ABB OmniCore IRB 6720 Product Manual

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ROBOTICS

Product manual

IRB 6720

Table of Contents

Troubleshooting

Summary of Contents for ABB 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 4 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.
Page 5: Table Of Contents
Test run after installation, maintenance, or repair ............ Maintenance Introduction ...................... Maintenance schedule and expected component life ..........4.2.1 Specification of maintenance intervals ............4.2.2 Maintenance schedule ................Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 6 Replacing the axis-5 motor ............... 5.7.6 Replacing the axis-6 motor ............... Gears ......................5.8.1 Replacing the axis-1 gearbox ..............5.8.2 Replacing the axis-2 gearbox ..............Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 7 Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Index Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Prerequisites A maintenance/repair/installation craftsman working with an ABB robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. • be trained to respond to emergencies or abnormal situations. Continues on next page...
Page 10 3HAC086333-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Service Information System 3HAC050944-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Published in release 23C. The following updates are made in this revision: •...
Page 11: Product Documentation
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.
Page 12 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 13: How To Read The Product Manual
Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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Page 15: Safety
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 robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.
Page 16: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 17: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 18 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 19: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 20 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 21 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 22 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 23 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 24 Shut off with handle Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 25: Robot Stopping Functions
The protective stops and emergency 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 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 26: Safety During Installation And Commissioning
When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 27 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 28 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 29: Safety During Operation
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 movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 31 Specified amount de- on how much has previously pends on drained been drained from the gearbox. volume Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 32 WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 33: Emergency Release Of The Robot Axes
When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 34: Brake Testing
For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 35: Safety During Troubleshooting
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.
Page 36: Safety During Decommissioning
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 movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 37: Manipulator Description
0° Note The actual mounting angle must always be configured in the system parameters, otherwise the performance and lifetime is affected. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 38 ±20 kN Force z 14.9 ±4.1 kN 14.9 ±17.4 kN Torque xy ±20 kNm ±38.9 kNm Torque z ±5 kNm ±13.1 kNm Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 39 Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 40 Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 41: Working Range
Illustration, working range IRB 6720-240/2.65 This illustration shows the unrestricted working range of the robot. 1181 1904 2651 xx2200001965 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 42 Illustration, working range IRB 6720-210/2.8 This illustration shows the unrestricted working range of the robot. 1286 2045 2800 xx2200001966 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 43 Illustration, working range IRB 6720-170/3.1 This illustration shows the unrestricted working range of the robot. 1520 2344 3100 xx2200001967 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 44 Continued Illustration, working range IRB 6720-215/2.5 LID This illustration shows the unrestricted working range of the robot. 1355 1768 2501 xx2200001968 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 45 Illustration, working range IRB 6720-215/2.65 LID This illustration shows the unrestricted working range of the robot. 1469 1904 2651 xx2200001969 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 46 Illustration, working range IRB 6720-200/2.8 LID This illustration shows the unrestricted working range of the robot. 1590 2045 2800 xx2200001970 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 47 Illustration, working range IRB 6720-150/3.1 LID This illustration shows the unrestricted working range of the robot. 1853 2344 3100 xx2200001971 Path intersect with axis-5 center Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 48 2 Manipulator description 2.2 Working range Continued Top view of working range IRB 6720-240/2.65, IRB 6720-215/2.65 LID (R926) R2651 xx2200001987 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 49 2 Manipulator description 2.2 Working range Continued IRB 6720-210/2.8, IRB 6720-200/2.8 LID (R919) R2800 xx2200001988 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 50 2 Manipulator description 2.2 Working range Continued IRB 6720-170/3.1, IRB 6720-150/3.1 LID (R973) R3100 xx2200001989 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 51 IRB 6720-210/2.8, IRB 6720-170/3.1 -160°/+70° IRB 6720-215/2.5 LID, IRB 6720-215/2.65 LID -160°/+72° IRB 6720-200/2.8 LID, IRB 6720-150/3.1 LID Axis 4 ±300° Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 52 The working range of axis 1 can be reduced by altering the parameter values. Installation of additional mechanical stops is recommended. See Working range alterations on page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 53: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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Page 55: Installation And Commissioning
Read the chapter Safety on page 15 before performing any installation work. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 56: Unpacking
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.
Page 57: Risk Of Tipping/Stability
Do not change the robot position before securing it to the foundation! Transportation position This figure shows the robot in its transportation position. (645 CL xx1300000356 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 58 +70° Axis 4 0° Axis 5 0° Axis 6 0° WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 59: On-Site Installation
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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 60: Installing A Base Plate
Note Do not use a base plate for installation of an inverted robot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 61 Guide pins on page 64 E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact surface to the other) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 62 3 Installation and commissioning 3.3.2 Installing a base plate Continued 2x R22,5 3x 90° xx1500000247 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 63 697,2 680,1 681,9 672,5 2x 598 4x 18 16x R 50 2x 298 223,5 214,1 215,9 198,8 111,4 111,2 82,1 xx1500000249 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 64 Assembly of guide pins on page 64.) Assembly of guide pins Description Cylindrical guide pin (x2) M5 x 40. Tightening torque 6 Nm. (x2) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 65 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1500000312 Orienting grooves (3 pcs) Levelling bolts, attachment holes (4 pcs) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 66 Base plate, guide sleeve holes The illustration below shows the guide sleeve holes in the base plate. xx0300000045 Guide sleeve holes (2 pcs) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 67 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 68: Lifting The Robot
The user manual may be out of date. The latest revision is available for download via myABB Business Portal, www.abb.com/myABB. xx2200002013 Required equipment Equipment Article number Note Lifting accessory, robot 3HAC15607-1 Includes user instructions 3HAC15971-2 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 69 Make sure all hooks and attachments maintain their correct positions while lifting the robot! Always move the robot at very low speeds, making sure it does not tip. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 70: Lifting The Robot With Fork Lift
Directions for use - Fork lift accessory set 3HAC047054- 3HAC048484-002 Lifting the robot Action Note Lift the robot according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 71: Lifting The Robot With Roundslings
The robot can also be lifted with roundslings as detailed in this section. Illustration - lifting position This figure shows the robot in its lifting and transportation position. (645 CL xx1300000356 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 72 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 73 Axis 5: 0° • Axis 6: 0° WARNING The robot is mechanically unstable if not se- cured to the foundation. (645 CL xx1300000356 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 74 All lifting accessories used must be sized ac- cordingly. Fit lifting eyes / eye bolts to the lifting points Lifting eye M20 (4 pcs) of the robot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 75 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. WARNING Personnel must not, under any circumstances, be present under the suspended load. Raise the overhead crane to lift the robot. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 76: Orienting And Securing The Robot
