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The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
• repair personnel Prerequisites Maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Organization of chapters The manual is organized in the following chapters: Chapter...
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Reference Document ID Product specification - IRB 6620 3HAC025861-001 Product manual, spare parts - IRB 6620 3HAC049109-001 Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Operating manual - General safety information 3HAC031045-001 Product manual - IRC5 3HAC021313-001 IRC5 with main computer DSQC 639.
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122. • Corrected item number reference in part list, see Spare parts - Upper arm in Product manual, spare parts - IRB 6620. • Circuit diagrams are not included in this document but delivered as separate files. See Circuit diagram on page 353.
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a complete system, nor does it cover all peripheral equipment that can influence the safety of the entire system.
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1.1.1 Limitation of liability Continued Unauthorized modifications of the originally delivered robot are prohibited. Without the consent of ABB it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength could be affected. CAUTION Ensure that a gripper is prevented from dropping a work piece, if such is used.
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ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the robot.
Safety on page 17 before performing any installation work. Note If the IRB 6620 is connected to power, always make sure that the robot is connected to protective earth before starting any installation work. For more information see: • Product manual - IRC5...
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Always read and follow the instructions in section Securing the robot with a transport support on page 54 • Always place the robot in the ABB recommended transport position for robot with tool, described in sub section Transport position with a transport support on page •...
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work • conform to all national and local codes.
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Maximum tilt 15° The limit for the maximum payload on the robot is reduced if the robot is tilted from 0°. Contact ABB for further information about accept- able loads. Continues on next page Product manual - IRB 6620 3HAC027151-001 Revision: T...
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Continued Action Note Remove the attachment bolts securing the robot to the foundation. CAUTION The IRB 6620 robot weighs 900 kg. All lifting accessories used must be sized accordingly! Carefully lift the robot. WARNING Personnel must not, under any circum-...
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2 Installation and commissioning 2.5.9 Fitting equipment on robot Continued xx0200000197 Turning disk (type 2) for robot version IRB 6620 Foundry Plus. Fastener quality When fitting tools on the turning disk (see the figures above), only use screws with quality 12.9.
Safety on page 17 before performing any service work. Note If the IRB 6620 is connected to power, always make sure that the IRB 6620 is connected to protective earth before starting any maintenance work. For more information see: •...
40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.
The following table specifies the required maintenance activities and intervals. Maintenance activity Equipment Interval Cleaning Robot Cleaning the IRB 6620 on page 173 Inspection Oil level in axis-1 gearbox Every 12 months. Inspection Oil level in axis-2 gearbox Every 12 months.
5 is not calculated by SIS (See the Operating manual - Service Information System). In some applications, such as Foundry or Washing, the robot can be exposed to chemicals, high temperature or humidity, which can have an effect on the lifetime of the gearboxes. Contact the local ABB Robotics Service team for more information.
Before starting any inspection, maintenance, or changing activities of lubrication, always contact the local ABB Service organization for more information. For ABB personnel: Always check ABB Library for the latest revision of the manual Technical reference manual - Lubrication in gearboxes, in order to always get the latest information of updates about lubrication in gearboxes.
Location of gearbox The axis 6 gearbox is located in the center of the wrist unit as shown in the figure below. The figure shows gearbox axis 6 for IRB 6620 Foundry Plus. xx0600002964 Gearbox axis 6 Oil plug, filling...
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Equipment, etc. Spare part no. Note Battery pack For spare part no. Battery includes protection circuits. Only re- see: place with a specified spare part or an ABB- • Spare part approved equivalent. lists on page 351 Standard toolkit Content is defined in section...
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Shown in figure Location of SMB Battery includes protection circuits. Only replace battery on page 169. with a specified spare part or with an ABB- ap- proved equivalent. Refitting, battery Use this procedure to refit the SMB battery. Action Note...
General To secure high uptime it is important that the IRB 6620 is cleaned regularly. The frequency of cleaning depends on the environment in which the product works. Different cleaning methods are allowed depending on the type of protection of the IRB 6620.
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3 Maintenance 3.5.1 Cleaning the IRB 6620 Continued • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. • Do not remove any covers or other protective devices before cleaning the robot.
Make sure to read through the chapter Safety on page 17 before commencing any service work. Note If the IRB 6620 is connected to power, always make sure that the IRB 6620 is connected to earth before starting any repair work. For more information see: •...
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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. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
Location of turning disk The turning disk is located in the front of the wrist housing as shown in the figure below. The figure shows the turning disk on an IRB 6620 Foundry Plus/IRB 6620LX. xx0600003082 Turning disk Wrist unit...
4 Repair 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX Location of motor The motor axis 5 is located inside the upper arm tube, but attached to the wrist unit, as shown in the figure below.
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4 Repair 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX Continued Equipment, etc. Art. no. Note Removal tool, motor M10x 3HAC14972-1 Always use the removal tools in pairs! Extension bar 300 mm for 3HAC12342-1 bits 1/2" Guide pins M8 x 100 3HAC15520-1 For guiding the motor.
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4 Repair 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX Continued Removal, motor, axis 5 The procedure below details how to remove motor, axis 5. Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure.
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4 Repair 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX Continued Action Note If required, press the motor out of position by fit- Art. no. is specified in Required ting removal tool, motor, M10 to the motor attach- equipment on page 265.
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4 Repair 4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX Continued Action Note Foundry Plus Make sure that the gasket is undamaged. Also the small gasket fitted in the cover recess. Replace if damaged. xx1400002579 Foundry Plus Make sure the washers are fitted in the gasket holes.
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
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Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 6620 and is the most accurate method for the standard calibration. It is the recommended method in order to achieve proper performance.
The resolver values are changed If resolver values are changed, the robot must be recalibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.
This section describes how to do a rough calibration of each manipulator axis by updating the revolution counter for each axis, using the FlexPendant. Revolution indicator The IRB 6620/IRB 6620 LX (not Foundry version) is equipped with a revolution indicator on axis 4. Location The revolution indicator is located as shown in figure.
FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
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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 will be named according to tool name, date etc.
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
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It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It features special surface treatment (Gleitmo as described below) and is extremely resistant to fatigue.
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.