID Fastener quality When fitting tools on the tool flange only use screws with qu...

Page 91: ...working range values set in the software parameters Note The mechanical stops are only installed as safety precaution to physically stop the robot from exceeding the working range set A collision wit...

Page 92: ...uction of working range Graduation of limited working range from 5 and 125 in both directions 15 Illustration reduced working range 5 5 5 0 5 0 125 125 A A xx2100000973 WARNING If the mechanical stop...

Page 93: ...e parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Note Article number Spare par...

Page 94: ...e Location of the mechanical stops on page 93 Note Install the washer with the chamfer turned downwards A A xx2100000974 3 The system parameters that must be changed Upper joint bound and Lower joint...

Page 95: ...ed work range to limit the working range and before removing the mechanical stops For information about the option SafeMove see Application manual Functional safety and SafeMove If the mechanical stop...

Page 96: ...tion The Arm parameters Upper Joint Bound and Lower Joint Bound can be changed to the values corresponding to the actual installation 3 Related information The system parameters are described in detai...

Page 97: ...quipment fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables The customer cables also handle databus communication See the product m...

Page 98: ...40 1 Signal cable shielded 22 m 3HAC2566 1 Signal cable shielded 30 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx160...

Page 99: ...Harness CP CS 7 m 3HAC085739 002 Harness CP CS 15 m 3HAC085739 003 Harness CP CS 22 m 3HAC085739 004 Harness CP CS 30 m Customer cables Ethernet floor cable Article number Ethernet floor cable length...

Page 100: ...ct the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that all safety equipment is installed as designed for the appli...

Page 101: ...in different sections and divided according to the maintenance activity Safety information Observe all safety information before conducting any service work There are general safety aspects that must...

Page 102: ...ecified in months regardless of whether the system is running or not Operating time specified in operating hours More frequent running means more frequent maintenance activities Robots with the functi...

Page 103: ...ly during the first running hours Wipe down affected areas with a dry cloth x Cleaning the seals Cleaning the IRB 6720 on page 180 x Cleaning the robot Inspecting the balancing device on page 108 x In...

Page 104: ...5 gearbox Changing the oil in axis 6 gearbox on page 170 x Changing the oil in axis 6 gearbox Replacing the SMB battery on page 175 x iii Replacing the SMB battery pack Lubricating the spherical roll...

Page 105: ...al usage in regard to movement most material handling applications and limited use of bending backwards mode of axis 3 ii Severe chemical or thermal environments or similar environments can result in...

Page 106: ...ated on each motor flange The figure shows axis 1 motor as an example xx2300001602 Plug in the evacuation hole New motors have a transparent plug sight glass installed in the evacuation hole Remove th...

Page 107: ...or if any oil has been spilled out from the evacuation hole replacement of the motor is recommended Note If oil is present in the evacuation it is an indication that the primary seal of the motor is...

Page 108: ...ce The balancing device is located as shown in the figure The figure also shows the inspection points further described in the instructions xx2200001850 Piston rod inside balancing device A Link ear B...

Page 109: ...k for dissonance from the balancing device a tap ping sound caused by the springs inside the cylinder 2 How to replace the device is detailed in section Repla cing the balancing device on page194 This...

Page 110: ...ic power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Check the area around the o ring and radial sealings at the ear for leakage 4 Mainten...

Page 111: ...ded space 1 xx1300000423 Check that there are no obstacles inside the frame that could prevent the balancing device from moving freely Keep the areas around the balancing device clean and free from ob...

Page 112: ...arness is located as shown in the figure xx2200001729 Required tools Visual inspection no tools are needed Continues on next page 112 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 A...

Page 113: ...axis 2 and axis 3 movement shown in the fig ure Make sure the cabling is not damaged between the cable brackets in these areas 2 Check that all visible cable brackets velcro straps and attachments ar...

Page 114: ...e any objects that may cause pos sible cable chafing Replace damaged cabling if any CAUTION Sharp debris might occur Always wear protective gloves 6 See Removing the cable harness on page 291 Replace...

Page 115: ...in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Note Article number Spare part Axis 2 3HAC046884 001 Damper Axis 3 3HAC12320 1 D...

Page 116: ...attachment screws for deformation 3 Attachment screws If any damage is detected the damper must be replaced with a new one 4 Axis 2 and axis 3 M6x60 8 8 A2F 9ADA624 65 Axis 5 M6x25 A4 80 9ADA620 58 L...

Page 117: ...myABB The figures show the location of the information labels to be inspected The symbols are described in section Safety symbols on manipulator labels on page 19 A A X X 102 102 15 28 SECTION A A D...

Page 118: ...abel Kyodo Yushi TMO 150 3HAC032726 001 B Lubrication label 3HAC032905 001 C Warning label Tipping robot 3HAC9191 1 D ABB logotype label 3HAC0453 5 3HAC077301 002 E Continues on next page 118 Product...

Page 119: ...26 1 P Lubrication label Optimol longtime PD 0 3HAC021525 001 Q ABB logotype label 3HAC0453 2 3HAC5127 1 R Instruction label Lifting of robot 3HAC046732 001 S Required tools and equipment Visual inspe...

Page 120: ...electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 1 Mechanical stop pin 3HAC024014 001 Inspect the axis 1 mechanical stop pin If t...

Page 121: ...ified tightening torque 3 Locking liquid Loctite 2400 or equivalent Loctite 243 The attachment screw is accessed from the side xx2200001398 Make sure the mechanical stop pin can move in both direction...

Page 122: ...there is a risk of debris falling into the gear when opening the oil plug for inspection it is instead recommended to use the vent hole for oil level inspection xx2200002147 Continues on next page 122...

Page 123: ...oxes Floor mounted robot Inspecting the oil level in axis 1 gearbox Use this procedure to inspect the oil level in the gearbox when the robot is floor standing Note Action DANGER Turn off all electric...

Page 124: ...ative measurement required oil level at vent hole is 24 mm 5 mm below the oil plug hole xx2300000001 5 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes A...

Page 125: ...ANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 100 8 Product manual IRB 6720 125 3HAC085697 001 Revisi...

Page 126: ...umables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 142 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1...

Page 127: ...perature is 25 C 10 C 3 xx2100002059 Open the oil plug 4 Check the oil level 5 Required oil level is 0 10 mm below oil plug hole floor mounted robot Type of oil and total amount is detailed in Technic...

Page 128: ...ANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 100 8 128 Product manual IRB 6720 3HAC085697 001 Revisi...

Page 129: ...umables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 142 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1...

Page 130: ...c power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involv...

Page 131: ...the safe guarded space 8 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain oil if required 9 Further information about how to drain or fill w...

Page 132: ...performing the first test run See Test run after installation maintenance or repair on page 100 11 132 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 4 Maint...

Page 133: ...umables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 142 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1...

Page 134: ...y air pressure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lub...

Page 135: ...section Changing the oil in axis 4 gearbox on page 160 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200001796 DANGER Make sure all safety requirements...

Page 136: ...umables and wear parts Note Article number Wear part See Type of lubrication in gearboxes on page 142 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 059 O ring G 1...

Page 137: ...y air pressure supply to the robot before entering the safe guarded space 2 Make sure that the oil temperature is 25 C 10 C 3 WARNING Handling gearbox oil involves several safety risks see Gearbox lub...

Page 138: ...section Changing the oil in axis 5 gearbox on page 165 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 8 Tightening torque 24 Nm xx2200001798 DANGER Make sure all safety requirements...

Page 139: ...on page 142 Lubricating oil Used on oil plug Always replace when refitting oil plug 3HAC061327 060 O ring G 1 4 Required documents Document number Document name 3HAC042927 001 Technical reference man...

Page 140: ...n the oil plug 5 Check the oil level 6 Required oil level is 51 58 mm below oil plug hole Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Add or drain o...

Page 141: ...ANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 100 9 Product manual IRB 6720 141 3HAC085697 001 Revisi...

Page 142: ...f lubrication article number as well as the amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal w...

Page 143: ...ggested dispenser or a similar one Orion OriCan article number 22590 pneumatic Nipple for quick connect fitting with o ring Product manual IRB 6720 143 3HAC085697 001 Revision C Copyright 2023 ABB All...

Page 144: ...The capacity of the vessel must be sufficient to take the complete amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 14...

Page 145: ...e 1 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 2 Make sure that the oil temperature is 25 C 10 C 3 CAUTION The gearbox can contain an ex...

Page 146: ...Floor mounted robot Filling oil into the axis 1 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure...

Page 147: ...ling process 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil with the oil dis penser Note The amount of oil to be filled d...

Page 148: ...on xx2200002147 6 xx2200001754 Required oil level at vent hole is 24 mm 5 mm below the oil plug hole xx2300000001 CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until...

Page 149: ...pe the robot clean from all surplus oil The robot color can otherwise be discolored 9 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installatio...

Page 150: ...te amount of oil Oil collecting vessel One example of oil dispenser can be found in section Type of lubric ation in gearboxes on page 142 Oil dispenser Content is defined in section Standard toolkit o...

Page 151: ...several safety risks see Gearbox lubricants oil or grease on page 30 2 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the exces...

Page 152: ...rma tion 7 Filling oil into the axis 2 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to...

Page 153: ...oil to be filled depends on the amount previously being drained 5 Required oil level is 0 10 mm below oil plug hole Inspect the oil level at the ventilation hole level plug CAUTION The oil level sink...

Page 154: ...002059 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 100 9 154 Product manual IRB 6720 3HAC085697 00...

Page 155: ...an be found in section Type of lubric ation in gearboxes on page 142 Oil dispenser Content is defined in section Standard toolkit on page 629 Standard toolkit Required consumables and wear parts Note...

Page 156: ...pressure supply to the robot before entering the safe guarded space 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 3 CAUTION The gearbox c...

Page 157: ...n the power supply to the robot temporarily 7 Suck out the oil with the oil dispenser 8 Run axis 3 to 0 while draining to reach all oil Note There will be some oil left in the gear after draining WARN...

Page 158: ...ply to the robot before entering the safe guarded space 2 WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 3 xx2100002064 Remove the plug from...

Page 159: ...ation hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measuring the oil level 7 Remove the oil dispenser 8 Refit the...