If using a base plate: fit two guide sleeves to the guide sleeve holes in the base plate. See Base plate, guide sleeve holes on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 77 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 79: Manually Releasing The Brakes
Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 80 If they are mixed up, damage can be caused to internal electrical components. xx0600002937 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 81: Loads Fitted To The Robot, Stopping Time And Braking Distances
The performance of the motor brake depends on if there are any loads attached to the robot. See the product specification for the robot, listed in References on page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 82: Fitting Equipment On The Robot (Robot Dimensions)
The measurements are given in mm. Variant IRB 6720- 2,351.5 1,132.5 1,185 240/2.65 IRB 6720-210/2.8 2,452.5 1,182.5 1,286 IRB 6720-170/3.1 2,452.5 1,485.5 1,286 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 83 R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 250 kg) xx2300000346 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 84 200 kg in combination with the reduced payload, use RobotStudio add-in RobotLoad or contact ABB. C L Axis 3 C L Axis 4 xx2200002036 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 85 C L Axis 3 2 x M12 18 min. 2 x M10 15 min. M12 20 R117 2 x M8x1.25 xx2200002039 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 86 3.3.7 Fitting equipment on the robot (robot dimensions) Continued 106 (4x M12) C L Axis 4 Axis 6 C L Axis 5 2 x M8 (360) xx2200002040 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 87 3.3.7 Fitting equipment on the robot (robot dimensions) Continued Lower arm (360) 2x 30 4 x M8 16 min. 2x 12 ± 2 (M10) xx2200002055 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 88 3 Installation and commissioning 3.3.7 Fitting equipment on the robot (robot dimensions) Continued xx2200002056 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 89 Continued Frame 4 x M10 2 x M10 20 min. 1019 C L Axis 2 3 x M10 28 min. xx2200002057 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 90 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 91: Working Range Alterations
Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in one or more than one position, to ensure a reduced working range, or be removed to allow extended working range. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 92: Installing Movable Mechanical Stops On Axis 1 (Option 3323-1)
If the mechanical stop pin is deformed after a hard collision, it must be replaced! Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 93 Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 94 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 95: Extended Working Range, Axis 1 (Option)
Configure the safety setup and verify it by test. Hold the mechanical stop pin in a firm grip, and remove it by unscrewing the attach- ment screw. xx2200001398 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 96 The system parameters are described in detail in the reference manual, see References on page For more information about SafeMove, see Application manual - Functional safety and SafeMove. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 97: Electrical Connections
Robot cable, power Power cable length Article number Power cable 7 m 3HAC026787-001 Power cable 15 m 3HAC026787-002 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 98 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 99 Ethernet floor cable length Article number Ethernet cable: 7 m 3HAC079476-001 Ethernet cable: 15 m 3HAC079476-002 Ethernet cable: 22 m 3HAC079476-003 Ethernet cable: 30 m 3HAC079476-004 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 100: Test Run After Installation, Maintenance, Or Repair
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 101: Maintenance
The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional standards and regulations. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 102: Maintenance Schedule And Expected Component Life
Robots with the functionality Service Information System activated can show active counters in the device browser in RobotStudio, or on the FlexPendant. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 103: Maintenance Schedule
Inspecting the cable Inspecting the robot harness harness on page 112 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 104 The battery is to be replaced at given maintenance interval or at battery low alert. iv Always lubricate the front eye bearing after refitting the shaft of the balancing device. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 105: Expected Component Life
The given life for the balancing device is based on a test cycle of 4,000,000 cycles that starts from the initial position and goes to maximum extension, and back. Deviations from this cycle will result in differences in expected life! Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 106: Inspection Activities
Remove the plug or drill a drainage hole with diameter 3 mm, if an open evacuation hole is required instead. xx2200002188 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 108: Inspecting The Balancing Device
Piston rod (inside balancing device) Link ear Rear attachments of the balancing device (rear bearing) Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 110 3HAC087168-001 Replacement of the complete bearing is described in section Replacing spherical roller bearing, balancing device link ear on page 212. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 111 Keep the areas around the balancing device clean and free from objects, such as service tools. xx1300000423 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 112: Inspecting The Cable Harness
Location of cable harness The cable harness is located as shown in the figure. xx2200001729 Required tools Visual inspection, no tools are needed. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 113 Check the motor cables visually for any damage. Check the connectors and cables at the base visually for any damage. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 114 Sharp debris might occur. Always wear protective gloves. xx2200001791 Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 291. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 115: Inspecting The Dampers
Note Damper 3HAC046884-001 Axis 2 Damper 3HAC12320-1 Axis 3 Damper 3HAC054956-001 Axis 5 Required equipment Visual inspection, no tools are required. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 116 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 117: Inspecting The Information Labels
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 SECTION A-A xx2200001842 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 118 3HAC032726-001 Lubrication label Kyodo Yushi TMO 150 3HAC032905-001 Lubrication label 3HAC9191-1 Warning label Tipping robot 3HAC0453-5 / 3HAC077301-002 ABB logotype label Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 119 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Required spare parts on page 117. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 120: Inspecting The Axis-1 Mechanical Stop
If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 121 Do not overtighten the attachment screw, use specified tightening torque. xx2200001398 Make sure the mechanical stop pin can move in both directions. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 122: Inspecting The Oil Level In Axis-1 Gearbox
If 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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 123 Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 124 Further information about how to drain or fill with oil is found in section Changing the oil in axis-1 gearbox on page 144. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 125 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 126: Inspecting The Oil Level In Axis-2 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 127 Further information about how to drain or fill with oil is found in section Chan- ging the oil in axis-2 gearbox on page 150. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 128 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 129: Inspecting The Oil Level In Axis-3 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 130 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2100002064 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 131 155. Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2100002064 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 132 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 133: Inspecting The Oil Level In Axis-4 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 134 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2200001796 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 135 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 136: Inspecting The Oil Level In Axis-5 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 137 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2200001798 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 138 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 139: Inspecting The Oil Level In Axis-6 Gearbox
Use this procedure to inspect the oil level in the gearbox. Action Note Run the robot to a position where the upper arm is horizontal. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 140 Further information about how to drain or fill with oil is found in section Changing the oil in axis-6 gearbox on page 170. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 141 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 142: Replacement/Changing Activities
The figure shows the location of the gearboxes. xx2200001901 Axis-1 gearbox Axis-2 gearbox Axis-3 gearbox Axis-4 gearbox Axis-5 gearbox Axis-6 gearbox Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 143 Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 144: Changing The Oil In Axis-1 Gearbox
629. Required consumables and wear parts Wear part Article number Note Lubricating oil Type of lubrication in gearboxes on page 142. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 145 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2200002147 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 146 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 147 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 148 Wait until the oil stops sinking, before measuring the oil level. xx2300000001 Remove the oil dispenser and refit the protective cap to the nipple. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 149 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 150: Changing The Oil In Axis-2 Gearbox
