ABB OmniCore IRB 6720 Product Manual

NoteArticle numberEquipmentAlways 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 axis-5 motorNoteActionDecide which calibration routine to use,and take actions accordingly prior to begin-ning the repair procedure.1xx2200001814Jog the robot into position:• Axis 1: no significance• Axis 2: suitable working position toreplace axis-5 motor (for example:+25°)• Axis 3: suitable working position toreplace axis-5 motor (for example:+35°)• Axis 4: +90°• Axis 5: no significance• Axis 6: no significanceWith the robot in this position, there is noneed to drain oil from the axis-5 gearboxwhen the motor is replaced.2DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the safe-guarded space.3Continues on next pageProduct manual - IRB 6720 4093HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.7.5 Replacing the axis-5 motorContinued