Page 160: ...of lubric ation in gearboxes on page 142 Oil dispenser Content is defined in section Standard toolkit on page 629 Standard toolkit Required consumables and wear parts Note Article number Wear part Se...

Page 161: ...risks see Gearbox lubricants oil or grease on page 30 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out...

Page 162: ...plug for the drainage hole with a new o ring 9 Tightening torque 24 Nm xx2100002095 Filling oil into the axis 4 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off a...

Page 163: ...ned 4 Required oil level is 0 10 mm below oil plug hole Inspect the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before measur...

Page 164: ...when performing the first test run See Test run after installation maintenance or repair on page 100 7 164 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 4 Ma...

Page 165: ...of lubric ation in gearboxes on page 142 Oil dispenser Content is defined in section Standard toolkit on page 629 Standard toolkit Required consumables and wear parts Note Article number Wear part Se...

Page 166: ...icants oil or grease on page 30 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 xx2200001798 Remove...

Page 167: ...drainage hole with a new o ring 9 Tightening torque 24 Nm xx2200001797 Filling oil into the axis 5 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all electric po...

Page 168: ...0 mm below oil plug hole Inspect the oil level at the oil fill level hole level plug CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the oil stops sinking before...

Page 169: ...when performing the first test run See Test run after installation maintenance or repair on page 100 7 Product manual IRB 6720 169 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 4 Ma...

Page 170: ...of lubric ation in gearboxes on page 142 Oil dispenser Content is defined in section Standard toolkit on page 629 Standard toolkit Required consumables and wear parts Note Article number Wear part Se...

Page 171: ...earbox lubricants oil or grease on page 30 3 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 4 Place the...

Page 172: ...ug for the drainage hole with a new o ring 9 Tightening torque 20 Nm xx2100002101 Filling oil into the axis 6 gearbox Use this procedure to refill the gearbox with oil Note Action DANGER Turn off all...

Page 173: ...t previously being drained 4 See Inspecting the oil level in axis 6 gear box on page 139 Check the oil level CAUTION The oil level sinks when the oil fills all cav ities in the gearbox Wait until the...

Page 174: ...when performing the first test run See Test run after installation maintenance or repair on page 100 7 174 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 4 Ma...

Page 175: ...nly replace with the specified spare part or an ABB approved equivalent 3HAC044075 001 Battery pack Required tools and equipment Note Article number Equipment Content is defined in section Standard to...

Page 176: ...can cause shortage on the boards which can result in hazardous failures 4 Pull out the battery and disconnect the battery cable 5 Remove the SMB battery Note Battery includes protection circuits Only...

Page 177: ...ctor is assembled in the correct direction according to its keying 3 Tightening torque 6 Nm xx2100002131 Secure the SMB battery cover with its attachment screws 4 See Updating revolution counters on p...

Page 178: ...ol GR 100 0 PD 50 ml 3HAA1001 294 Grease Lubricating the spherical roller bearing Use this procedure to lubricate the spherical roller bearing Note Action DANGER Turn off all electric power supply hyd...

Page 179: ...until new grease appears in the lower hole 2 xx2200001477 Use a grease nipple Refit the two screws and wipe clean from residual grease 3 Product manual IRB 6720 179 3HAC085697 001 Revision C Copyright...

Page 180: ...the oil level again after for example 6 months 3 If the oil level is decreased replace the gearbox 4 Oil spills discolors painted surfaces Oil spills on painted surfaces of the robot can result in dis...

Page 181: ...g agent to be tested on a small surface prior usage on complete manipulator Cleaning with water Instructions for rinsing with water ABB robots with protection types Standard or Foundry Plus can be cle...

Page 182: ...5 Rotational sealings xx2300001057 Connectors xx2300001058 Cable inlets Continues on next page 182 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 4 Maintenanc...

Page 183: ...and dust and chips if it prevents cable movement Clean the cables if they have a crusty surface for example from dry release agents Cassette sealings Minor seepage of grease from the seals can occur W...

Page 184: ...This page is intentionally left blank...

Page 185: ...y ABB Report replaced units Note When replacing a part on the IRB 6720 report to your local ABB the serial number the article number and the revision of both the replaced unit and the replacement unit...

Page 186: ...re with the knob until the correct value is shown on the manometer CAUTION The pressure must under no circumstance be higher than 0 25 bar 20 25 kPa Also during the time when the pressure is raised 3...

Page 187: ...e exposed to any stresses during the assembly work 3 Assembly of tapered bearings Follow the preceding instructions for the assembly of the bearings when mounting a tapered bearing on the robot In add...

Page 188: ...started During operation the bearing should be filled to 70 80 of the available volume Ensure that grease is handled and stored properly to avoid contamination Grease the different types of bearings a...

Page 189: ...lean workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Do not lubricate a static side of a sealing with grease since this may...

Page 190: ...icate the sealing with grease just before fitting Not too early there is a risk of dirt and foreign particles adhering to the sealing 3 A B C xx2000000071 A Main lip B Grease C Dust lip Note Ensure th...

Page 191: ...2 Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the sealing 1 Inspect the mating surfaces on the manipulator before mounting If scratches or dam...

Page 192: ...If the flange surfaces are defective the parts may not be used because leakage could occur Clean the surfaces properly in accordance with the recommendations of ABB 2 Distribute the sealing compound...

Page 193: ...White 3HAC067974 001 Touch up paint Standard Foundry Plus Removing Description Action xx2300000950 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to...

Page 194: ...2 Remove the shaft in the front link ear 3 Replace the balancing device Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of...

Page 195: ...uctions are enclosed with the tool 3HAC074411 001 Hydraulic press equipment balan cing device Used for removing and fitting shaft and bearings User instructions are enclosed with the tool 3HAC028920 0...

Page 196: ...weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure su...

Page 197: ...lancing device 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the...

Page 198: ...accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next...

Page 199: ...nstruc tions enclosed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will...

Page 200: ...is a risk of damaging the bearing inside The damaged VK cover must be replaced with a new Remove the protection plug from the vent hole and use air pressure through the hole to blow out the cover The...

Page 201: ...make the balan cing device go free If this is not possible the shaft end must be pulled out a bit with the dismantle and mounting tool see Removing the shaft end cradle on page 231 5 CAUTION The weigh...

Page 202: ...ng device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 1 Lifting shackle SA 10 8 NA1 Fit a lifting shackle to the balancing device 2 Lifting accessory chain 3HAC1...

Page 203: ...make the piston rod and front ear adjustable when pulling the shaft out 2 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Han...

Page 204: ...cing device See the figure 2 CAUTION The weight of the balancing device exclud ing cradle is 140 kg All lifting accessories used must be sized accordingly 3 xx2200001469 Lift the balancing device into...

Page 205: ...ws insert them on both sides and tighten by hand 7 Washer 3HAC047681 001 The screws are not possible to torque tighten at this point since the front ear is not fastened to the lower arm Locking liquid...

Page 206: ...0001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Found...

Page 207: ...tly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x...

Page 208: ...efit the two screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Securing the shaft ends Note Action Tightening torque 280 Nm Secure both shaft end...

Page 209: ...dle to let go of overpressure if the VK covers are hard to fit xx2300000003 2 xx2200001464 Concluded refitting of the front shaft Note Action xx2200001332 Remove the locking screw M16x120 1 Continues...

Page 210: ...ol incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of...

Page 211: ...met when performing the first test run See Test run after installation maintenance or repair on page 100 5 Product manual IRB 6720 211 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved...

Page 212: ...rformed 1 Unload the balancing device 2 Remove the shaft in the front link ear 3 Replace the spherical roller bearing 4 Restore the balancing device Required spare parts Note The spare part numbers th...

Page 213: ...s equipment 3HAC11731 1 Hydraulic cylinder To be used with the press and puller tools See technical specifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa SA...

Page 214: ...e the weight of the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressu...

Page 215: ...3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx09000008...

Page 216: ...e shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next page 216 Produc...

Page 217: ...closed with the equipment 3 User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious i...

Page 218: ...to the link ear 1 xx2200001494 Unscrew the attachment screws securing the end cover remove end cover and radial sealing with a screwdriver 2 xx2200001495 Remove the o ring 3 Continues on next page 218...

Page 219: ...d with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool Refitting the spherical roller bearing Refitting the spheri...

Page 220: ...ing to the figure 3 xx2200001497 xx2200001498 Use a plastic mallet or similar on the Press tool J and refit the radial sealing 4 Apply some grease on the surface for the bearing 5 Continues on next pa...

Page 221: ...d and follow enclosed user instructions for the tool xx2200001495 Refit the o ring 7 xx2200001494 Secure the end cover including the radial sealing ring with the screws 8 Refitting the front shaft of...

Page 222: ...front ear 4 xx2200001918 Align the balancing device link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the fro...

Page 223: ...serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17x25x3 Locking li...

Page 224: ...wo screws and wipe clean from residual grease 12 Remove the lifting accessory from the balancing device 13 Removing the lifting accessory and locking screw Note Action Remove the lifting accessory fro...

Page 225: ...2 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page Product manual IRB 6720 225 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 5 Repair 5 3 2 Rep...

Page 226: ...tructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for conical...

Page 227: ...edure containing the major actions to be performed 1 Unload the balancing device 2 Replace the rear bearing 3 Restore the balancing device Required spare parts Note The spare part numbers that are lis...

Page 228: ...cifications in the user instructions for the press equipment 3HAC13086 1 Hydraulic pump 80 MPa To be used with the press and puller tools See technical specifications in the user instructions for the...

Page 229: ...the lower and upper arms CAUTION Do not tighten the lock screw since too hard tightening could damage the gear 2 xx2200001332 DANGER Turn off all electric power supply hydraulic pressure supply air pr...

Page 230: ...vice 3HAC074411 001 Unload the balancing device with the press equipment to make the piston rod and front ear adjustable when pulling the shaft out 3 User instructions are enclosed with the tool xx090...

Page 231: ...raise to unload the weight 3 xx2200001459 Removing the shaft end cradle The procedure of removing the shaft end in the cradle is the same on both sides Note Remove one shaft end at a time Continues o...