Type of lubrication in gearboxes on page 142. O-ring, G 1/2" 3HAC061327-059 Used on oil plug. Always replace when refitting oil plug. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 151 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300000002 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 152 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 153 Wait until the oil stops sinking, before measuring the oil level. Remove the oil dispenser. Refit the protective cap on the nipple. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 154 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 155: Changing The Oil In Axis-3 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 156 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. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 157 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 615 for more informa- tion. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 158 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2100002064 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 159 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 160: Changing The Oil In Axis-4 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 161 Remove the oil plug from the drain hole and let the oil run into the vessel. xx2100002095 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 162 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 163 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200001796 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 164 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 165: Changing The Oil In Axis-5 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 166 The oil plug hole is opened to speed up the drainage. xx2200001798 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 167 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 168 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200001798 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 169 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 170: Changing The Oil In Axis-6 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 171 Remove the oil plug from the drain hole and let the oil run into the vessel. xx2100002101 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 172 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 173 Refit the oil plug with a new o-ring. O-ring, G 1/4": 3HAC061327-060 Tightening torque: 20 Nm. xx2100002077 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 174 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 175: Replacing The Smb Battery
Action Note Jog the robot to its calibration position. This is done in order to facilitate updating of the revolution counter. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 176 Pull out the battery and disconnect the battery cable. xx2100002131 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Refitting the battery Use this procedure to refit the SMB battery. Action Note...
Page 177 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 178: Lubrication Activities
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 180: Cleaning Activities
Always check that all protective covers are fitted to the robot before cleaning. • Do not use compressed air to clean the robot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 181 Cleaning 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 cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
Page 182 4 Maintenance 4.6.1 Cleaning the IRB 6720 Continued Position Example of position Rotational sealings xx2300001055 Connectors xx2300001057 Cable inlets xx2300001058 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 183 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. Wipe down affected areas with a dry cloth. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 184 This page is intentionally left blank...
Page 185: Repair
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 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: General Procedures
Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 187: Mounting Instructions For Bearings
Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 188 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 189: Mounting Instructions For Sealings
A radial sealing consists of a flexible rubber lip bonded to a rigid metal case. Only one side of the sealing is static with a metal insert. xx2300000433 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 190 A Main lip B Grease C Dust lip Note Ensure that no grease is ap- plied to the red marked surface. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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. Distribute the sealing compound evenly over the surface. Tighten the screws evenly when fastening the flange joint.
Page 193: Cut The Paint Or Surface On The Robot Before Replacing Parts
Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 194: Balancing Device
IRB 6720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Balancing device 3HAC032124-003 (Graphite White) 3HAC032124-005 (ABB Orange) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 195 Lifting accessory (chain) 3HAC15556-1 Lifting instruction 3HAC15880-2 enclosed. Lifting shackle SA-10-8-NA1 Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 197 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 198 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 199 DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 200 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx2300000003 Wipe off any residual grease inside the re- cess. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 201 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 202 Fit a lifting shackle to the balancing device. Lifting shackle: SA-10-8-NA1 Lifting accessory (chain): 3HAC15556-1 Fit the lifting accessory to the shackle. xx2200001915 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 203 Perform this procedure on both sides. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 204 140 kg All lifting accessories used must be sized accordingly. Lift the balancing device into position in the cradle. xx2200001469 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 205 Lifting shackle: SA-10-8-NA1 (if not already done). Lifting accessory (chain): 3HAC15556-1 Remove all residue of Loctite in the screw hole of the shaft. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 206 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 207 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 208 Securing the shaft ends Action Note Secure both shaft end screws with tighten- Tightening torque: 280 Nm ing torque. xx2200001471 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 209 VK covers are hard to fit. xx2200001464 xx2300000003 Concluded refitting of the front shaft Action Note Remove the locking screw (M16x120). xx2200001332 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 210 A3F. Tightening torque: 50 Nm. Flange sealant for conical fittings: Loctite 5400 (or equivalent Loctite 577). xx2200001330 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 211 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 212: Replacing Spherical Roller Bearing, Balancing Device Link Ear
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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 213 3HAA1001-294 Tribol GR 100-0 PD Locking liquid Loctite 2400 (or equivalent Loctite 243) Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 215 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 216 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 217 DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 218 Unscrew the attachment screws securing the end cover, remove end cover and radial sealing with a screwdriver. xx2200001494 Remove the o-ring. xx2200001495 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 219 Refitting the spherical roller bearing, link ear Action Note Wipe clean all contact surfaces from resid- ual grease. Refit the washer. xx2200001496 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 220 Use a plastic mallet or similar on the Press tool J and refit the radial sealing. xx2200001498 Apply some grease on the surface for the bearing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 221 Action Note Apply the lifting accessory to the balancing device Lifting shackle: SA-10-8-NA1 (if not already done). Lifting accessory (chain): 3HAC15556-1 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 222 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 223 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 224 Remove the lifting accessory from the balancing device. Removing the lifting accessory and locking screw Action Note Remove the lifting accessory from the bal- ancing device. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 225 Continued Action Note Remove the lock screw (M16x120). xx2200001332 Foundry Plus: Apply Mercasol in the hole for the locking screw. xx1400000372 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 226 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 227: Replacing The Rear Bearings On The Balancing Device
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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 228 Located at the cradle of the balancing device. 2 pcs required. Replace if damaged. Locking liquid Loctite 2400 (or equivalent Loctite 243) Grease 3HAC042536-001 Shell Gadus S2 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 230 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 231 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 on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 232 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx1700002189 Wipe off all residual grease inside the re- cess. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 233 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. xx2200001470 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 234 Apply some grease in the hole for the bearing in the cradle. Note Do not apply grease on surfaces with Mer- casol. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 235 Tightening torque: 280 Nm. cradle and balancing device as a distance tool, tighten the attachment screw com- pletely. Secure the balancing device. xx2200001475 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 236 (See figure). xx2300000004 Refit the screw (including washer) and the protection plug. xx2300000005 Wipe clean from residual grease. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 237 Remove the lifting accessory from the bal- ancing device. Remove the lock screw (M16x120). xx2200001332 Foundry Plus: Apply Mercasol in the hole for the locking screw. xx1400000372 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 238 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 239: Axes 3 And 4
