ABB OmniCore IRB 6720 Product Manual

Required tools and equipmentNoteArticle numberEquipmentUser instructions are enclosedwith the tool.3HAC081310-001Brake release toolUsed to push out the motor, ifnecessary.3HAC14972-1Removal tool motor M10Always use guide pins in pairs.3HAC15520-2Guide pin, M8x150Used to rotate the motor pinion.Add screw M3.3HAB7887-1Rotation tool M3Delivered 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-6 motorNoteActionDecide which calibration routine to use,and take actions accordingly prior to begin-ning the repair procedure.1xx2200001818Jog the robot to a position where axis 5can be positioned with the axis-6 motorpointing straight up at an acceptableworking position.With axis 5 in this position it is possible toreplace the axis-6 motor without drainingthe oil from the axis-6 gearbox.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 4213HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.7.6 Replacing the axis-6 motorContinued