Page 232: ...r must be replaced with a new Remove the protection screw from the vent hole and use air pressure through the hole to blow out the cover The cover can be reused if not damaged 1 VK cover 100x10 3HAA21...

Page 233: ...01470 Before pulling out the shaft end put a big screw driver between the cradle and balan cing device and use it as a distance tool 5 Continues on next page Product manual IRB 6720 233 3HAC085697 001...

Page 234: ...se procedures to refit the bearing in the cradle Refitting the shaft end and rear bearings Note Action Wipe clean all contact surfaces from resid ual grease and other contamination inside the recess 1...

Page 235: ...ons for the tool xx2300000006 Fit the retaining ring bore 5 Hex socket head cap screw M16x70 12 9 Gleitmo 603 Geomet 500 Apply locking liquid on the attachment screw 6 Washer 3HAC047681 001 Locking li...

Page 236: ...Remove both the screw and the protection plug then refill grease from the inner hole See figure 9 xx2300000004 xx2300000005 Refit the screw including washer and the protection plug 10 Wipe clean from...

Page 237: ...1 xx2200001332 Remove the lock screw M16x120 2 xx1400000372 Foundry Plus Apply Mercasol in the hole for the locking screw 3 Continues on next page Product manual IRB 6720 237 3HAC085697 001 Revision C...

Page 238: ...r instructions for the tool Hex socket head cap screw M10x25 8 8 A3F Apply flange sealant and refit the cover plate on the back of the balancing device 1 Tightening torque 50 Nm Flange sealant for con...

Page 239: ...he upper arm 3 Remove the cable guide 4 Replace the arm house cover including the cassette sealing Required spare parts Note The spare part numbers that are listed in the table can be out of date See...

Page 240: ...te sealing Use these procedures to remove the arm house cover including the cassette sealing Preparations before removing the arm house cover Note Action See Draining the axis 4 gearbox on page 161 Dr...

Page 241: ...6 If DressPack MH3 is installed Remove the wrist bracket with the complete ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if t...

Page 242: ...hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page 242 Product manual IRB 6720 3H...

Page 243: ...screws 6 Remove the motor cables 7 Disconnecting the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Conti...

Page 244: ...the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues on next page 244 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All righ...

Page 245: ...he screw is located at the bottom of the carrier 2 xx1300000666 Lift out the axis 6 motor cables by holding the cables with one hand at the motor and the other at the carrier 3 Continues on next page...

Page 246: ...e Foundry Plus Foundry Plus DressPack 1 xx2000000422 Remove the back cover Note Use caution not to damage the gasket DressPack xx2300001040 Continues on next page 246 Product manual IRB 6720 3HAC08569...

Page 247: ...is 6 connectors and carrier into a bundle if not already done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the...

Page 248: ...nside the arm tube Note The screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page 248 Product manual IRB 6720 3HAC085697 00...

Page 249: ...rmed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Move th...

Page 250: ...crew to the part of the tool designed as a cross all the way until it bottoms 2 xx2100001253 xx2100001243 Fit the cross to the tube shaft with four M8 screws 3 xx2100001254 Fit the three armed tool pa...

Page 251: ...the new cover WARNING Oil residues will drip out during removal Make sure that protective gear like goggles and gloves are always worn WARNING Handling gearbox oil involves several safety risks see G...

Page 252: ...esigned as a cross 1 xx2100001264 Fit the cross to the tube shaft with four M8 screws CAUTION Center the cross on the tube shaft to not damage the sealing CAUTION Tighten the screws so that the cross...

Page 253: ...house 5 Torx pan head screw M6x16 Stainless steel A2 70 Secure the cover with the attachment screws Use locking liquid 6 Locking liquid Loctite 2400 or equivalent Loctite 243 Ensure gap closure betwe...

Page 254: ...hment screws Use locking liquid 2 Locking liquid Loctite 2400 or equivalent Loctite 243 xx2100001242 Refitting the cable harness to the upper arm Note Action Torx pan head screw M6x16 A4 80 Refit the...

Page 255: ...side hole of the arm tube and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the robot Together Use caution and move the cable harness into the arm tube 3 xx...

Page 256: ...er Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp axis 4 inside the arm...

Page 257: ...DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressPack Refit the DressP...

Page 258: ...fitting the cover Foundry Plus xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Connecting the axis 5 motor cables Note Action Put the motor cables in place i...

Page 259: ...screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signal cable connector C...

Page 260: ...3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a correct installation...

Page 261: ...osition 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult to fit Make sure th...

Page 262: ...ew is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened...

Page 263: ...the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if damaged 3HAC079381 0...

Page 264: ...ted and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gasket is damaged xx210...

Page 265: ...the DressPack xx1200001332 If the robot is equipped with DressPack cable package Refit the connection plate 2 Concluding procedure Note Action See Filling oil into the axis 4 gearbox on page 162 Refil...

Page 266: ...White 3HAC082942 003 ABB Orange Wrist Required tools and equipment Note Article number Equipment Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 User instructions are enclosed with the to...

Page 267: ...bration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values Th...

Page 268: ...100002712 3 xx2300001211 xx2100002164 Jog the robot into position Axis 1 no significance Axis 2 jog axis 2 and 3 to a position where the upper arm is horizontal Axis 3 jog axis 2 and 3 to a position w...

Page 269: ...turned off 1 xx2300001366 If DressPack MH3 is installed Remove the wrist bracket with the complete ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to...

Page 270: ...trical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 Continues on next...

Page 271: ...0484 Unscrew the attachment screws that hold the cable bracket 1 xx1300000485 Unscrew the M4 screw that holds the carri er Note The screw is located at the bottom of the carrier 2 Continues on next pa...

Page 272: ...from its position 4 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the...

Page 273: ...Disconnect the signal cable connector 4 xx2200001733 Disconnect the power cable connector by removing the attachment screw 5 Continues on next page Product manual IRB 6720 273 3HAC085697 001 Revision...

Page 274: ...m Attach a roundsling to the wrist as shown in the figure CAUTION The roundsling placement shown in the figure keeps the wrist balanced when lifted which reduces risk of damage or injury Do not attac...

Page 275: ...e wrist unit and then re move the remaining screw 3 xx2300000016 Bit holder and hexagon bit SW10 Pull out the wrist a bit and bring out the cabling from the wrist unit CAUTION Make sure that the cabli...

Page 276: ...tructions are enclosed with the tool xx2100000666 Release the brakes of the axis 5 motor with the brake release tool 1 Turn off the brake release tool 2 Connect the tool to the motor power connector M...

Page 277: ...damage any part of the cable harness xx2200001808 Slide the wrist into fitting position 2 Hex socket head cap screw Fit the attachment screws and washers 3 M12x50 12 9 Gleitmo 603 Geomet 500 Then remo...

Page 278: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened accordin...

Page 279: ...aged 6 Torx pan head screw M5x12 Stainless steel A2 70 Refit the motor cover and the cable protec tion with its attachment screws 7 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking l...

Page 280: ...he axis 5 motor connector release the brakes and move axis 5 manually to 90 1 xx1300000667 Push the cable harness into the wrist re cess and up into the axis 6 motor Tip Moisten the rubber carrier sli...

Page 281: ...t the motor cables 1 Connect in accordance with the markings on the connectors Tightening torque 1 Nm Position the power connector to the bracket with a screw Note The purpose of the screw is to secur...

Page 282: ...anical damage Handle it with care to avoid dam age to the cabling or the connector avoid any kind of tilt or skew 4 xx2200001730 xx2300000920 Verify correct cable layout as shown in the figure CAUTION...

Page 283: ...ON When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 70 6 pcs Refit the motor cover 8 Tightening torque 6 Nm xx22000...

Page 284: ...A4 80 Refit the wrist cover and secure with screws 3 Tightening torque 10 Nm Foundry Plus xx2000000373 Fit all the screws first then torque tighten Concluding procedure Note Action Foundry Plus 1 Refi...

Page 285: ...s are met when performing the first test run See Test run after installation maintenance or repair on page 100 4 Product manual IRB 6720 285 3HAC085697 001 Revision C Copyright 2023 ABB All rights res...

Page 286: ...spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC0...

Page 287: ...es These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration...

Page 288: ...the turning disc 2 Refitting the turning disc Use these procedures to refit the turning disc Refitting the turning disc Note Action Wipe clean the contact surfaces 1 Continues on next page 288 Product...

Page 289: ...tion marks 3 Hex socket head cap screw M8x25 12 9 Gleitmo 603 Geomet 500 Secure the turning disc with its attachment screws and washers 4 Washer Steel 8 4x13x1 5 Tightening torque standard torque 35 N...

Page 290: ...irements are met when performing the first test run See Test run after installation maintenance or repair on page 100 1 290 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rig...

Page 291: ...729 Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Continues on...

Page 292: ...Axis 5 90 Axis 6 No significance Note The specified position is a recommended position Orient axis 5 as close as possible to 90 to be able to open the axis 6 motor cover and to remove the axis 6 motor...

Page 293: ...ove the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 4 xx2200001433 Remove the metal clamp at the arm house...

Page 294: ...cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300001366 If DressPack MH3 is installed Remove the wrist bracket with...

Page 295: ...the axis 6 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move...

Page 296: ...the motor cables 5 Pushing out the axis 6 motor cables Note Action xx1300000484 Unscrew the attachment screws that hold the cable bracket 1 Continues on next page 296 Product manual IRB 6720 3HAC0856...

Page 297: ...otor and the other at the carrier 3 xx1300001113 Lift out the carrier from its position 4 Disconnecting the axis 5 motor cables Note Action DANGER Make sure that all supplies for electrical power hydr...

Page 298: ...xx2200001734 Disconnect the signal cable connector 4 xx2200001733 Disconnect the power cable connector by removing the attachment screw 5 Continues on next page 298 Product manual IRB 6720 3HAC085697...

Page 299: ...ctrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment sc...

Page 300: ...out 4 xx2200001738 Remove the cable bracket by removing the screws 5 Remove the motor cables from the motor 6 Continues on next page 300 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 202...

Page 301: ...back cover Note Use caution not to damage the gasket DressPack xx2300001040 xx2100002677 DressPack Loosen the insert Cable guard C is available for protection type Foundry Plus 2 Continues on next pag...