Article number Note Level Arm house cover including cas- 3HAC077945-003 Gasket and cassette sealing sette sealing (Graphite White) included 3HAC077945-004 (ABB Orange) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 240 Depending on what tool is used, the other axes may need to be jogged to another position. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 241 If DressPack is installed: Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 242 Cut the cable tie. xx2100002625 Remove the motor cover by removing the screws. xx2100002495 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 243 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 244 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 245 Lift out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 246 Foundry Plus, DressPack: Protection type Foundry Plus: Remove the back cover. Note Use caution not to damage the gasket. xx2000000422 DressPack xx2300001040 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 247 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 248 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 250 Fit the cross to the tube shaft with four M8 screws. xx2100001243 Fit the three armed tool part with three screws and wing nuts. xx2100001254 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 251 Used oil is hazardous material and must be dis- posed of in a safe way. See Decommissioning on page 615 for more information. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 252 Secure the cover temporarily with two screws M6 on each short side, as support to hold the cover. xx2100001269 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 253 Tightening torque: 10 Nm xx2100001255 Remove the tool. xx2300001367 Perform a leak-down test. Performing a leak-down test on page 186. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 254 Action Note Refit the metal clamp beneath the arm Torx pan head screw: M6x16 A4-80 house. Tightening torque: 10 Nm. xx2200002142 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 255 Do not run the cable harness into the DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx2300000040 xx1300000820 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 256 Torx pan head screw: M6x16 A4-80 tube. Tightening torque: 10 Nm. Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 257 (Cable guard (C) is available for Foundry cable guard.) xx2100002677 With DressPack: Refit the DressPack tube into the insert. xx1400000092 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 258 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 259 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 260 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 261 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 263 3HAC079381-004 (ABB Orange) xx2200001922 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 264 Wrist cover: Inspect the gasket. 3HAC078635-004 (Graphite White) Replace the complete cover if the gasket 3HAC078635-005 (ABB Orange) is damaged. xx2100001407 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 265 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 266: Wrist
Used for screw access in narrow locations. Roundsling, 1 m Length: 1 m. Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 267 Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Remove tools and other equipment fitted to the wrist. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 268 Axis 3: jog axis 2 and 3 to a position where the upper arm is horizontal • Axis 4: +90° • Axis 5: +90° • Axis 6: no significance xx2100002164 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 269 If DressPack is installed: Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 270 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 271 Unscrew the M4 screw that holds the carri- Note The screw is located at the bottom of the carrier. xx1300000485 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 272 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2100002625 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 273 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 274 Do not attach the roundsling around the axis-5 gearbox! Stretch the roundsling so it carries the weight of the wrist. xx2100001290 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 275 Bit holder dimension: 5/16" (14x18 mm) CAUTION Make sure that the cabling does not get damaged. xx2200001808 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 276 180 seconds after activa- tion. DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 277 Tightening torque: standard torque 120 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 626).. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 278 Connect the signal cable connector. Connect in accordance with the markings on the connectors. xx2200001734 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 279 A2-70 Use locking liquid. Locking liquid: - (Loctite 2400 (or equivalent Loctite 243)) Tightening torque: 6 Nm. xx2100002495 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 282 Verify correct cable layout as shown in the figure. CAUTION Route the signal cabling correctly to avoid cable damage. xx2300000920 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 283 Refit the motor cover. Torx pan head screw: M5x12 Stainless steel A2-70 (6 pcs) Tightening torque: 6 Nm. xx2200001434 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 284 If used, refit the DressPack cable package See product manual for the DressPack. on the wrist. Calibrate the robot. Calibration on page 585. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 285 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 286: Replacing The Turning Disc
Note Level Turning disc 3HAC082952-002 Process turning disc 3HAC079304-004 IRB 6720-215/2.5 LID IRB 6720-215/2.65 LID IRB 6720-200/2.8 LID IRB 6720-150/3.1 LID Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 287 • air pressure supply to the robot, before entering the safeguarded space. Remove any equipment fitted to the turning disc. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 288 Refitting the turning disc Use these procedures to refit the turning disc. Refitting the turning disc Action Note Wipe clean the contact surfaces. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 289 Tightening torque: standard torque 35 Nm (Tightening torque for lubric- ated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 626).. xx2200001807 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 290 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 291: Electronic Parts
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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 292 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 293 If DressPack is fitted, the cable fixing bracket is replaced by the cable guide. xx2200001432 xx1300001973 Remove the metal clamp at the arm house. xx2200001433 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 294: Removing The Cable Harness
Note No need to remove the bracket if the two wrist screws are accessible. xx2300001366 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 295 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Unscrew the attachment screws and re- move the motor cover. xx2200001434 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 296 Disconnect the motor cables. Pushing out the axis-6 motor cables Action Note Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 297 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 298 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 299 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 300 Disconnect the signal cable connector by pulling it out. xx2200001737 Remove the cable bracket by removing the screws. xx2200001738 Remove the motor cables from the motor. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 301 Use caution not to damage the gasket. xx2000000422 DressPack xx2300001040 DressPack Loosen the insert. (Cable guard (C) is available for protection type Foundry Plus.) xx2100002677 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 302 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx2300000031 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 303 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 305 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 If used, disconnect the DressPack hoses in the base. xx2300001093 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 306 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 307 Removing the electronic box Action Note DANGER Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 308 ESD on page Disconnect all connectors from the SMB board. Disconnect the connectors R2.BU1 and R2.BU2 from the brake release board. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 309 Removing the cable harness from the base Action Note If equipped with DressPack, pull out the DressPack cables through the protection tube. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 310 Guide the SMB cables out from the SMB recess at the same time. xx2200001740 xx2200001741 Place the cable harness over the balancing device. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 311 Note The screws are reached from the outside of the lower arm. xx2100002182 xx2100002183 Use caution and pull the cable harness out. xx2300000052 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 312: Refitting The Cable Harness
