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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, damage to persons or property, fitness for a specific purpose or the like.
ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the IRB 6620. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
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3HAC025861-001 Product manual, spare parts - IRB 6620 3HAC049109-001 Product manual - DressPack/SpotPack IRB 6620 3HAC027309-001 Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Safety manual for robot - Manipulator and IRC5 or OmniCore 3HAC031045-001 controller Product manual - IRC5 3HAC021313-001 IRC5 with main computer DSQC 639.
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118. • 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 347.
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.
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Note If the IRB 6620 is connected to power, always make sure that the robot is connected to protective earth and a residual current device (RCD) before starting any installation work. For more information see: •...
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Always read and follow the instructions in section Securing the robot with a transport support on page 48 • 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: W...
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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.
DressPack cables (option) Handles signals, process media and power feeding for customer use, regarding material handling or spot welding. See the Product manual - DressPack/SpotPack IRB 6620, see document number in References on page Robot cables These cables are included in the standard delivery. They are completely pre-manufactured and ready to plug in.
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2 Installation and commissioning 2.8.1 Robot cabling and connection points Continued Note How to ground DressPack/SpotPack cables is detailed in the Product manual - DressPack/SpotPack IRB 6620, see the document number in References on page Product manual - IRB 6620 3HAC027151-001 Revision: W...
Note If the IRB 6620 is connected to power, always make sure that the IRB 6620 is connected to protective earth and a residual current device (RCD) 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 168 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.
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 345 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 164. 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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Typical tap water pressure and flow Instructions for steam or high pressure water cleaning ABB robots with protection types Foundry Plus, Wash, or Foundry Prime can be cleaned using a steam cleaner or high pressure water cleaner. The following list defines the prerequisites: •...
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 6620, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
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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 260.
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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.
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Levelmeter calibration - alternative method Levelmeter calibration is referred to as the alternative method for calibration of ABB robots because of the less accurate values obtained during calibration. The method uses the same principles as Calibration Pendulum, but does not have as good of mechanical tolerances to the toolkit parts as the standard method with Calibration Pendulum.
The resolver values are changed If resolver values are changed, the robot must be re-calibrated 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.
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.
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Axis must be put in position 0 degrees. How to calibrate a suspended robot The IRB 6620 is calibrated floor standing in factory, prior to shipping. To calibrate a suspended robot, reference calibration must be used. Reference values for a suspended robot must be created with the robot mounted at its working position, not standing on a floor.
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.
7.3 Screw joints 7.3 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
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.