Page 302: ...done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable harness through the inside of the upper arm 4 xx2300000031 Remove the side co...

Page 303: ...the arm tube Note The screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page Product manual IRB 6720 303 3HAC085697 001 Revi...

Page 304: ...is step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the r...

Page 305: ...ke sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100000981 Remove the base cover 2 xx2100001109 Loosen the connectors R1 MP R1 SMB 3 xx2300001093...

Page 306: ...pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first removing the attachment screw and then parting the...

Page 307: ...the motor cables from the motor 6 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 Continues on ne...

Page 308: ...shortage on the boards which can result in hazardous failures 4 Disconnecting the SMB and brake release units Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the u...

Page 309: ...739 Loosen the cable inlet by cutting any seal ing compound and carefully knocking the inlet loose 3 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressP...

Page 310: ...ame recess Guide the SMB cables out from the SMB recess at the same time 2 xx2200001741 Place the cable harness over the balancing device 3 Continues on next page 310 Product manual IRB 6720 3HAC08569...

Page 311: ...ower arm by removing the attach ment screws Note The screws are reached from the outside of the lower arm 1 xx2100002183 xx2300000052 Use caution and pull the cable harness out 2 Product manual IRB 67...

Page 312: ...d spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Continues on next page...

Page 313: ...amaged On axis 4 motor 3HAC072863 003 Graphite White 3HAC072863 005 ABB Orange Connection box cover FS130 with gasket Replace if damaged On axis 5 motor 3HAC072863 003 Connection box cover with gasket...

Page 314: ...Lay the new cable harness on the floor and place the lower part around the manipulator to under stand the layout Refitting the cable harness in the lower arm Note Action xx1300000668 Tip Use tape and...

Page 315: ...rm 2 Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 3 Tightening torque 10 Nm xx2200001433 Continues on next page Product manual IRB 6720 315 3HAC085697 001 Revision C Copyrigh...

Page 316: ...of the lower arm 4 Tightening torque 6 Nm xx2100002182 Note Check that the cabling will stay a little bit twisted between the cable clamps Do not change the position of the brackets xx1300000595 xx210...

Page 317: ...gh the base Make sure that the cables are not twisted Each cable must be in line with its position on the base plate Make sure that the R1 SMB cable will run on the correct side of the R1 MP1 see the...

Page 318: ...les through the protection tube in the base 6 If necessary lubricate the cables with grease to make them run more smoothly If used run the DressPack hoses through the protection tube in the base 7 Mak...

Page 319: ...00000981 Refitting the SMB cabling Note Action xx2200001725 Refit and secure the cable inlet with the screws inside the SMB recess 1 Sealing compound 3HAC026759 002 Seal the cable inlet with sealing c...

Page 320: ...ing is used for 7th axis option refit the connector R1 SMB7 3 Connect the connectors R2 BU1 and R2 BU2 to the brake release board 4 Refitting the electronic box Note Action ELECTROSTATIC DISCHARGE ESD...

Page 321: ...003 1 pcs Collect the cables for axis 1 and axis 2 motors and secure them at the frame with straps 2 xx2200001752 Reconnecting the axis 1 and axis 2 motor cables Note Action Put the motor cables in p...

Page 322: ...ecure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 323: ...ge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange...

Page 324: ...Action Torx pan head screw M6x16 A4 80 Refit the metal clamp beneath the arm house 1 Tightening torque 10 Nm xx2200002142 xx1300000668 Tip Use tape and tie the axis 5 and axis 6 connectors and carrier...

Page 325: ...t Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of...

Page 326: ...ide the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp a...

Page 327: ...6 xx2100002677 With DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressP...

Page 328: ...ack Make sure that the tube is fitted correctly in both ends when fitting the cover Foundry Plus xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Reconnecting...

Page 329: ...ecure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 330: ...ge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange...

Page 331: ...routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1...

Page 332: ...and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the sign...

Page 333: ...Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a c...

Page 334: ...ier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult...

Page 335: ...e purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw...

Page 336: ...layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if...

Page 337: ...cable harness is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gas...

Page 338: ...head screw M6x16 A4 80 Refit the cable bracket underneath the tube shaft 2 Tightening torque 10 Nm xx2200001432 See product manual for the DressPack If used refit the DressPack cable package on the w...

Page 339: ...e met when performing the first test run See Test run after installation maintenance or repair on page 100 6 Product manual IRB 6720 339 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserve...

Page 340: ...l Note Article number Spare part L2 3HAC073540 001 Brake release unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189...

Page 341: ...pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressu...

Page 342: ...sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety info...

Page 343: ...nect the connectors R2 BU1 and R2 BU2 from the brake release board 3 xx2200001728 Remove the brake release unit by removing the screws Put the unit in an ESD bag 4 Refitting the brake release unit Use...

Page 344: ...off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 53 2 Cover electronics Check the el...

Page 345: ...eying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Reconnecting the brake release unit Not...

Page 346: ...to ESD on page 53 1 Torx pan head screw M6x60 4 pcs Refit the electronic box with the attachment screws 2 Tightening torque 10 Nm xx2200001721 Concluding procedures Note Action See Updating revolutio...

Page 347: ...le number Spare part L2 3HAC043904 001 Serial measurement unit Required service parts Note Article number Consumable Includes gasket Replace if damaged 3HAC081189 003 Graphite White 3HAC081189 004 ABB...

Page 348: ...pressure supply to the robot before entering the safeguarded space 2 Removing the electronic box Note Action DANGER Make sure that all supplies for electrical power hy draulic pressure and air pressur...

Page 349: ...Make sure that all supplies for electrical power hy draulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety...

Page 350: ...ARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 53 2 Cover electronics Check the electronic box gasket 3 3HAC...

Page 351: ...to its keying 6 xx2200001726 Connect all connectors to the SMB board R1 SMB1 3 R1 SMB4 6 and R2 SMB If cabling is used for 7th axis option refit the connector R1 SMB7 7 Refitting the electronic box N...

Page 352: ...See Updating revolution counters on page 592 Update the revolution counters 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation mainte...

Page 353: ...be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myABB Level Note Article number Spare part L2 3HAC081261 003 Graphite White 3HAC081261 004 ABB Orange M...

Page 354: ...e pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool motor M12 User instructions are enclosed with the tool...

Page 355: ...o bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 594 If no previous reference values...

Page 356: ...the attachment screws 5 Floor mounted robot Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned of...

Page 357: ...tachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6720 357 3HAC085697 001 Revision C Copy...

Page 358: ...ure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender t...

Page 359: ...ressing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follo...

Page 360: ...to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old pa...

Page 361: ...to the new spare part motor 4 Floor mounted robot Refitting the axis 1 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs xx2200001819 C...

Page 362: ...with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the ri...

Page 363: ...brake release tool 8 O ring G 1 2 3HAC061327 059 Refit the oil plug with a new o ring 9 Tightening torque 24 Nm xx2200002147 See Performing a leak down test on page 186 Perform a leak down test 10 Co...

Page 364: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 365: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orang...

Page 366: ...s 1 cable protection plates with the attachment screws 1 Hex socket head cap screw M10x16 stainless steel A2 70 3 pcs xx2200001430 Concluding procedure Use this procedure for the concluding refitting...

Page 367: ...Replace the motor Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB Business Portal www abb com myA...

Page 368: ...er instructions are enclosed with the tool 3HAC081310 001 Brake release tool 300 mm bits 1 2 3HAC12342 1 Bits extender Always use guide pins in pairs 3HAC15521 2 Guide pin M10x150 Used to push out the...

Page 369: ...es These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration...

Page 370: ...ox on page 150 Drain the oil from the gearbox 4 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 5 Disconnecti...

Page 371: ...tachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6720 371 3HAC085697 001 Revision C Copy...

Page 372: ...gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the lower arm will be movable and may fall down if not secured Verify that the lower arm is secured as previously...

Page 373: ...to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180 seconds...

Page 374: ...on threaded hole 7 Removal tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2300000043 CAUTION Whenever...

Page 375: ...ting the motor Use these procedures to refit the axis 2 motor Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air press...

Page 376: ...100000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pair...

Page 377: ...Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page Product manual IRB 6720 377 3HAC085697 0...

Page 378: ...may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears ma...

Page 379: ...e the guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 18...

Page 380: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 381: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orang...

Page 382: ...lock screw that secures the lower arm 1 xx2200001332 Remove the lock screw 2 See Filling oil into the axis 2 gear box on page 152 Refill the gearbox with oil 3 See Calibration on page 585 Re calibrate...

Page 383: ...4 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 3 motor 3HAC074336 004 Graphite White 3HAC074336 005 ABB Or...

Page 384: ...it on page 629 Standard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the motor Note Action Decide which calibration routine to use and take actions...

Page 385: ...Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power ca...

Page 386: ...e screws 5 Remove the motor cables from the motor 6 Removing the axis 3 motor Note Action Before removing the motor make sure that the gearbox is completely drained 1 Continues on next page 386 Produc...

Page 387: ...motor results in weight transfer of upper arm weight Verify that the upper arm rests against the mechanical stop or installed lifting accessories before releasing the brakes 3 User instructions are e...

Page 388: ...is used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its posi...

Page 389: ...hen use Loctite 7063 for cleaning the mating surface 2 Flange sealant Loctite 5800 Apply a continuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The pur...

Page 390: ...release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user i...

Page 391: ...attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the screws xx2100002152 Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Remove the g...

Page 392: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 393: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orang...

Page 394: ...80 Refit the metal clamp beneath the arm house 2 Tightening torque 10 Nm xx2200002142 See Filling oil into the axis 3 gear box on page 158 Refill the gearbox with oil 3 See Calibration on page 585 Re...

Page 395: ...L2 3HAC081177 003 Graphite White 3HAC081177 004 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 4 motor 3HAC...

Page 396: ...tion toolbox Axis Calibra tion Content is defined in section Standard toolkit on page 629 Standard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the...

Page 397: ...Disconnecting the motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2...

Page 398: ...e the motor cables from the motor 6 Removing the axis 4 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next...