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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 313 Cable strap, outdoor 3HAC057966-003 Metal strap 3HAC033886-001 Locking liquid Loctite 2400 (or equivalent Loctite 243) Sealing compound 3HAC026759-002 Sikaflex 521 FC Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 314 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 315 Refit the metal clamp to the arm house. Torx pan head screw: M6x16 A4-80 Tightening torque: 10 Nm. xx2200001433 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 316 Check that the cabling will stay a little bit twisted between the cable clamps. Do not change the position of the brackets! xx2100002182 xx2100002183 xx1300000595 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 317 R1.MP1, see the figure. xx1300000736 Make sure that the markings on the cables are facing the base cover, when connected. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 318 Make sure that the hoses are running cor- rectly and are not twisted! If used, fit the bracket that hold the DressPack to the frame. xx1400000078 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 319 Refit and secure the cable inlet with the screws inside the SMB recess xx2200001725 Seal the cable inlet with sealing compound. Sealing compound: 3HAC026759-002 () Sikaflex 521 FC Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 320 ESD on page Refit the electronic box with the attachment screws. Torx pan head screw: M6x60 (4 pcs) Tightening torque: 10 Nm. xx2200001721 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 321 Reconnecting the axis-1 and axis-2 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 323 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 324 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 325 Do not run the cable harness into the DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx2300000040 xx1300000820 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 326 Torx pan head screw: M6x16 A4-80 tube. Tightening torque: 10 Nm. Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 327 (Cable guard (C) is available for Foundry cable guard.) xx2100002677 With DressPack: Refit the DressPack tube into the insert. xx1400000092 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 328 Loctite 243) xx2300001040 Reconnecting the axis-3 and axis-4 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 330 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 331 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 332 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 333 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 334 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 336 3HAC079381-004 (ABB Orange) xx2200001922 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 337 Wrist cover: Inspect the gasket. 3HAC078635-004 (Graphite White) Replace the complete cover if the gasket 3HAC078635-005 (ABB Orange) is damaged. xx2100001407 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 338 Make an overall inspection of the installed cable Inspecting the cable harness harness. on page 112. Update the revolution counters. Updating revolution counters on page 592. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 339 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 340: Replacing The Brake Release Unit
(ABB Orange) Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 341 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 342 ESD on page Disconnect all connectors from the SMB board. Remove the screws that secure the SMB unit. xx2200001723 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 343 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 344 Check the electronic box gasket. Cover, electronics: Replace if damaged. 3HAC081189-003 (Graphite White) 3HAC081189-004 (ABB Orange) Fit the SMB unit into the electronic box. xx2200001724 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 345 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 346 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 347: Replacing The Smb Unit
(ABB Orange) Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 348 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 349 ESD on page Disconnect all connectors from the SMB board. Remove the screws that secure the SMB unit. xx2200001723 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 350 Check the electronic box gasket. Cover, electronics: Replace if damaged. 3HAC081189-003 (Graphite White) 3HAC081189-004 (ABB Orange) Fit the SMB unit into the electronic box. xx2200001724 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 351 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 352 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 353: Motors
IRB 6720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Motor unit (including connection 3HAC081261-003 box and pinion) (Graphite White) 3HAC081261-004 (ABB Orange) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 354 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 355 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 356 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 358 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2200001794 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 359 30 seconds. Use the spe- cified brake release tool to eliminate the risk. CAUTION The weight of the motor is 19 kg Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 360 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 361 Always use guide pins in pairs. xx2200001819 CAUTION The weight of the motor is 19 kg Fit the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 362 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable gland exit is facing the correct way. xx2200001793 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 363 Performing a leak-down test on page 186. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 365 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 366 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 367: Replacing The Axis-2 Motor
IRB 6720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Motor unit (including connection 3HAC081262-003 box and pinion) (Graphite White) 3HAC081262-004 (ABB Orange) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 368 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 369 Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Jog the robot to the synchronization position. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 370 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 372 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 373 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2000000468 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 374 Activate the brake release tool again (re- The power is only applied for 180 seconds lease the brakes). after activation. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 375 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 376 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100000593 CAUTION The weight of the motor is 21 kg Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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. xx2000000457 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 378 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 379 Performing a leak-down test on page 186. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 381 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 382 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 383: Replacing The Axis-3 Motor
Used on oil plug. Always replace when refitting oil plug. Lubricating oil Type of lubrication in gear- boxes on page 142. Flange sealant Loctite 5800 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 384 • Robot in synchronization position: use lift- ing slings and an overhead crane to rest the upper arm onto. xx2200001810 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 385 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 386 Remove the motor cables from the motor. Removing the axis-3 motor Action Note Before removing the motor, make sure that the gearbox is completely drained. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 387 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2300000045 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 388 The motor shall be refitted in the same position. xx2100002149 Make sure the pinion is not damaged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 389 Refitting the axis-3 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100002151 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 390 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 391 Performing a leak-down test on page 186. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 393 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 394 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 395: Replacing The Axis-4 Motor
(Graphite White) On axis-4 motor 3HAC072863-005 (ABB Orange) Cleaning agent Loctite 7200 Cleaning agent Loctite 7063 Flange sealant Loctite 5800 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 396 With the robot in this position, there is no need to drain oil from the axis-4 gearbox when the motor is replaced. xx2200001812 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 397 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 398 Removing the axis-4 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 399 Removal tool motor M12: 3HAC14631-1 Used to push out the motor, if ne- cessary. Always use removal tools in pairs. xx2300000047 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 400 Press the motor out of its position by using the removal tools. CAUTION The weight of the motor is 12 kg Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 401 Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 402 Always use guide pins in pairs. xx2100002201 CAUTION The weight of the motor is 12 kg Apply the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 403 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 404 Performing a leak-down test on page 186. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 406 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 407 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 408: Replacing The Axis-5 Motor
