ABB OmniCore IRB 6720, Product Manual

Page: 292 / 640

Level Note Article number Spare part
L2 IRB 6720-240/2.65
IRB 6720-215/2.5 LID
IRB 6720-215/2.65 LID 3HAC083039-001 Cable harness
L2 IRB 6720-210/2.8
IRB 6720-170/3.1
IRB 6720-200/2.8 LID
IRB 6720-150/3.1 LID 3HAC078462-001 Cable harness
Required tools and equipment
Note Article number Equipment
Content is defined in section
Standard toolkit on page 629 .
- Standard toolkit
Preparations before removing the cable harness
Note Action
xx2200001615
Floor-standing robot:
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
The specified position is a recommended
position.
Orient axis-5 as close as possible to +90°
to be able to open the axis-6 motor cover
and to remove the axis-6 motor cables. The
axis-5 position is also important to avoid
the spiral of the cable harness in the carrier
being unwound or placed in wrong position.
Depending on what tool is used, the other
axes may need to be jogged to another
position.
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
2
Continues on next page
292 Product manual - IRB 6720
3HAC085697-001 Revision: C
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.6.1 Removing the cable harness
Continued