Page 399: ...uide pins in pairs xx2300000009 Removal tool motor M12 3HAC14631 1 Fit removal tools in the threaded holes 4 Used to push out the motor if ne cessary Always use removal tools in pairs xx2300000047 Con...

Page 400: ...th the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool WARNING Electrical damage to the motor may occur if 24V...

Page 401: ...any old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7...

Page 402: ...guide pins in opposite holes 1 Always use guide pins in pairs xx2100002201 CAUTION The weight of the motor is 12 kg 2 Rotation tool M4 3HAB7887 1 Apply the rotation tool 3 Continues on next page 402...

Page 403: ...the spe cified brake release tool to eliminate the risk xx2300000007 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the g...

Page 404: ...the guide pins and replace with the remaining attachment screws 8 xx2300000011 Tightening torque 50 Nm Tighten the screws 9 Disconnect the brake release tool 10 See Performing a leak down test on page...

Page 405: ...secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 406: ...nge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orang...

Page 407: ...e Filling oil into the axis 4 gear box on page 162 Refill the gearbox with oil if drained 1 See Calibration on page 585 Re calibrate the robot 2 DANGER Make sure all safety requirements are met when p...

Page 408: ...nection box and pinion Required service parts Note Article number Consumable Loctite 5800 Flange sealant Loctite 7200 Cleaning agent Loctite 7063 Cleaning agent Replace if damaged On axis 5 motor 3HAC...

Page 409: ...or Preparations before removing the axis 5 motor Note Action Decide which calibration routine to use and take actions accordingly prior to begin ning the repair procedure 1 xx2200001814 Jog the robot...

Page 410: ...ball joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed...

Page 411: ...sure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 xx2200001734 Disconnect the signal cable connector 4 Continues on next page Product...

Page 412: ...tor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws that secure the mot...

Page 413: ...l xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the specified brake release tool to eliminate the risk CAUTION Th...

Page 414: ...ontinuous bead of flange sealant 1 2 mm wide inside of the groove on the motor con tact surface Note The purpose of the groove is to catch excess sealant No o ring is used 3 xx2100000520 Remove the co...

Page 415: ...motor may occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION The weight of the motor is 11 kg All lifting acce...

Page 416: ...m a leak down test 9 Disconnect the brake release tool 10 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1 Torx pan head screw M3x12 Stainless steel A2 70...

Page 417: ...and forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the sign...

Page 418: ...equivalent Loctite 243 Use locking liquid Tightening torque 6 Nm xx2100002495 Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Refitting the wrist cover Note Act...

Page 419: ...ng procedure Note Action See product manual for the DressPack If used refit the DressPack cable package on the wrist 1 See Filling oil into the axis 5 gearbox on page 167 Refill the gearbox with oil i...

Page 420: ...L2 3HAC079162 003 Graphite White 3HAC079162 004 ABB Orange Motor unit including connection box and pinion Required service parts Note Article number Consumable Replace if damaged On axis 6 motor 3HAC0...

Page 421: ...ard toolkit Removing the motor Use these procedures to remove the motor Preparations before removing the axis 6 motor Note Action Decide which calibration routine to use and take actions accordingly p...

Page 422: ...xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues...

Page 423: ...e tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the t...

Page 424: ...refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleaning agent Loctite 7200 Loc tite 7063 Remove any old paint...

Page 425: ...ol 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The...

Page 426: ...or pinion is properly mated to the gear of the gearbox the motor pinion does not get dam aged Remove the guide pins 6 Hex socket head cap screw M8x30 12 9 Gleitmo 603 Geomet 500 4 pcs Secure the motor...

Page 427: ...rding to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connectors to each other in the br...

Page 428: ...eplace if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 7...

Page 429: ...e 593 Re calibrate the robot 2 General calibration information is included in section Calibration on page 585 DANGER Make sure all safety requirements are met when performing the first test run See Te...

Page 430: ...ntaining the major actions to be performed 1 Drain the axis 1 gearbox 2 Remove the cabling from the base 3 Remove the axis 1 motor 4 Remove the complete arm system complete robot excluding the base an...

Page 431: ...if damaged xx2200001407 A 3HAB3772 164 B 3HAC061327 065 O ring Replace if damaged On axis 1 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connec...

Page 432: ...Always use guide pins in pairs 3HAC062397 001 3HAC062398 001 Guide pin M16x120 Guide pin M16x250 Used to push out the motor if necessary Always use removal tools in pairs 3HAC14631 1 Removal tool moto...

Page 433: ...ence values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference cal...

Page 434: ...he frame attachment screws Note Action xx2200001458 Jog the robot into calibration position 1 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot befor...

Page 435: ...Remove six of the seven attachment screws under the balancing device Note Leave the screw closest to the axis 1 motor fitted 4 xx2200001402 Position for the floor mounted robot Note Action Turn on the...

Page 436: ...g the safeguarded space 3 Attaching the lifting accessories to the arm system Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 C...

Page 437: ...Fit a roundsling to the lifting eye 4 xx2200001523 Roundsling 2 m Run a roundsling through the hole in the frame 5 xx2200001524 Continues on next page Product manual IRB 6720 437 3HAC085697 001 Revis...

Page 438: ...ich risks to damage the gear 7 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 8 Lifting eye 3HAC16131 1 Fit...

Page 439: ...chain a shorter than chain b Preparations before removing the axis 1 gearbox Use this procedure to do the necessary preparations before removing the gearbox Note Action Decide which calibration routin...

Page 440: ...l be some oil left in the gear after draining 4 Disconnecting the axis 1 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned...

Page 441: ...achment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6720 441 3HAC085697 001 Revision C Copyr...

Page 442: ...l supplies for electrical power hydraulic pressure and air pressure are turned off 1 Bits extender 3HAC12342 1 Unscrew the attachment screws and washers 2 xx2200001794 Use a bits extender to reach the...

Page 443: ...essing the brake release button on the tool The power for brake release is only applied for 180 seconds after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow...

Page 444: ...nion parted from the gear 9 Disconnect the brake release tool 10 Preparations before removing the cable harness in the base Note Action DANGER Make sure that all supplies for electrical power hydrauli...

Page 445: ...Disconnect the earth cable 5 Removing the cable harness from the base Note Action If equipped with DressPack pull out the DressPack cables through the protection tube 1 Continues on next page Product...

Page 446: ...the draining equipment 1 xx2200001610 Remove the protection ring from the frame 2 xx2200001611 Measure the distance from the edge of the frame to the radial sealing at three different locations and m...

Page 447: ...se the overhead crane to stretch all lifting accessories 4 Continues on next page Product manual IRB 6720 447 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing...

Page 448: ...ment screws that hold the frame to the axis 1 gearbox 5 xx2200001405 xx2200001404 Continues on next page 448 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 5...

Page 449: ...e the frame slide better 6 Always use guide pins in pairs xx2200001423 xx2200001424 CAUTION The weight of the complete arm system is 865 kg All lifting accessories must be sized accord ingly 7 Continu...

Page 450: ...on the floor 9 DANGER When the complete arm system is removed and resting by itself on the floor make sure it is resting completely stable before remov ing the lifting accessories Do not change the p...

Page 451: ...Fit two lifting eyes manually in opposite holes in the gearbox CAUTION Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to...

Page 452: ...ortant when refitting the arm system if it needs to be installed in the same orienta tion as removed 6 Lifting accessory chain 3HAC15556 1 Attach the lifting accessory chain to the lifting eyes and li...

Page 453: ...ged 1 Guide pin M12x200 3HAC13056 3 Fit guide pins in opposite holes in the base Tip Lubricate the guide pins with some grease to make the gearbox slide better 2 Always use guide pins in pairs xx22000...

Page 454: ...Leave a couple of millimeters of space between the lifting accessory and the surface of the gearbox This is done in order not to damage the surface of the gearbox which is a sealing surface 2 xx22000...

Page 455: ...7 O ring A 3HAB3772 164 B 3HAC061327 065 Grease Shell Gadus S2 3HAC042536 001 Check the o ring and lubricate Replace if damaged 5 xx2200001407 Continues on next page Product manual IRB 6720 455 3HAC08...

Page 456: ...9 Apply rust preventive to the inner surface of the hole as shown in the figure Refitting the axis 1 gearbox to the base Note Action Guide for reduction gear 3HAC043870 009 Fit the guide for the gear...

Page 457: ...eyes 4 Attachment screws M12x60 12 9 Gleitmo 603 Geomet 500 16 pcs Fit the attachment screws and washers Tighten by hand 5 xx2200001408 Tightening torque standard torque 120 Nm Tightening torque for l...

Page 458: ...g interface on the gearbox both inside and outside of the screw holes Apply some grease on the edge of the sealing tube the edge around the gearbox 3 Continues on next page 458 Product manual IRB 6720...

Page 459: ...n the gearbox Tip Lubricate the guide pins with some grease to make the frame slide better 4 Always use guide pins in pairs xx2200001419 xx2200001420 Continues on next page Product manual IRB 6720 459...

Page 460: ...all lifting accessories still is fitted correctly on the arm system 3 Lift the arm system up to reach the contact surfaces underneath the frame 4 Wipe clean the contact surfaces from any remaining con...

Page 461: ...iding pin in the gearbox is aligned with the pin hole in the frame xx2300000013 7 Lower the arm system to align the longest guide pin into the hole 8 xx2200001420 Lower the arm system to align the oth...

Page 462: ...rom the front back that the frame is coming down completely level against the gearbox If the frame is somewhat tilted adjust the lifting position with the overhead crane Note While lowering the comple...

Page 463: ...gnment of the sealing if needed 14 Hex socket head cap screw M16x50 12 9 Gleitmo 603 Geomet 500 Fit and tighten the accessible attachment screws to secure the frame to the axis 1 gearbox 15 Tightening...

Page 464: ...ws on page 626 Remove the two guide pins and refit remain ing attachment screws Tighten the remaining accessible attach ment screws 16 xx2200001403 xx2200001405 xx2200001404 Continues on next page 464...

Page 465: ...ntamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063 for cleaning the mating surface 2 Flange sealant...

Page 466: ...ase button on the tool The power for brake release is only applied for 180 seconds after activation DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instruc...