Cable strap, outdoor 3HAC057966-003 Required tools and equipment Equipment Article number Note Brake release tool 3HAC081310-001 User instructions are enclosed with the tool. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 409 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 410 Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Remove the wrist cover. xx2000000373 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 411 Cut the cable tie. xx2100002625 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 412 Unscrew the attachment screws that secure the Bits extender: 3HAC12342-1 motor, using a bits extender. xx2100002204 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 413 Always use removal tools in pairs. Remove the motor by carefully lifting it straight out/straight up. Make sure the pinion is not damaged. xx2100002205 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 414 Apply the rotation tool and use it to rotate Rotation tool M4: 3HAB7887-1 the pinion when mating it into the gear. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 415 • the direction of the cable exit is fa- cing the same way as before remov- xx2100002205 Remove the guide pins. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 416 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 417 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 418 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2100002626 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 419 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 420: Replacing The Axis-6 Motor
(Graphite White) On axis-6 motor 3HAC079381-004 (ABB Orange) Cleaning agent Loctite 7200 Cleaning agent Loctite 7063 Flange sealant Loctite 5800 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 421 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 422 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 423 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 424 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 425 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 426 Gleitmo 603+Geomet 500 (4 pcs) Tightening torque: 24 Nm xx2200001806 Perform a leak-down test. Performing a leak-down test on page 186. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 427 Handle it with care to avoid dam- age to the cabling or the connector, avoid any kind of tilt or skew. xx2200001730 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 428 Refit the motor cover. Torx pan head screw: M5x12 Stainless steel A2-70 (6 pcs) Tightening torque: 6 Nm. xx2200001434 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 429 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 430: Gears
4 Remove the complete arm system (complete robot excluding the base and axis-1 gearbox) as an assembly. 5 Replace the axis-1 gearbox. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 431 Radial sealing with dust lip 3HAB3701-46 Cleaning agent Isopropanol Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 432 (axes 1, 2, 3 and 4) tools. 3HAC074119-001 Required if Axis Calibration is the (axes 5 and 6) valid calibration method for the robot. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 434 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 435 Leave the screw closest to the axis-1 motor fitted. xx2200001401 xx2200001402 Position for the floor mounted robot Action Note Turn on the power to the robot temporarily. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 436 CAUTION The weight of the complete arm system is 865 kg All lifting accessories must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 437 Fit a roundsling to the lifting eye. Roundsling, 0.5 m xx2200001523 Run a roundsling through the hole in the frame. Roundsling, 2 m xx2200001524 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 438 Fender washer. Outer diameter: minimum 26 mm, maximum 30 mm, hole diameter: 13 mm, thickness: 3 mm. xx1400002196 Fender washer xx2100002146 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 439 DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 440 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 442 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2200001794 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 443 30 seconds. Use the spe- cified brake release tool to eliminate the risk. CAUTION The weight of the motor is 19 kg Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 444 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the base cover. xx2100000981 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 445 Removing the cable harness from the base Action Note If equipped with DressPack, pull out the DressPack cables through the protection tube. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 446 The measurement is used as a verification after the arm system has been refitted. xx2200001611 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 447 5 Repair 5.8.1 Replacing the axis-1 gearbox Continued Action Note Raise the overhead crane to stretch all lifting accessories. xx2300000034 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 448 5.8.1 Replacing the axis-1 gearbox Continued Action Note Remove the remaining attachment screws that hold the frame to the axis-1 gearbox. xx2200001403 xx2200001405 xx2200001404 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 449 CAUTION The weight of the complete arm system is 865 kg All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 450 Do not change the position of the axes from the position de- scribed earlier. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 451 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 452 Attach the lifting accessory (chain) to the Lifting accessory (chain): 3HAC15556-1 lifting eyes and lift away the gearbox. xx2200001411 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 453 Wipe clean the contact surfaces on the base and the surfaces of the sealing tube from any contamination. Put grease on the sealing tube. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 454 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 455 Check the o-ring and lubricate. O-ring: A 3HAB3772-164 Replace if damaged. B 3HAC061327-065 Grease, Shell Gadus S2: 3HAC042536- 001. xx2200001407 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 457 626).. Preparations before refitting the arm system Action Note Wipe clean the contact surfaces from any contamination. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 458 Apply some grease on: • the edge of the sealing tube • the edge around the gearbox. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 459 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the frame slide better. xx2200001419 xx2200001420 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 460 Wipe clean the contact surfaces from any remaining contamination. Lubricate the radial sealing. Grease, Shell Gadus S2: 3HAC042536-001. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 461 Lower the arm system to align the longest xx2200001419 guide pin into the hole. Lower the arm system to align the other guide pin into the hole. xx2200001420 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 463 Tightening torque: standard torque 300 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 626). xx2200001421 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 464 (Molykote, Gleitmo or equivalent) with allen Tighten the remaining, accessible attach- head screws on page 626). ment screws. xx2200001403 xx2200001405 xx2200001404 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 465 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 466 30 seconds. Use the specified brake release tool to eliminate the risk. CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 467 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200002147 Perform a leak-down test. Performing a leak-down test on page 186. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 468 R1.MP1, see the figure. xx1300000736 Make sure that the markings on the cables are facing the base cover, when connected. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 469 Make sure that the hoses are running cor- rectly and are not twisted! If used, fit the bracket that hold the DressPack to the frame. xx1400000078 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 470 Tightening torque: 10 Nm. xx2100000981 Connecting the axis-1 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 472 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 473 24h.) faces shown in the figure, on stop pin and in the hole as shown in the figure. xx2100001139 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 474 Refit the axis-1 cable protection plates with the attachment screws. Hex socket head cap screw: M10x16 stainless steel A2-70 (3 pcs) xx2200001430 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 475 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 476: Replacing The Axis-2 Gearbox
DressPack in the base and in the frame must be removed first. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 477 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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 478 Screws M10x80, fully threaded Used to push out the gearbox, if necessary. Lifting accessory for gear 3HAC081585-001 For lifting the gearbox Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 479 Loctite 5800 Lubricating oil Type of lubrication in gear- boxes on page 142. Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 480 When performing these procedures, the cable harness will still be fitted or partly fitted to the robot. Use extreme caution not to cause any damage to the cable harness. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 481 Hydraulic press equipment, balancing device (3HAC074411-001). Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 482 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 483 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 484 Read and follow enclosed user instructions for the tool. Action Note Put down the balancing device and let it rest on the frame. xx2200001462 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 485 470 kg All lifting accessories used must be sized accord- ingly. Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx2200001522 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 486 Note Make sure the roundsling is stretched, in order to carry the weight of the lower arm. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 487 Move the DressPack cable package over to the other side of where the lifting accessory will be attached to the shackle on the arm house. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 490 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 491 Remove the motor cables from the motor. Removing the axis-2 motor Action Note Before removing the motor, make sure that the gearbox is completely drained. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 492 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 493 Lubricate the guide pins with some grease to make the motor slide better. xx2000000456 Remove the remaining two screws. Bits extender: 3HAC12342-1 xx2200001150 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 494 The motor shall be refitted in the same position. xx2000000457 Make sure the pinion is not damaged. xx2100000595 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 496 CAUTION Check that the cable bracket underneath the arm housing is not damaged. xx2100001103 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 497 The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly. Remove the remaining screw left in the gearbox. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 498 Preparations before refitting the axis-2 gearbox Action Note CAUTION The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 499 Note Also wipe clean the o-ring groove. Check the o-ring. O-ring: 3HAC061327-066 Replace if damaged. xx2100001132 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 500 Use this procedure to refit the gearbox. Action Note CAUTION The weight of the gearbox is 60 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 501 There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 502 Tightening torque: standard torque 120 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 626).. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 503 Make sure: • not to stretch any of the cables • that the arm package is level when lifted. xx2300000027 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 505 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 506 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100000593 CAUTION The weight of the motor is 21 kg Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
