ABB OmniCore IRB 6720 Product Manual

Required tools and equipmentNoteArticle numberEquipmentAlways use guide pins in pairs.3HAC080345-001Guide pin, M6x150User instructions are enclosedwith the tool.3HAC081310-001Brake release toolUsed 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 toolkitDeciding calibration routineDecide which calibration routine to be used, based on the information in the table.Depending on which routine is chosen, action might be required prior to beginningthe repair work of the robot, see the table.NoteActionDecide which calibration routine to use forcalibrating the robot.• Reference calibration. External cablepackages (DressPack) and tools canstay fitted on the robot.• Fine calibration. All external cablepackages (DressPack) and toolsmust be removed from the robot.1Follow the instructions given in the refer-ence calibration routine on the FlexPendantto create reference values.If the robot is to be calibrated with refer-ence calibration:Find previous reference values for the axisor create new reference values. These val-ues are to be used after the repair proced-ure is completed, for calibration of the ro-bot.Creating new values requires possibility tomove the robot.Read more about reference calibration forAxis Calibration in Reference calibrationroutine on page 594.If no previous reference values exist, andno new reference values can be created,then reference calibration is not possible.If the robot is to be calibrated with finecalibration:Remove all external cable packages(DressPack) and tools from the robot.Removing the gearboxUse these procedures to remove the axis-6 gearbox.Preparations before removing the axis-6 gearboxNoteActionDecide which calibration routine to use,and take actions accordingly prior to begin-ning the repair procedure.1Continues on next pageProduct manual - IRB 6720 5693HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.8.4 Replacing the axis-6 gearboxContinued