Page 467: ...e the motor with its attachment screws and washers Use a bits extender to reach the screws 7 Bits extender 3HAC12342 1 Tightening torque 50 Nm xx2200001794 Disconnect the brake release tool 8 O ring G...

Page 468: ...36 Run the cabling through the base Make sure that the cables are not twisted Each cable must be in line with its position on the base plate Make sure that the R1 SMB cable will run on the correct sid...

Page 469: ...les through the protection tube in the base 6 If necessary lubricate the cables with grease to make them run more smoothly If used run the DressPack hoses through the protection tube in the base 7 Mak...

Page 470: ...70 5 pcs Refit the base cover 10 Tightening torque 10 Nm xx2100000981 Connecting the axis 1 motor cables Note Action Put the motor cables in place in the open ing 1 Continues on next page 470 Product...

Page 471: ...ecure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 472: ...ge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange...

Page 473: ...op Note Action Rust preventive 3HAC034903 001 Mer casol 3110 Waxcoat Recommended dry ing time is 24h Protection type Foundry Plus Clean and apply rust preventive on the sur faces shown in the figure o...

Page 474: ...op pin can move some millimeters in vertical direction This verifies that the screw is inserted in the groove and not against the flange 3 Tighten the screw with tightening torque xx2200001500 Refitti...

Page 475: ...tandard torque 300 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 626 xx2200001401 See Calibration on page 585 Calibrate the robot 4 DANGER Ma...

Page 476: ...erial nearby the robot If needed run axis 1 into a position that gives the required space The figure shows an example xx2300000026 Note Keeping the cable harness and DressPack fitted on the robot duri...

Page 477: ...ets inside the lower arm and on the frame 4 Remove the upper and lower arm mounted together as an assembly 5 Remove the axis 2 motor 6 Replace the axis 2 gearbox Required spare parts Note The spare pa...

Page 478: ...12 2 pcs 3HAC16131 1 Lifting eye SA 10 8 NA1 Lifting shackle Outer diameter minimum 26 mm maximum 30 mm hole diameter 13 mm thickness 3 mm Fender washer Lifting instruction 3HAC15880 2 enclosed 3HAC15...

Page 479: ...Replace if damaged On axis 2 motor 3HAC072864 003 Graphite White 3HAC072864 005 ABB Orange 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Connection b...

Page 480: ...reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about referen...

Page 481: ...cking position with the Hydraulic press equipment balancing device Use this procedure to unload and lock the balancing device in unloaded position with the Hydraulic press equipment balancing device 3...

Page 482: ...nclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions fo...

Page 483: ...accessory to the shackle and raise to unload the weight 3 xx2200001459 Removing the shaft in the front link ear Note Action xx2200001460 Remove the protection plug at the link ear 1 Continues on next...

Page 484: ...User instructions are enclosed with the tool xx0900000813 Go to the user instructions enclosed with the press tool DANGER Handling the tool incorrectly will cause serious injury Read and follow enclo...

Page 485: ...n off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 See Draining the axis 2 gearbox on page 151 Begin draining the gearbo...

Page 486: ...slide de pends on robot variant insert a M12x50 securing screw not more than 10 15 mm into the screw hole shown in the figure If DressPack cable package is installed use the ball joint housing instead...

Page 487: ...3 mm xx2100002146 xx1400000355 If the robot is equipped with DressPack unscrew the attachment screws of the bracket that holds the ball joint housings on the wrist The DressPack can stay fitted in th...

Page 488: ...etween the wrist and the lower arm is stretched Loosening the cable brackets Use this procedure to lift the lower and upper arm mounted together with the cable harness and DressPack kept installed in...

Page 489: ...e the mounting plate from the arm house 2 xx2100001104 Unscrew the attachment screws that secure the axis 2 lower arm metal clamp and the axis 3 lower arm metal clamp located on the inside of the lowe...

Page 490: ...all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Remove the motor cover by removing the screws 2 xx2200001736 Disconnect the power cable connector by first remov...

Page 491: ...screws 5 Remove the motor cables from the motor 6 Removing the axis 2 motor Note Action Before removing the motor make sure that the gearbox is completely drained 1 Continues on next page Product man...

Page 492: ...h the tool xx2100000666 Release the brakes on the motor with the brake release tool to unload the weight 1 Turn off the brake release tool 2 Connect the tool to the motor power connector MP 3 Release...

Page 493: ...moval tool motor M12 3HAC14631 1 Fit a removal tool in the threaded hole Tip Lubricate the guide pins with some grease to make the motor slide better xx2000000456 Bits extender 3HAC12342 1 Remove the...

Page 494: ...n re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its position by using the removal tools 10 Always use removal tools in pairs Remove the removal tools CAUTION The...

Page 495: ...fting away the lower and upper arms un separated Step 2 Use this procedure for the second step to remove and lift the lower and upper arm un separated Note Action xx2300000026 Put two foam boards pall...

Page 496: ...to stretch any cabling CAUTION Use extreme caution when lifting away the arms The cable harness is still partly con nected xx2100001103 Lift the arm system and lay it down safely on the boards Use a...

Page 497: ...Lubricate the guide pins with some grease to make the lower arm slide better xx2000000465 Leave one of the upper attachment screws and remove the rest The remaining screw is used to prevent the gearbo...

Page 498: ...ttach the lifting accessory to the gearbox 7 Remove the stoppers from the guide pins and remove the gearbox 8 Refitting the gearbox Use these procedures to refit the gearbox Preparations before refitt...

Page 499: ...opanol Wipe clean the contact surfaces on both the gearbox and the frame from any con tamination Note Also wipe clean the o ring groove 4 O ring 3HAC061327 066 Check the o ring 5 xx2100001132 Replace...

Page 500: ...Apply rust preventive to the gearbox sur face shown in the figures 7 xx2100001105 Refitting the axis 2 gearbox Use this procedure to refit the gearbox Note Action CAUTION The weight of the gearbox is...

Page 501: ...ake the gearbox slide better xx2100002414 Lift the gearbox and let it rest on the guide pins CAUTION Use stoppers on the guide pins 3 Remove the lifting accessory DANGER There is a risk that the gearb...

Page 502: ...and fit the remain ing attachment screws and washers 6 Tightening torque standard torque 120 Nm Tightening torque for lubricated screws Molykote Gleitmo or equivalent with allen head screws on page 62...

Page 503: ...de pins with some grease to make the lower arm slide better CAUTION The weight of the complete upper and lower arm together is 470 kg All lifting accessories used must be sized accordingly 2 Attach th...

Page 504: ...the hole pattern does not match use the adjustment tool in the axis 2 gear and ro tate until a matching hole pattern is achieved xx1300000819 xx2300000028 Slide the arms into position on the guide pin...

Page 505: ...Remove the lifting accessories 10 Preparations prior to refitting motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cleani...

Page 506: ...00000520 Remove the cover if fitted to the new spare part motor 4 Refitting the axis 2 motor Note Action Guide pin M10x150 3HAC15521 2 Fit guide pins in opposite holes 1 Always use guide pins in pairs...

Page 507: ...Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear 4 Continues on next page Product manual IRB 6720 507 3HAC085697 00...

Page 508: ...ay occur if 24V is supplied to the motor connector for more than 30 seconds Use the spe cified brake release tool to eliminate the risk CAUTION Whenever parting mating motor and gear box the gears may...

Page 509: ...e guide pins and refit the remain ing attachment screws 9 xx2300000044 Tightening torque 50 Nm Tighten the screws 10 Disconnect the brake release tool 11 See Performing a leak down test on page 186 Pe...

Page 510: ...ecure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 511: ...ge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange...

Page 512: ...arm 1 Torx pan head screw M6x16 A4 80 Secure the upper and lower cable clamps inside the lower arm with the attachment screws Note The screws are reached from the outside of the lower arm 2 Tightening...

Page 513: ...the in side of the lower arm with attachment screws 4 Locking liquid Loctite 2400 or equivalent Loctite 243 Use locking liquid xx2300001088 The dress pack cables between the upper and lower bracket ma...

Page 514: ...all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Refitting the front shaft of the balancing device Note Action Lifting shack...

Page 515: ...link ear with the hole in the lower arm Note Verify that the link ear is correctly turned 5 xx2200001917 Lubricate the shaft and place it to the front ear Note Foundry Plus Do not lubricate surfaces...

Page 516: ...ctly will cause serious injury Read and follow enclosed user instructions for the tool Hex socket head cap screw M16x70 8 8 A3F Apply locking liquid on the first threads of the screw 8 Washer Steel 17...

Page 517: ...ng the Hydraulic press equipment balancing device Note Action User instructions are enclosed with the tool Restore the balancing device and remove the press equipment according to instruc tions for th...

Page 518: ...ts of the ball joint housings on the wrist 1 Remove the lifting accessory from the balancing device 2 See Filling oil into the axis 2 gear box on page 152 Refill oil to the axis 2 gearbox 3 See Calibr...

Page 519: ...prepared service area 5 Replace the axis 3 gearbox Required spare parts Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the IRB 6720 via myABB...

Page 520: ...s in pairs 3HAC14631 1 Removal tool motor M12 Always use guide pins in pairs 3HAC13056 2 Guide pin M12x150 For lifting the gearbox 3HAC081585 001 Lifting accessory for gear Used to push out the gearbo...

Page 521: ...e to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibratio...

Page 522: ...pressure supply to the robot before entering the safe guarded space 4 xx1200001331 A Attachment screw to be removed B Attachment screw not to be removed If robot is equipped with DressPack Unscrew the...

Page 523: ...e DressPack cable package 6 xx2200001432 Remove the cable bracket underneath the tube shaft Note If DressPack is fitted the cable fixing bracket is replaced by the cable guide xx1300001973 7 xx2200001...

Page 524: ...all joint housing still fitted if the bracket is installed over the two wrist screws Note No need to remove the bracket if the two wrist screws are accessible 2 xx2100002709 If DressPack is installed...

Page 525: ...xx2200001434 Unscrew the attachment screws and re move the motor cover 2 xx2200001730 Remove the connector bracket 3 xx2200001731 Remove the connector screw 4 Disconnect the motor cables 5 Continues o...