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. xx2000000457 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 508 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 509 Performing a leak-down test on page 186. Connecting the axis-2 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 511 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 512 Check that the cabling will stay a little bit twisted between the cable clamps. Do not change the position of the brackets! xx2100001104 xx1300000595 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 513 1/2 turn. xx2300001088 xx2300001089 Torx pan head screw: M6x16 Stainless steel A2-70 (2 pcs) Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 514 Remove all residue of Loctite in the screw hole of the shaft. Wipe all contact surfaces inside the recess clean from contamination. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 515 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 516 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 517 DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 518 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 519: Replacing The Axis-3 Gearbox
Article number Note Level Gearbox 3HAC081174-003 Includes o-ring (Graphite White) 3HAC081174-004 (ABB Orange) Required service parts Consumable Article number Note O-ring 3HAC061327-063 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 520 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 629. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 523 If DressPack is fitted, the cable fixing bracket is replaced by the cable guide. xx2200001432 xx1300001973 Remove the metal clamp at the arm house. xx2200001433 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 524 Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Remove the wrist cover. xx2000000373 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 525 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 526 Lift out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 527 Cut the cable tie. xx2100002625 Remove the motor cover by removing the screws. xx2100002495 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 528 Disconnecting the axis-3 and axis-4 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 530 Foundry Plus, DressPack: Protection type Foundry Plus: Remove the back cover. Note Use caution not to damage the gasket. xx2000000422 DressPack xx2300001040 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 531 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 532 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 534 Keep chain (b) shorter than chain (a). Raise the lifting accessories to take the weight of the upper arm. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 535 Verify that the upper arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 536 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2300000045 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 537 The motor shall be refitted in the same position. xx2100002149 Make sure the pinion is not damaged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 538 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 539 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the gearbox slide better. xx2100002450 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 541 Preparations before refitting the axis-3 gearbox Action Note CAUTION The weight of the gearbox is 45 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 542 Cleaning agent: Isopropanol gearbox and the upper arm from any con- tamination. Check the o-ring. O-ring: 3HAC061327-063 Replace if damaged. xx2100001237 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 544 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the upper arm slide better. xx2100002445 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 545 Insert all but two of the screws and wash- Hex socket head cap screw: M12x40 12.9 ers. Gleitmo 603+Geomet 500 (26 pcs). Washer: Steel 13x19x1.5 (26 pcs). xx2100002443 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 546 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 547 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 548 Tighten the screws. Tightening torque: 50 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 186. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 549 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 550 Do not run the cable harness into the DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx2300000040 xx1300000820 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 551 Torx pan head screw: M6x16 A4-80 tube. Tightening torque: 10 Nm. Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 552 (Cable guard (C) is available for Foundry cable guard.) xx2100002677 With DressPack: Refit the DressPack tube into the insert. xx1400000092 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 553 Loctite 243) xx2300001040 Reconnecting the axis-3 and axis-4 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 555 3HAC072863-005 (ABB Orange) xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 556 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 557 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 558 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 559 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 561 3HAC079381-004 (ABB Orange) xx2200001922 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 562 Wrist cover: Inspect the gasket. 3HAC078635-004 (Graphite White) Replace the complete cover if the gasket 3HAC078635-005 (ABB Orange) is damaged. xx2100001407 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 563 Refit the metal clamp to the arm house. Torx pan head screw: M6x16 A4-80 Tightening torque: 10 Nm. xx2200001433 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 564 Note If DressPack is fitted, the cable fixing bracket is replaced by the cable guide. xx2200001432 xx1300001973 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 566 Note Fit the bracket of the DressPack cable package (if one is fitted) under the arm house with its screws. xx1200001332 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 567 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 568: Replacing The Axis-6 Gearbox
3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Lubricating oil Type of lubrication in gear- boxes on page 142. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 569 Preparations before removing the axis-6 gearbox Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 570 Note Use caution not to lose the two clamp jaws on either side of the DressPack cable package. xx2300001210 xx2100002712 xx2300001211 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 571 Removing the turning disc Action Note Remove the screws and washers, that se- cure the turning disc. xx2200001807 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 572 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Unscrew the attachment screws and re- move the motor cover. xx2200001434 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 573 Disconnect the motor cables. Removing the axis-6 gearbox Action Note Unscrew the attachment screws that secure the axis-6 gearbox. xx2200001804 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 574 Note Remove the synchronization plate axis-6. xx2300001096 Fit guide pins. Guide pin, M6x150: 3HAC080345-001 Always use guide pins in pairs. xx2200001821 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 575 Remove the gearbox. If required fit two attachment screws and press out the gearbox. xx2200001803 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 576 O-ring: 3HAB3772-170 Replace if damaged. xx2100002258 Lubricate the contact surface inside the P-80 rubber lubrication gel: 3HAC074427- wrist with grease. xx2100002791 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 577 Refitting the axis-6 gearbox Action Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 578 Verify that the oil plug is removed so the air can be pressed out during fitting of the gearbox. xx2200001803 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 579 Jog axis-5 to horizontal position. Refill oil in the gearbox. Filling oil into the axis-6 gearbox on page 172. Refit the axis-6 synchronization plate. xx2300001097 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 580 Handle it with care to avoid dam- age to the cabling or the connector, avoid any kind of tilt or skew. xx2200001730 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 581 Refit the motor cover. Torx pan head screw: M5x12 Stainless steel A2-70 (6 pcs) Tightening torque: 6 Nm. xx2200001434 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 582 Tightening torque: standard torque 35 Nm (Tightening torque for lubric- ated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 626).. xx2200001807 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 583 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. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 584 This page is intentionally left blank...
