ABB OmniCore IRB 6720, Product Manual

Page: 409 / 640

Note Article number Equipment
Always use guide pins in pairs. 3HAC15521-2 Guide pin, M10x150
300 mm, bits 1/2" 3HAC12342-1 Bits extender
Used to push out the motor, if
necessary.
Always use removal tools in
pairs. 3HAC14631-1 Removal tool motor M12
Used to rotate the motor pinion.
Add screw M4. 3HAB7887-1 Rotation tool M4
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot. 3HAC074564-001
(axes 1, 2, 3 and 4)
3HAC074119-001
(axes 5 and 6) Calibration toolbox, Axis Calibra-
tion
Content is defined in section
Standard toolkit on page 629 .
- Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-5 motor
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
xx2200001814
Jog the robot into position:
• Axis 1: no significance
• Axis 2: suitable working position to
replace axis-5 motor (for example:
+25°)
• Axis 3: suitable working position to
replace axis-5 motor (for example:
+35°)
• Axis 4: +90°
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no
need to drain oil from the axis-5 gearbox
when the motor is replaced.
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
3
Continues on next page
Product manual - IRB 6720 409
3HAC085697-001 Revision: C
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.7.5 Replacing the axis-5 motor
Continued