Page 526: ...the carri er Note The screw is located at the bottom of the carrier 2 xx1300000666 Lift out the axis 6 motor cables by holding the cables with one hand at the motor and the other at the carrier 3 Cont...

Page 527: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2100002625 Cut the cable tie 2 xx2100002495 Remove the motor cover by removing the screws 3 Continues on next page Pr...

Page 528: ...y removing the screws 6 Remove the motor cables 7 Disconnecting the axis 3 and axis 4 motor cables Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressu...

Page 529: ...y first removing the attachment screw and then parting the connector 3 xx2200001737 Disconnect the signal cable connector by pulling it out 4 Continues on next page Product manual IRB 6720 529 3HAC085...

Page 530: ...ist and upper arm Note Action Protection type Foundry Plus Foundry Plus DressPack 1 xx2000000422 Remove the back cover Note Use caution not to damage the gasket DressPack xx2300001040 Continues on nex...

Page 531: ...ie the axis 5 and axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the removal and to avoid damaging the parts This will also make it easier to run the cable...

Page 532: ...xis 4 metal clamp inside the arm tube Note The screw is reached from outside the up per arm 6 xx2300000032 xx2200002142 Remove the arm house metal clamp 7 Continues on next page 532 Product manual IRB...

Page 533: ...s step is best performed by two persons working together Person 1 Put one hand inside the side hole and take a hold of the cable harness Person 2 Take a hold on the cable harness at the back of the ro...

Page 534: ...6 Lifting accessory chain 3HAC15556 1 Attach the Lifting accessory chain to an overhead crane or similar then to the lifting eye in the arm house and to a roundsling run through the wrist 3 Roundsling...

Page 535: ...sure that the gearbox is completely drained 1 DANGER When releasing the holding brakes of the motor the upper arm will be movable and falls down if not secured Verify that the upper arm is secured as...

Page 536: ...echanical stop or installed lifting accessories before releasing the brakes 3 User instructions are enclosed with the tool xx2100000666 DANGER Handling the tool incorrectly will cause serious injury R...

Page 537: ...s used 8 The power is only applied for 180 seconds after activation Activate the brake release tool again re lease the brakes 9 Used to push out the motor if necessary Press the motor out of its posit...

Page 538: ...Leave one of the remaining attachment screws fitted remove the other screws 2 Removing the upper arm Note Action xx1400002197 Note Make sure the lift is done completely leveled In case of necessary a...

Page 539: ...ure This is done in order to keep the axis 3 gearbox in a vertical position and to get the best position to replace the axis 3 gearbox if applicable 4 Removing the axis 3 gearbox Use this procedure t...

Page 540: ...below the gearbox 4 xx2100002448 Remove the remaining attachment screw and loosen the gearbox with help of the removal tools Only pull out the gearbox a little bit on the guide pins DANGER There is a...

Page 541: ...tting it slide out on the guide pins 8 xx2100002460 Remove the gearbox 9 Refitting the gearbox Use these procedures to refit the axis 3 gearbox Preparations before refitting the axis 3 gearbox Note Ac...

Page 542: ...aning agent Isopropanol Wipe clean the contact surfaces of both the gearbox and the upper arm from any con tamination 4 O ring 3HAC061327 063 Check the o ring 5 xx2100001237 Replace if damaged Continu...

Page 543: ...uide pins in pairs xx2100002462 Tip Lubricate the guide pins with some grease to make the lower arm slide better xx2100002460 Lift the gearbox and let it rest on the guide pins 2 Remove the lifting ac...

Page 544: ...equivalent with allen head screws on page 626 Tighten the attachment screws 6 Preparations before refitting the upper arm Note Action Wipe clean all contact surfaces 1 Guide pin M12x150 3HAC13056 2 F...

Page 545: ...1 Use the adjustment tool to rotate the axis 3 gearbox and find the correct position for the guide pins in the lower arm 4 xx2000000395 Fit the upper arm to the lower arm CAUTION Do not damage the cab...

Page 546: ...old paint or flange sealant residues or other contamination from the contact surfaces on both the motor and the mating parts Tip Remove flange sealant residues with Loctite 7200 Then use Loctite 7063...

Page 547: ...he tool to the motor power connector MP 3 Release the brakes by turning on the brake release tool and pressing the brake release button on the tool The power for brake release is only applied for 180...

Page 548: ...he correct way Hex socket head cap screw M10x30 12 9 Gleitmo 603 Geomet 500 2 pcs Fit two of the attachment screws and washers 7 Bits extender 3HAC12342 1 Use a bits extender in order to reach the scr...

Page 549: ...d axis 6 connectors and carrier into a bundle if not already done This is done to facilitate the procedure and to avoid damaging the parts during the procedure This will also make it easier to run the...

Page 550: ...Together Use caution and move the cable harness into the arm tube 3 xx2300000039 Person 2 working at the side hole xx2300000040 Note The cable harness is best placed at the upper right hand side of t...

Page 551: ...de the wrist Together Move the cable harness past the axis 5 motor and into the wrist 4 xx2300000035 Person 2 working at the wrist xx2300000041 Torx pan head screw M6x16 A4 80 Refit the metal clamp ax...

Page 552: ...6 xx2100002677 With DressPack Refit the insert that guides the DressPack cable package through the hole in the up per arm Cable guard C is available for Foundry cable guard 7 xx1400000092 With DressPa...

Page 553: ...ack Make sure that the tube is fitted correctly in both ends when fitting the cover Foundry Plus xx2100002636 DressPack Locking liquid Loctite 2400 or equivalent Loctite 243 xx2300001040 Reconnecting...

Page 554: ...ecure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw has been tightened according...

Page 555: ...ge 3HAC074336 004 Graphite White threaded connection 3HAC074336 005 ABB Orange threaded connection Axis 3 Connection box cover FS180 with gasket 3HAC074336 004 Graphite White 3HAC074336 005 ABB Orange...

Page 556: ...routed correctly to each motor according to the figure and according to the markings on the connectors 1 Connecting the axis 5 motor cables Note Action Put the motor cables in place in the open ing 1...

Page 557: ...nd forth after the screw has been tightened according to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms xx2200001734 Connect the signa...

Page 558: ...Cable strap outdoor 3HAC057966 003 Secure the cabling with a cable strap 8 xx2100002625 Inserting the axis 6 motor cables Note Action Note Axis 5 must be in position 90 or as close as possible for a c...

Page 559: ...ier carefully into position 3 xx1300000485 Secure the carrier with the M4x10 screw Note The screw is located at the bottom of the carrier Tip The attachment screw securing the carrier may be difficult...

Page 560: ...e purpose of the screw is to secure the mating of the connectors and the position ing of the connector in the connection box It is normal that the connector can be moved back and forth after the screw...

Page 561: ...layout as shown in the figure CAUTION Route the signal cabling correctly to avoid cable damage 5 Connection box cover MT100X with gasket Inspect the gasket 6 3HAC079381 003 Graphite White Replace if d...

Page 562: ...able harness is routed and secured as shown in the figure 1 Wrist cover Foundry Plus 2 3HAC078635 004 Graphite White Inspect the gasket 3HAC078635 005 ABB Orange Replace the complete cover if the gask...

Page 563: ...and DressPack back to the correct side of the robot 2 xx1800000042 Refit the axis 3 lower arm metal clamp the one closest to the axis 3 gearbox located on the inside of the lower arm Note The screw i...

Page 564: ...le fixing bracket is replaced by the cable guide xx1300001973 6 Tightening torque 10 Nm xx2200001432 xx2200001432 Secure the cable harness to the arm house eyelet with a cable tie Note If DressPack is...

Page 565: ...alent Loctite 243 If robot is equipped with DressPack Fit the cable package bracket to the arm house with the attachment screws 9 xx2300001090 Twist the dress pack cables between the upper and lower a...

Page 566: ...1088 The dress pack cables between the upper and lower bracket may not be twisted more than 1 2 turn xx2300001089 Torx pan head screw M6x16 Stainless steel A2 70 2 pcs Refitting DressPack cable packag...

Page 567: ...es Note Action Torx pan head screw M6x16 A4 80 Refit the metal clamp to the arm house 1 Tightening torque 10 Nm xx2200001433 See Filling oil into the axis 3 gearbox on page 158 Refill oil in the gearb...

Page 568: ...place if damaged 3HAB3772 170 O ring Replace if damaged On axis 6 motor 3HAC079381 003 Graphite White 3HAC079381 004 ABB Orange Connection box cover MT100X with gasket Used on oil plug Always replace...

Page 569: ...ack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with r...

Page 570: ...on the turning disc 4 xx2300001210 If used open the DressPack axis 6 cable support and remove the DressPack cable package from the process turning disk Note Use caution not to lose the two clamp jaws...

Page 571: ...s 6 0 6 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safe guarded space 7 Removing the turning disc Note Action xx2200001807...

Page 572: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2200001434 Unscrew the attachment screws and re move the motor cover 2 Continues on next page 572 Product manual I...

Page 573: ...t the motor cables 5 Removing the axis 6 gearbox Note Action xx2200001804 Unscrew the attachment screws that secure the axis 6 gearbox 1 Continues on next page Product manual IRB 6720 573 3HAC085697 0...

Page 574: ...2 Guide pin M6x150 3HAC080345 001 Fit guide pins 3 Always use guide pins in pairs xx2200001821 Continues on next page 574 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All right...

Page 575: ...follow enclosed user instructions for the tool 4 User instructions are enclosed with the tool xx2100000666 WARNING Electrical damage to the motor may occur if 24V is supplied to the motor connector fo...

Page 576: ...opropanol Wipe clean the contact surfaces of both gearbox and wrist from any contamination 2 O ring 3HAB3772 170 Check the o ring 3 xx2100002258 Replace if damaged P 80 rubber lubrication gel 3HAC0744...

Page 577: ...s after activa tion DANGER Handling the tool incorrectly will cause serious injury Read and follow enclosed user instructions for the tool 6 User instructions are enclosed with the tool xx2100000666 W...

Page 578: ...pinion slightly using the rotation tool Make sure that the motor pinion is properly mated to the gear of the gearbox CAUTION Be careful not to damage motor pinion or gears Tip Verify that the oil plug...

