ABB OmniCore IRB 6720 Product Manual

LevelNoteArticle numberSpare partL2IRB 6720-240/2.65IRB 6720-215/2.5 LIDIRB 6720-215/2.65 LID3HAC083039-001Cable harnessL2IRB 6720-210/2.8IRB 6720-170/3.1IRB 6720-200/2.8 LIDIRB 6720-150/3.1 LID3HAC078462-001Cable harnessRequired tools and equipmentNoteArticle numberEquipmentContent is defined in sectionStandard toolkit on page 629.-Standard toolkitPreparations before removing the cable harnessNoteActionxx2200001615Floor-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.NoteThe specified position is a recommendedposition.Orient axis-5 as close as possible to +90°to be able to open the axis-6 motor coverand to remove the axis-6 motor cables. Theaxis-5 position is also important to avoidthe spiral of the cable harness in the carrierbeing unwound or placed in wrong position.Depending on what tool is used, the otheraxes may need to be jogged to anotherposition.1DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the safe-guarded space.2Continues on next page292 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.6.1 Removing the cable harnessContinued