ABB OmniCore IRB 6720 Product Manual

1054.2.3 Expected component life .........................................................................1064.3 Inspection activities ...........................................................................................1064.3.1 Inspecting the motor seal .........................................................................1084.3.2 Inspecting the balancing device ................................................................1124.3.3 Inspecting the cable harness ....................................................................1154.3.4 Inspecting the dampers ...........................................................................1174.3.5 Inspecting the information labels ...............................................................1204.3.6 Inspecting the axis-1 mechanical stop ........................................................1224.3.7 Inspecting the oil level in axis-1 gearbox .....................................................1264.3.8 Inspecting the oil level in axis-2 gearbox .....................................................1294.3.9 Inspecting the oil level in axis-3 gearbox .....................................................1334.3.10 Inspecting the oil level in axis-4 gearbox .....................................................1364.3.11 Inspecting the oil level in axis-5 gearbox .....................................................1394.3.12 Inspecting the oil level in axis-6 gearbox .....................................................1424.4 Replacement/changing activities ..........................................................................1424.4.1 Type of lubrication in gearboxes ................................................................1444.4.2 Changing the oil in axis-1 gearbox .............................................................1504.4.3 Changing the oil in axis-2 gearbox .............................................................1554.4.4 Changing the oil in axis-3 gearbox .............................................................1604.4.5 Changing the oil in axis-4 gearbox .............................................................1654.4.6 Changing the oil in axis-5 gearbox .............................................................1704.4.7 Changing the oil in axis-6 gearbox .............................................................1754.4.8 Replacing the SMB battery .......................................................................1784.5 Lubrication activities ..........................................................................................1784.5.1 Lubricating the spherical roller bearing, balancing device ..............................1804.6 Cleaning activities .............................................................................................1804.6.1 Cleaning the IRB 6720 ..............................................................................1855 Repair1855.1 Introduction ......................................................................................................1865.2 General procedures ...........................................................................................1865.2.1 Performing a leak-down test ......................................................................1875.2.2 Mounting instructions for bearings .............................................................1895.2.3 Mounting instructions for sealings ..............................................................1935.2.4 Cut the paint or surface on the robot before replacing parts ............................1945.3 Balancing device ...............................................................................................1945.3.1 Replacing the balancing device .................................................................2125.3.2 Replacing spherical roller bearing, balancing device link ear ...........................2275.3.3 Replacing the rear bearings on the balancing device .....................................2395.4 Axes 3 and 4 ....................................................................................................2395.4.1 Replacing the arm house cover including the axis-4 cassette sealing ...............2665.5 Wrist ...............................................................................................................2665.5.1 Replacing the wrist .................................................................................2865.5.2 Replacing the turning disc ........................................................................2915.6 Electronic parts .................................................................................................2915.6.1 Removing the cable harness ....................................................................3125.6.2 Refitting the cable harness .......................................................................3405.6.3 Replacing the brake release unit ...............................................................3475.6.4 Replacing the SMB unit ...........................................................................3535.7 Motors ............................................................................................................3535.7.1 Replacing the axis-1 motor .......................................................................3675.7.2 Replacing the axis-2 motor .......................................................................3835.7.3 Replacing the axis-3 motor .......................................................................3955.7.4 Replacing the axis-4 motor .......................................................................4085.7.5 Replacing the axis-5 motor .......................................................................4205.7.6 Replacing the axis-6 motor .......................................................................4305.8 Gears ..............................................................................................................4305.8.1 Replacing the axis-1 gearbox ....................................................................4765.8.2 Replacing the axis-2 gearbox ....................................................................6 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. 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