ABB OmniCore IRB 6720 Product Manual

Required tools and equipmentNoteArticle numberEquipmentUser instructions are enclosedwith the tool.3HAC081310-001Brake release toolAlways use guide pins in pairs.3HAC15521-2Guide pin, M10x150300 mm, bits 1/2"3HAC12342-1Bits extenderUsed to push out the motor, ifnecessary.Always use removal tools inpairs.3HAC14631-1Removal tool motor M12Used to rotate the motor pinion.Add screw M4.3HAB7887-1Rotation tool M4Delivered as a set of calibrationtools.Required if Axis Calibration is thevalid calibration method for therobot.3HAC074564-001(axes 1, 2, 3 and 4)3HAC074119-001(axes 5 and 6)Calibration toolbox, Axis Calibra-tionContent is defined in sectionStandard toolkit on page 629.-Standard toolkitRemoving the motorUse these procedures to remove the motor.Preparations before removing the motorNoteActionDecide which calibration routine to use, and takeactions accordingly prior to beginning the repairprocedure.1xx2200001812Jog the robot into position:• Axis 1: no significance• Axis 2: -65°• Axis 3: upper arm pointing straight up (ifpossible).• Axis 4: no significance• Axis 5: no significance• Axis 6: no significanceWith the robot in this position, there is no need todrain oil from the axis-4 gearbox when the motoris replaced.2Continues on next page396 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.7.4 Replacing the axis-4 motorContinued