Page 585: Introduction To Calibration
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.
Page 586: Calibration Methods
The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant. You will be guided through the calibration procedure, step by step. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 587 References Article numbers for the calibration tools are listed in the section Special tools on page 630. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 588: When To Calibrate
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.
Page 589: Synchronization Marks And Axis Movement Directions
This section shows the 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 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 590 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued xx2200002088 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 591: Calibration Movement Directions For All Axes
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 directions shown below. Manual movement directions xx2200002089 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 592: Updating Revolution Counters
Check the synchronization position very carefully after each update. See Checking the synchronization position on page 607. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 593: Calibrating With Axis Calibration Method
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.
Page 594 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.
Page 595 New calibration values have to be downloaded to SafeMove, and a new SafeMove calibration has to be done. Make sure that the user rights admit to change the safety settings and to synchronize SafeMove. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 596: Calibration Tools For Axis Calibration
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...
Page 597 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.
Page 598: Installation Locations For The Calibration Tools
This is shown in the figure. xx2300000256 Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 599 Protection cover and plug set 3HAC064875-001 Contains replacement calibration (axes 1, 2, 3 and 4) pin covers and protective plugs for the bushings. 3HAC059487-001 (axes 5 and 6) Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 600: Axis Calibration - Running The Calibration Procedure
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.
Page 601 For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 602 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 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 603 Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: . 3HAC064875-001 (axes 1, 2, 3 and 3HAC059487-001 (axes 5 and 6) Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 604: Reference Calibration
(step 5, see Brief introduction to Reference Calibration on page 604). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 605 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 606: Verifying The Calibration
Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 607: Checking The Synchronization Position
If they do not, up- ization position for axes on page 589 date the revolution counters. Updating revolution counters on page 592. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 608 This page is intentionally left blank...
Page 609: Troubleshooting
Make a historical fault log to keep track of problems over time. • Consult those working with the robot when the problem occurred. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 610 The robot has recently Check: been moved from one site • connections to another (an already • software versions working robot) Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 611: Oil And Grease Stains On Motors And Gearboxes
"cooling periods" into the your local ABB representative. application. • Overpressure created inside gearbox. Inspect all sealings and gaskets between motor and gearbox. Replace broken parts. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 612: Mechanical Noise Or Dissonance
Make sure the bearings are fitted correctly. Tighten the screws if a heat sink, fan, or metal sheet is loose. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 613: Manipulator Collapses On Power Down
Remove the motor from the gearbox to in- If found faulty, the motor must be replaced spect it from the drive side. as a complete unit. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 614 This page is intentionally left blank...
Page 615: Decommissioning
See also Environmental information on page 616. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 616 8.2 Environmental information 8.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
Page 617 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 618: Scrapping Of Robot
• A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 619: Decommissioning Of Balancing Device
The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 620 • Inner spring: cut at least four coils! Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 621: Reference Information
9.1 Introduction 9 Reference information 9.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 622: Applicable Standards
Industrial robots and robot Systems - General safety require- ments CAN/CSA Z 434-14 EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 623: Unit Conversion
1 kg 2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 624: Screw Joints
9.4 Screw joints 9.4 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.
Page 625 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 626 Nm - Min. Nm - Max. Mixed The lower tightening torque of the two materials. Brass only Brass only Brass only Brass only Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 627 9.4 Screw joints Continued Dimension Material Tightening torque Tightening torque Tightening torque Nm - Nominal Nm - Min. Nm - Max. Stainless steel only Brass only Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 628: Weight Specifications
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.
Page 629: Standard Toolkit
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Hexagon socket spanner no. 8 Screwdriver for hexagon screws, used for the power cable connector at the base. Plastic mallet Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 630: Special Tools
Special tools Note If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Continues on next page Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 631 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal/refitting tools Replacement tool for arm house 3HAC079878-001 cover xx2100002289 3HAC028920-001 Dismantle and mounting tool 3HAC14631-1 Removal tool motor M12...
Page 632 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Roundsling, 1 m Roundsling, 1.5 m Roundsling, 2 m 3HAC081585-001 Lifting accessory for gear xx2100002415 Fender washer 3HAC15556-1 Lifting accessory (chain)
Page 633 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC062398-001 Guide pin, M16x250 Brake release 3HAC081310-001 Brake release tool xx2100000666 Calibration tools 3HAC074564-001 (axes 1, 2, 3 and 4)
Page 634 The use of each piece 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 should be stored for later reference. Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 635 616 balancing device front eye, 178 EPS, 95 Brake power supply, faulty, 613 equipment, robot, 82 brake release unit replacing, 340 damage elimination, 53 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 636 Extended working range, 95 installation procedure, 59 original spare parts, 15 instructions for assembly, 55 overfilled gearbox, 611 integrator responsibility, 26 intervals for maintenance, 103 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 637 16 symbols, 19 technical data, 37 working range, 41 validity and responsibility, 15 verifying calibration, 606 safety brake testing, 34 weight, 37 ESD, 53 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 638 69, 73–74, 77 replacing, 57 upper and lower arm, 485, 496, 503 upper arm, complete, 534, 545 wrist, 274 zero position working range, 51 checking, 607 Product manual - IRB 6720 3HAC085697-001 Revision: C © Copyright 2023 ABB. All rights reserved.
Page 640 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2023 ABB. All rights reserved. Specifications subject to change without notice.

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