Page 579: ...rews on page 626 xx2200001804 Disconnect the brake release tool 6 See Performing a leak down test on page 186 Perform a leak down test 7 Jog axis 5 to horizontal position 8 See Filling oil into the ax...

Page 580: ...ding to the torque specification and in some connection boxes that the screw is not even fully inser ted when it bottoms 2 xx2200001731 xx2200001921 Snap the signal connectors to each other in the bra...

Page 581: ...place if damaged 3HAC079381 004 ABB Orange xx2200001922 CAUTION When fitting the motor cover make sure that none of the cables inside will be dam aged 7 Torx pan head screw M5x12 Stainless steel A2 70...

Page 582: ...according to the synchronization marks 3 Hex socket head cap screw M8x25 12 9 Gleitmo 603 Geomet 500 Secure the turning disc with its attachment screws and washers 4 Washer Steel 8 4x13x1 5 Tightenin...

Page 583: ...ake sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 100 2 Product manual IRB 6720 583 3HAC085697 001 Revision C Co...

Page 584: ...This page is intentionally left blank...

Page 585: ...generic term for all calibration methods that aim to move the robot to calibration position Standard calibration A calibration routine that generates a new zero posi tion of the robot Fine calibration...

Page 586: ...curacy has the option information printed on its name plate OmniCore To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy after repair or maintenance that...

Page 587: ...after replacements that do not include taking apart the robot structure standard calibration is sufficient The Absolute Accuracy option varies according to the robot mounting position This is printed...

Page 588: ...counter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 592 This will occur when The battery is discharged A resolver erro...

Page 589: ...he position of the synchronization marks and the synchronization position for each axis Synchronization marks IRB 6710 IRB 6720 IRB 6730 IRB 6740 xx2200002087 Continues on next page Product manual IRB...

Page 590: ...xx2200002088 590 Product manual IRB 6720 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes Continued...

Page 591: ...in gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive di...

Page 592: ...ution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant OmniCore Action On the start screen tap Calibrate 1 The calibration summary page for the mec...

Page 593: ...vable calibration tool is inserted by the operator into a calibration bushing on the axis chosen for calibration according to instructions on the FlexPendant WARNING Calibrating the robot with Axis Ca...

Page 594: ...echnical data about the tool installed A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory The reference value w...

Page 595: ...allowed to be jogged to other position than 0 degrees Axis must be put in position 0 degrees 0 System containing SafeMove SafeMove will lose its synchronization to the controller if a new calibration...

Page 596: ...amage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools Required if Axis Calibration is the valid calib ration method for the robot 3HAC074564 001...

Page 597: ...solution Note Action It is possible to use any RFID solution with the correct dimensions ABB has verifed function on some suppliers fulfilling the requirements of NFC compatible devices 13 56 Mhz acc...

Page 598: ...in and a bushing for the movable calibration tool are located on each axis as follows If there is not enough space on an axis to install a fixed calibration pin the axis is equipped with two bushings...

Page 599: ...eplace damaged parts with new Note Article number Spare part Contains replacement calibration pin covers and protective plugs for the bushings 3HAC064875 001 axes 1 2 3 and 4 3HAC059487 001 axes 5 and...

Page 600: ...over and plug set Overview of the calibration procedure on the FlexPendant The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant Y...

Page 601: ...affect the calibration value 2 Starting the calibration procedure Use this procedure to start the Axis Calibration routine on the FlexPendant Note Action Tap the calibration icon and enter the calibr...

Page 602: ...alibration tool is in contact the robot axis needs to be jogged in order to release the calibration tool Jogging the axis in wrong direction will cause the calibration tool to break Directions of axis...

Page 603: ...s 1 2 3 and 4 3HAC059487 001 axes 5 and 6 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not...

Page 604: ...alibration to save reference values for all axes that is to be replaced Make sure that the values are saved in RobotStudio or FTP program The files are located in Active system folder name HOME RefCal...

Page 605: ...e ie 96 3 94 2 2 1 degrees 8 Manually jog axis 4 the calculated angle difference 2 1 NOTE The direction shall be the same direction as the direction used when axis 4 was manually jogged to coincide wi...

Page 606: ...tion program twice Do not change the position of the robot axes after running the program 1 This is detailed in section Synchronization marks and synchronization position for axes on page 589 Adjust t...

Page 607: ...rectly If they do not update the revolu tion counters 6 Using the jogging window Use this procedure to jog the robot to the synchronization position of all axes Note Action Tap Jog 1 From the Mechanic...

Page 608: ...This page is intentionally left blank...

Page 609: ...s 2 Divide the fault chain in two 3 Check communication parameters and cables 4 Check that the software version is compatible with the hardware Work systematically 1 Take a look around to make sure th...

Page 610: ...d Check all connections to the replaced part power supplies that the correct part has been fitted the last repair documents The robot has recently been repaired Check software versions compatibilities...

Page 611: ...the oil spill is small this step is sufficient Wipe off the oil or grease see Cleaning the IRB 6720 on page 180 2 Monitor the robot over time to see if new oil or grease occurs Check the gearbox oil...

Page 612: ...arts If the noise is emitted from a gearbox the following can also apply Overheating Recommended actions The following actions are recommended Information Action CAUTION Allow hot parts to cool down 1...

Page 613: ...unding equipment Possible causes The symptom can be caused by Faulty brake Faulty power supply to the brake Recommended actions The following actions are recommended Information Action Determine which...

Page 614: ...This page is intentionally left blank...

Page 615: ...y in which the robot and the control unit are installed If the robot or the control unit is partially or completely disposed of the various parts must be grouped together according to their nature whi...

Page 616: ...and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Wrist house tilt hous...

Page 617: ...for oil and grease to be recycled Dispose of via an authorized person contractor in accordance with local regulations Do not dispose of oil and grease near lakes ponds ditches down drains or onto soil...

Page 618: ...rch it will explode Always remove all oil grease in gearboxes If exposed to heat for example from a blow torch the oil grease will catch fire When motors are removed from the robot the robot will coll...

Page 619: ...e procedures in the step by step in structions below DANGER Do not under any circumstances deal with the balancing device in any other way than that detailed in the product documentation For example a...

Page 620: ...distance and somewhat from above 2 DANGER The hole must be cut as specified in the figure Pieces of the spring can be thrown out from the cylinder at high speed if the hole is cut larger than specifie...

Page 621: ...hapter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 6720 621 3HAC085697 001 Revision C Copyright 2023 ABB All r...

Page 622: ...machines Part 1 General requirements normative reference from ISO 10218 1 IEC 60204 1 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61...

Page 623: ...39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume Product manual IRB 6720 62...

Page 624: ...scarded and replaced with a new one When handling screws treated with Gleitmo protective gloves of nitrile rubber type should be used Generally screws are lubricated with Gleitmo 603 mixed with Geomet...

Page 625: ...s do not jerk Tighten the screw in a slow flowing motion Maximum allowed total deviation from the specified value is 10 Tightening torque for oil lubricated screws with slotted or cross recess head sc...

Page 626: ...g torque Nm Class 10 9 lubricated i Dimension 8 M5 14 M6 35 28 M8 70 55 M10 120 96 M12 300 235 M16 550 460 M20 950 790 M24 i Lubricated with Molycote 1000 Gleitmo 603 or equivalent Water and air conne...

Page 627: ...Tightening torque Nm Nominal Material Dimension 59 47 49 Stainless steel only 1 2 90 55 70 Brass only 3 4 Product manual IRB 6720 627 3HAC085697 001 Revision C Copyright 2023 ABB All rights reserved 9...

Page 628: ...cessory when handling components with a weight exceeding 22 kg A wide range of lifting accessories and devices are available for each manipulator model Example Following is an example of a weight spec...

Page 629: ...and hexagon bit SW10 Bit holder dimension 5 16 14x18 mm Used for screw access in narrow locations 1 xx2200001085 Socket head cap 2 5 17 mm 1 Torx socket no 10 30 1 Box spanner set 1 Torque wrench 10...

Page 630: ...toolkit on page 629 and of special tools listed directly in the instructions and also gathered in this section Special tools Note If the replacing procedure is not listed in the table below only stand...

Page 631: ...smantle and mounting tool 3HAC028920 001 2 2 2 2 2 2 2 2 Removal tool motor M12 3HAC14631 1 2 Removal tool motor M10 3HAC14972 1 Removal tool motor M8 3HAC080346 001 2 Screws M8x75 fully threaded 2 Sc...

Page 632: ...ndsling 2 m 1 1 xx2100002415 Lifting accessory for gear 3HAC081585 001 1 1 1 Fender washer 1 1 1 1 1 1 1 xx1200001241 Lifting accessory chain 3HAC15556 1 1 2 2 xx1200001242 Lifting eye 3HAC16131 1 1 1...

Page 633: ...e 1 1 1 1 1 1 1 1 1 1 1 xx2100000666 Brake release tool 3HAC081310 001 Calibration tools 1 1 1 1 1 1 1 1 1 1 Calibration toolbox Axis Calibration 3HAC074564 001 axes 1 2 3 and 4 3HAC074119 001 axes 5...

Page 634: ...ece of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories sho...

Page 635: ...ke power supply faulty 613 brake release unit replacing 340 brake releasing 79 brakes testing function 34 C cabinet lock 27 cable harness inspecting 112 refitting 312 removing 291 cabling between robo...

Page 636: ...installation procedure 59 instructions for assembly 55 integrator responsibility 26 intervals for maintenance 103 L labels robot 19 leak down test 186 leaking sealing 611 lifting robot 70 71 lifting...

Page 637: ...0 protection types 40 symbols 19 technical data 37 working range 41 S safety brake testing 34 ESD 53 fire extinguishing 27 release robot axes 33 signals 17 signals in manual 17 symbols 17 symbols on r...

Page 638: ...97 201 202 204 215 230 482 complete arm system 436 449 460 robot 69 73 74 77 upper and lower arm 485 496 503 upper arm complete 534 545 wrist 274 working range 51 robot 41 wrist replacing 266 X xx rep...

Page 639: ......

Page 640: ...47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong New District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation...

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